First_Dev_Dept/ParkingRobot
10
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

feat: optimize longitudinal ST profiles

Browse Source
This commit is contained in:
梁薄云
2026-08-04 10:44:00 +08:00
parent 25742ab052
commit 510bf97b85
5 changed files with 1131 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ClumsyPilot/tests/EMPlannerVerificationHost/Program.cs
+13 -2
View File
@@ -10,9 +10,10 @@ internal static class Program
args[0] != "corridor" && args[0] != "optimization" && args[0] != "osqp" && args[0] != "osqp-loader" && args[0] != "osqp-probe" &&
args[0] != "all-foundation" && args[0] != "lateral-model" && args[0] != "lateral-integration" &&
args[0] != "lateral-real-osqp" && args[0] != "lateral-real-osqp-probe" && args[0] != "lateral-all" &&
args[0] != "longitudinal-model"))
args[0] != "longitudinal-model" && args[0] != "longitudinal-integration" &&
args[0] != "longitudinal-real-osqp-probe"))
{
Console.Error.WriteLine("Usage: EMPlannerVerificationHost foundation|segmentation|frenet|corridor|optimization|osqp|osqp-loader|all-foundation|lateral-model|lateral-integration|lateral-real-osqp|lateral-all");
Console.Error.WriteLine("Usage: EMPlannerVerificationHost foundation|segmentation|frenet|corridor|optimization|osqp|osqp-loader|all-foundation|lateral-model|lateral-integration|lateral-real-osqp|lateral-all|longitudinal-model|longitudinal-integration");
return 2;
}
@@ -77,6 +78,16 @@ internal static class Program
MultiWheelC.TrajectoryPlanning.EMPlanner.LongitudinalModelChecks.Run();
Console.WriteLine("PASS longitudinal-model");
}
if (args[0] == "longitudinal-integration")
{
MultiWheelC.TrajectoryPlanning.EMPlanner.LongitudinalIntegrationChecks.Run();
Console.WriteLine("PASS longitudinal-integration");
}
if (args[0] == "longitudinal-real-osqp-probe")
{
MultiWheelC.TrajectoryPlanning.EMPlanner.LongitudinalIntegrationChecks.RunRealOsqp();
Console.WriteLine("PASS longitudinal-real-osqp");
}
return 0;
}
catch (Exception exception)