feat: optimize longitudinal ST profiles
This commit is contained in:
梁薄云
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using System;
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using System.Threading;
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namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
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/// <summary>Pure longitudinal planning facade that depends only on the solver-neutral IQpSolver boundary.</summary>
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public sealed class LongitudinalPlanner
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{
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private readonly SequentialLongitudinalOptimizer _optimizer;
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public LongitudinalPlanner(IQpSolver qpSolver)
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{
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_optimizer = new SequentialLongitudinalOptimizer(qpSolver ?? throw new ArgumentNullException(nameof(qpSolver)));
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}
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public LongitudinalPlanningResult Plan(LongitudinalPlanningInput input, CancellationToken cancellationToken)
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{
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return _optimizer.Optimize(input, cancellationToken);
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}
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}
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+153
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using System;
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using System.Collections.Generic;
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namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
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/// <summary>Independently validates ST candidates directly in physical units before they may become fallbacks.</summary>
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public sealed class LongitudinalSolutionValidator
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{
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public bool TryValidate(LongitudinalPlanningInput input, PathSpeedLimit speedLimit, LongitudinalCandidate candidate,
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out LongitudinalCandidate validatedCandidate, out string failureReason)
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{
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validatedCandidate = null;
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failureReason = string.Empty;
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if (input == null || speedLimit == null || candidate == null)
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{
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failureReason = "ST input, speed envelope, and candidate are required.";
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return false;
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}
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try
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{
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if (!PathSpeedLimitBuilder.TryGetLimits(input, out _, out double maximumAcceleration,
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out double maximumDeceleration, out double maximumJerk, out _, out _, out failureReason))
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{
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return false;
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}
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IReadOnlyList<double> expectedTimes = LongitudinalCandidate.CreateKnotTimes(
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input.Configuration.Scheduling.TimeHorizonSeconds, input.Configuration.Scheduling.OutputTimeStepSeconds);
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double tolerance = RequireNonnegative(input.Configuration.Validation.KinematicTolerance, nameof(tolerance));
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if (!HasMatchingTimes(candidate.KnotTimes, expectedTimes, tolerance))
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{
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failureReason = "ST candidate knot times do not match the configured horizon.";
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return false;
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}
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if (candidate.S.Count != expectedTimes.Count || candidate.U.Count != expectedTimes.Count ||
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candidate.A.Count != expectedTimes.Count || candidate.J.Count != expectedTimes.Count - 1)
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{
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failureReason = "ST candidate value counts do not match its time knots.";
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return false;
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}
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if (!candidate.SatisfiesExactDiscreteDynamics(tolerance))
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{
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failureReason = "ST candidate violates exact constant-jerk dynamics.";
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return false;
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}
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if (!AreClose(candidate.S[0], 0d, tolerance) ||
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!AreClose(candidate.U[0], input.InitialProgressSpeedMetersPerSecond, tolerance) ||
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!AreClose(candidate.A[0], input.InitialAccelerationMetersPerSecondSquared, tolerance))
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{
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failureReason = "ST candidate does not satisfy the exact initial state.";
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return false;
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}
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for (int index = 0; index < candidate.S.Count; index++)
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{
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double progress = candidate.S[index];
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double speed = candidate.U[index];
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double acceleration = candidate.A[index];
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if (!IsFinite(progress) || !IsFinite(speed) || !IsFinite(acceleration) || progress < -tolerance ||
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progress > input.TerminalPathS + tolerance || speed < -tolerance ||
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acceleration < -maximumDeceleration - tolerance || acceleration > maximumAcceleration + tolerance)
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{
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failureReason = "ST candidate violates physical bounds at knot " + index + ".";
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return false;
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}
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double speedLimitAtProgress = speedLimit.MaximumSpeedAt(Math.Max(0d, Math.Min(input.TerminalPathS, progress)));
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if (speed > speedLimitAtProgress + tolerance)
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{
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failureReason = "ST candidate violates the actual-PathS speed envelope at knot " + index +
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" (S=" + progress + ", U=" + speed + ", limit=" + speedLimitAtProgress + ").";
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return false;
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}
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if (index > 0 && progress < candidate.S[index - 1] - tolerance)
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{
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failureReason = "ST candidate PathS decreases at knot " + index + ".";
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return false;
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}
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}
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for (int index = 0; index < candidate.J.Count; index++)
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{
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if (!IsFinite(candidate.J[index]) || Math.Abs(candidate.J[index]) > maximumJerk + tolerance)
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{
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failureReason = "ST candidate violates the jerk bound at interval " + index + ".";
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return false;
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}
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}
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int terminalIndex = candidate.S.Count - 1;
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if (!AreClose(candidate.S[terminalIndex], input.TerminalPathS, tolerance) ||
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!AreClose(candidate.U[terminalIndex], 0d, tolerance))
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{
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failureReason = "ST candidate does not satisfy the exact zero-speed terminal.";
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return false;
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}
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var canonicalS = new double[candidate.S.Count];
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var canonicalU = new double[candidate.U.Count];
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var canonicalA = new double[candidate.A.Count];
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for (int index = 0; index < candidate.S.Count; index++)
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{
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canonicalS[index] = candidate.S[index];
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canonicalU[index] = candidate.U[index];
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canonicalA[index] = candidate.A[index];
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}
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canonicalS[0] = 0d;
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canonicalU[0] = input.InitialProgressSpeedMetersPerSecond;
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canonicalA[0] = input.InitialAccelerationMetersPerSecondSquared;
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canonicalS[terminalIndex] = input.TerminalPathS;
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canonicalU[terminalIndex] = 0d;
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var canonicalCandidate = new LongitudinalCandidate(candidate.KnotTimes, canonicalS, canonicalU, canonicalA,
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candidate.J);
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if (!canonicalCandidate.SatisfiesExactDiscreteDynamics(tolerance))
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{
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failureReason = "Canonical ST hard-boundary values exceed the dynamics tolerance.";
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return false;
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}
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validatedCandidate = canonicalCandidate;
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return true;
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}
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catch (ArgumentException exception)
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{
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failureReason = exception.Message;
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return false;
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}
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}
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private static bool HasMatchingTimes(IReadOnlyList<double> actual, IReadOnlyList<double> expected, double tolerance)
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{
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if (actual.Count != expected.Count)
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return false;
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for (int index = 0; index < expected.Count; index++)
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{
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if (!AreClose(actual[index], expected[index], tolerance))
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return false;
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}
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return true;
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}
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private static bool AreClose(double actual, double expected, double tolerance)
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{
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return Math.Abs(actual - expected) <= tolerance;
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}
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private static double RequireNonnegative(double value, string parameterName)
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{
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if (!IsFinite(value) || value < 0d)
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throw new ArgumentOutOfRangeException(parameterName);
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return value;
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}
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private static bool IsFinite(double value)
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{
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return !double.IsNaN(value) && !double.IsInfinity(value);
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}
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}
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+461
@@ -0,0 +1,461 @@
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Threading;
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namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
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/// <summary>Bounded ST envelope iteration retaining only independently validated physical candidates.</summary>
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public sealed class SequentialLongitudinalOptimizer
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{
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private const int MaximumEnvelopeIterations = 5;
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private const double OrdinaryEnvelopeProbeLookaheadSteps = 1d;
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private const double OrdinaryTerminalProbeFraction = 0.5d;
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private readonly IQpSolver _qpSolver;
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private readonly PathSpeedLimitBuilder _speedLimitBuilder;
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private readonly LongitudinalConstraintBuilder _constraintBuilder;
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private readonly LongitudinalSolutionValidator _solutionValidator;
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public SequentialLongitudinalOptimizer(IQpSolver qpSolver)
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: this(qpSolver, new PathSpeedLimitBuilder(), new LongitudinalConstraintBuilder(new LongitudinalObjectiveBuilder()),
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new LongitudinalSolutionValidator())
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{
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}
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internal SequentialLongitudinalOptimizer(IQpSolver qpSolver, PathSpeedLimitBuilder speedLimitBuilder,
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LongitudinalConstraintBuilder constraintBuilder, LongitudinalSolutionValidator solutionValidator)
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{
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_qpSolver = qpSolver ?? throw new ArgumentNullException(nameof(qpSolver));
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_speedLimitBuilder = speedLimitBuilder ?? throw new ArgumentNullException(nameof(speedLimitBuilder));
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_constraintBuilder = constraintBuilder ?? throw new ArgumentNullException(nameof(constraintBuilder));
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_solutionValidator = solutionValidator ?? throw new ArgumentNullException(nameof(solutionValidator));
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}
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public LongitudinalPlanningResult Optimize(LongitudinalPlanningInput input, CancellationToken cancellationToken)
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{
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if (input == null)
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return Failed(EmPlanningStatus.InvalidInput, "Longitudinal planning input is required.");
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if (cancellationToken.IsCancellationRequested)
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return Failed(EmPlanningStatus.Cancelled, "Longitudinal optimization was cancelled.");
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if (!TryCreateSettings(input, out QpSolverSettings settings, out TimeSpan totalBudget, out double convergenceTolerance,
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out int iterationLimit, out string configurationFailure))
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{
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return Failed(EmPlanningStatus.InvalidInput, configurationFailure);
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}
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EmPlanningStatus speedStatus = _speedLimitBuilder.Build(input, out PathSpeedLimit speedLimit, out string speedFailure);
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if (speedStatus != EmPlanningStatus.Success)
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return Failed(speedStatus, speedFailure);
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LongitudinalCandidate iterate = CreateInitialIterate(input);
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double[] warmStart = ToPrimal(iterate);
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bool hasDynamicsConsistentInitialWarmStart = iterate.SatisfiesExactDiscreteDynamics(1e-12d);
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LongitudinalCandidate lastStrictCandidate;
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if (!_solutionValidator.TryValidate(input, speedLimit, iterate, out lastStrictCandidate, out _))
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lastStrictCandidate = null;
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string lastCandidateRejection = string.Empty;
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bool hasPreviousObjective = false;
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double previousObjective = 0d;
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var stopwatch = Stopwatch.StartNew();
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for (int iteration = 0; iteration < iterationLimit; iteration++)
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{
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if (cancellationToken.IsCancellationRequested)
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return FallbackOrFailure(lastStrictCandidate, EmPlanningStatus.Cancelled, "Longitudinal optimization was cancelled.");
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TimeSpan remainingBudget = totalBudget - stopwatch.Elapsed;
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if (remainingBudget <= TimeSpan.Zero)
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{
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return FallbackOrFailure(lastStrictCandidate, EmPlanningStatus.SolverTimedOut,
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"Longitudinal optimization exhausted its solve budget.");
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}
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if (!_constraintBuilder.TryBuild(input, speedLimit, iterate, out QuadraticProgram problem, out string buildFailure))
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{
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return FallbackOrFailure(lastStrictCandidate, EmPlanningStatus.LongitudinalInfeasible,
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"Longitudinal constraints are infeasible: " + buildFailure);
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}
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QpSolveResult solved = _qpSolver.Solve(problem,
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new QpSolverSettings(settings.MaximumIterations, settings.AbsoluteTolerance, settings.RelativeTolerance,
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remainingBudget, settings.EnableWarmStart && (iteration > 0 || hasDynamicsConsistentInitialWarmStart),
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settings.EnablePolishing,
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settings.EnableNativeVerboseOutput),
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warmStart, cancellationToken);
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if (solved == null)
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return FallbackOrFailure(lastStrictCandidate, EmPlanningStatus.Failed, "The longitudinal QP solver returned no result.");
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if (solved.Status == QpSolveStatus.TimeLimit || solved.Status == QpSolveStatus.MaximumIterations)
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{
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return FallbackOrFailure(lastStrictCandidate, EmPlanningStatus.SolverTimedOut,
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"The longitudinal QP solver timed out (status=" + solved.NativeStatus +
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", iterations=" + solved.Iterations + ", primal=" + solved.PrimalResidual +
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", dual=" + solved.DualResidual + "): " + solved.Diagnostic);
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}
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if (solved.Status == QpSolveStatus.Cancelled)
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return FallbackOrFailure(lastStrictCandidate, EmPlanningStatus.Cancelled,
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"The longitudinal QP solver was cancelled: " + solved.Diagnostic);
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if (solved.Status == QpSolveStatus.PrimalInfeasible || solved.Status == QpSolveStatus.DualInfeasible)
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{
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return FallbackOrFailure(lastStrictCandidate, EmPlanningStatus.LongitudinalInfeasible,
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"The longitudinal QP solver reported infeasibility: " + solved.Diagnostic);
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}
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if (solved.Status == QpSolveStatus.SolverUnavailable)
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return FallbackOrFailure(lastStrictCandidate, EmPlanningStatus.SolverUnavailable,
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"The longitudinal QP solver is unavailable: " + solved.Diagnostic);
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if (solved.Status != QpSolveStatus.Solved && solved.Status != QpSolveStatus.SolvedInaccurate)
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{
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return FallbackOrFailure(lastStrictCandidate, EmPlanningStatus.Failed,
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"The longitudinal QP solver failed: " + solved.Diagnostic);
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}
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if (solved.Status == QpSolveStatus.SolvedInaccurate && !HasStrictResiduals(solved, convergenceTolerance))
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{
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lastCandidateRejection = "SolvedInaccurate residuals exceed the strict acceptance tolerance" +
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" (primal=" + solved.PrimalResidual + ", dual=" + solved.DualResidual + ").";
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if (TryCreateCandidate(iterate.KnotTimes, solved.Primal, out LongitudinalCandidate inaccurateCandidate))
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warmStart = ToPrimal(inaccurateCandidate);
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continue;
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}
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if (!TryCreateCandidate(iterate.KnotTimes, solved.Primal, out LongitudinalCandidate candidate))
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{
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lastCandidateRejection = "The solver primal does not match the ST variable layout.";
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continue;
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}
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if (!_solutionValidator.TryValidate(input, speedLimit, candidate, out LongitudinalCandidate validated,
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out string validationFailure))
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{
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string rejection = validationFailure + CreateEnvelopeDiagnostic(speedLimit, iterate, candidate,
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iteration + 1);
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lastCandidateRejection = string.IsNullOrEmpty(lastCandidateRejection)
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? rejection
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: lastCandidateRejection + " | " + rejection;
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if (TryCreateEnvelopeIterate(input, iterate, candidate, out LongitudinalCandidate nextIterate))
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{
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iterate = nextIterate;
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warmStart = ToPrimal(candidate);
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}
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continue;
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}
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double maximumChange = MaximumProgressOrSpeedChange(iterate, validated);
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double relativeObjectiveImprovement = hasPreviousObjective
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? RelativeObjectiveImprovement(previousObjective, solved.Objective)
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: double.PositiveInfinity;
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lastStrictCandidate = CopyCandidate(validated);
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iterate = validated;
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warmStart = ToPrimal(validated);
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previousObjective = solved.Objective;
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hasPreviousObjective = true;
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if (maximumChange <= convergenceTolerance && relativeObjectiveImprovement <= convergenceTolerance)
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return new LongitudinalPlanningResult(EmPlanningStatus.Success, lastStrictCandidate, string.Empty);
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}
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return lastStrictCandidate == null
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? Failed(EmPlanningStatus.LongitudinalInfeasible, "No strictly validated longitudinal candidate was found. " +
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lastCandidateRejection)
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: new LongitudinalPlanningResult(EmPlanningStatus.Success, lastStrictCandidate, string.Empty);
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}
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private static bool TryCreateSettings(LongitudinalPlanningInput input, out QpSolverSettings settings,
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out TimeSpan totalBudget, out double convergenceTolerance, out int iterationLimit, out string failureReason)
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{
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settings = null;
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totalBudget = TimeSpan.Zero;
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convergenceTolerance = 0d;
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iterationLimit = 0;
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failureReason = string.Empty;
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if (input.Configuration == null || input.Configuration.Solver == null || input.Configuration.Scheduling == null)
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{
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failureReason = "Longitudinal solver configuration is required.";
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return false;
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}
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SolverConfiguration solver = input.Configuration.Solver;
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SchedulingConfiguration scheduling = input.Configuration.Scheduling;
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if (solver.MaximumOuterIterations <= 0 || solver.MaximumOsqpIterations <= 0 ||
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!IsPositiveFinite(solver.AbsoluteTolerance) || !IsPositiveFinite(solver.RelativeTolerance) ||
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!IsPositiveFinite(solver.StrictResidualTolerance) || !IsPositiveFinite(scheduling.SolverTimeoutSeconds))
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{
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failureReason = "Longitudinal solver configuration is invalid.";
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return false;
|
||||||
|
}
|
||||||
|
try
|
||||||
|
{
|
||||||
|
totalBudget = TimeSpan.FromSeconds(scheduling.SolverTimeoutSeconds);
|
||||||
|
settings = new QpSolverSettings(solver.MaximumOsqpIterations, solver.AbsoluteTolerance, solver.RelativeTolerance,
|
||||||
|
totalBudget, solver.WarmStart, solver.Polish, solver.NativeVerbose);
|
||||||
|
convergenceTolerance = solver.StrictResidualTolerance;
|
||||||
|
iterationLimit = Math.Min(MaximumEnvelopeIterations, solver.MaximumOuterIterations);
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
catch (ArgumentException exception)
|
||||||
|
{
|
||||||
|
failureReason = exception.Message;
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
private static LongitudinalCandidate CreateInitialIterate(LongitudinalPlanningInput input)
|
||||||
|
{
|
||||||
|
IReadOnlyList<double> times = LongitudinalCandidate.CreateKnotTimes(input.Configuration.Scheduling.TimeHorizonSeconds,
|
||||||
|
input.Configuration.Scheduling.OutputTimeStepSeconds);
|
||||||
|
if (TryCreateCruiseThenBrakeSeed(input, times, out LongitudinalCandidate brakingSeed))
|
||||||
|
return brakingSeed;
|
||||||
|
int knotCount = times.Count;
|
||||||
|
var s = new double[knotCount];
|
||||||
|
var u = new double[knotCount];
|
||||||
|
var a = new double[knotCount];
|
||||||
|
var j = new double[knotCount - 1];
|
||||||
|
double horizon = times[knotCount - 1];
|
||||||
|
double requestedSpeed = Math.Min(input.DirectionMaximumSpeedMetersPerSecond,
|
||||||
|
Math.Max(0d, input.TerminalPathS / horizon));
|
||||||
|
LongitudinalStoppingProfile terminalStop = LongitudinalStoppingMath.Calculate(requestedSpeed, 0d,
|
||||||
|
input.Configuration.Longitudinal.MaximumDecelerationMetersPerSecondSquared,
|
||||||
|
input.Configuration.Longitudinal.MaximumJerkMetersPerSecondCubed);
|
||||||
|
double cruiseDistance = Math.Max(0d, input.TerminalPathS - terminalStop.DistanceMeters);
|
||||||
|
for (int index = 0; index < knotCount; index++)
|
||||||
|
{
|
||||||
|
double fraction = (double)index / (knotCount - 1);
|
||||||
|
s[index] = Math.Min(input.TerminalPathS, cruiseDistance * fraction + terminalStop.DistanceMeters * fraction * fraction);
|
||||||
|
u[index] = index == 0 ? input.InitialProgressSpeedMetersPerSecond : requestedSpeed;
|
||||||
|
a[index] = index == 0 ? input.InitialAccelerationMetersPerSecondSquared : 0d;
|
||||||
|
}
|
||||||
|
s[0] = 0d;
|
||||||
|
s[knotCount - 1] = input.TerminalPathS;
|
||||||
|
u[knotCount - 1] = 0d;
|
||||||
|
a[knotCount - 1] = 0d;
|
||||||
|
return new LongitudinalCandidate(times, s, u, a, j);
|
||||||
|
}
|
||||||
|
|
||||||
|
private static bool TryCreateCruiseThenBrakeSeed(LongitudinalPlanningInput input, IReadOnlyList<double> times,
|
||||||
|
out LongitudinalCandidate candidate)
|
||||||
|
{
|
||||||
|
candidate = null;
|
||||||
|
double initialSpeed = input.InitialProgressSpeedMetersPerSecond;
|
||||||
|
double initialAcceleration = input.InitialAccelerationMetersPerSecondSquared;
|
||||||
|
if (initialSpeed <= 0d || Math.Abs(initialAcceleration) > 1e-12d)
|
||||||
|
return false;
|
||||||
|
double timeStep = times[1] - times[0];
|
||||||
|
for (int index = 1; index < times.Count - 1; index++)
|
||||||
|
{
|
||||||
|
if (Math.Abs((times[index + 1] - times[index]) - timeStep) > 1e-12d)
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
LongitudinalConfiguration configuration = input.Configuration.Longitudinal;
|
||||||
|
int intervalCount = times.Count - 1;
|
||||||
|
int maximumRampIntervals = Math.Min(intervalCount / 2, checked((int)Math.Floor(
|
||||||
|
configuration.MaximumDecelerationMetersPerSecondSquared /
|
||||||
|
(configuration.MaximumJerkMetersPerSecondCubed * timeStep))));
|
||||||
|
for (int rampIntervals = maximumRampIntervals; rampIntervals >= 1; rampIntervals--)
|
||||||
|
{
|
||||||
|
for (int plateauIntervals = 0; 2 * rampIntervals + plateauIntervals <= intervalCount; plateauIntervals++)
|
||||||
|
{
|
||||||
|
double jerkMagnitude = initialSpeed / (rampIntervals * (rampIntervals + plateauIntervals) *
|
||||||
|
timeStep * timeStep);
|
||||||
|
double peakDeceleration = jerkMagnitude * rampIntervals * timeStep;
|
||||||
|
if (jerkMagnitude > configuration.MaximumJerkMetersPerSecondCubed + 1e-12d ||
|
||||||
|
peakDeceleration > configuration.MaximumDecelerationMetersPerSecondSquared + 1e-12d)
|
||||||
|
{
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
int brakingIntervals = 2 * rampIntervals + plateauIntervals;
|
||||||
|
double brakingDistance = 0.5d * initialSpeed * brakingIntervals * timeStep;
|
||||||
|
if (brakingDistance > input.TerminalPathS + 1e-12d)
|
||||||
|
continue;
|
||||||
|
int maximumCruiseIntervals = intervalCount - brakingIntervals;
|
||||||
|
int cruiseIntervals = Math.Min(maximumCruiseIntervals, Math.Max(0, checked((int)Math.Floor(
|
||||||
|
(input.TerminalPathS - brakingDistance) / (initialSpeed * timeStep) + 1e-12d))));
|
||||||
|
var jerk = new double[intervalCount];
|
||||||
|
int cursor = cruiseIntervals;
|
||||||
|
for (int index = 0; index < rampIntervals; index++)
|
||||||
|
jerk[cursor++] = -jerkMagnitude;
|
||||||
|
cursor += plateauIntervals;
|
||||||
|
for (int index = 0; index < rampIntervals; index++)
|
||||||
|
jerk[cursor++] = jerkMagnitude;
|
||||||
|
LongitudinalCandidate integrated = LongitudinalCandidate.Integrate(times, 0d, initialSpeed, 0d, jerk);
|
||||||
|
if (integrated.S[integrated.S.Count - 1] <= input.TerminalPathS + 1e-12d)
|
||||||
|
{
|
||||||
|
candidate = integrated;
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
private static bool TryCreateCandidate(IReadOnlyList<double> times, IReadOnlyList<double> primal,
|
||||||
|
out LongitudinalCandidate candidate)
|
||||||
|
{
|
||||||
|
candidate = null;
|
||||||
|
if (primal == null)
|
||||||
|
return false;
|
||||||
|
try
|
||||||
|
{
|
||||||
|
var layout = new LongitudinalVariableLayout(times.Count);
|
||||||
|
if (primal.Count != layout.VariableCount)
|
||||||
|
return false;
|
||||||
|
var s = new double[layout.KnotCount];
|
||||||
|
var u = new double[layout.KnotCount];
|
||||||
|
var a = new double[layout.KnotCount];
|
||||||
|
var j = new double[layout.KnotCount - 1];
|
||||||
|
for (int index = 0; index < layout.KnotCount; index++)
|
||||||
|
{
|
||||||
|
s[index] = primal[layout.S(index)];
|
||||||
|
u[index] = primal[layout.U(index)];
|
||||||
|
a[index] = primal[layout.A(index)];
|
||||||
|
}
|
||||||
|
for (int index = 0; index < layout.KnotCount - 1; index++)
|
||||||
|
j[index] = primal[layout.J(index)];
|
||||||
|
candidate = new LongitudinalCandidate(times, s, u, a, j);
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
catch (ArgumentException)
|
||||||
|
{
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
private static double[] ToPrimal(LongitudinalCandidate candidate)
|
||||||
|
{
|
||||||
|
var layout = new LongitudinalVariableLayout(candidate.KnotTimes.Count);
|
||||||
|
var primal = new double[layout.VariableCount];
|
||||||
|
for (int index = 0; index < layout.KnotCount; index++)
|
||||||
|
{
|
||||||
|
primal[layout.S(index)] = candidate.S[index];
|
||||||
|
primal[layout.U(index)] = candidate.U[index];
|
||||||
|
primal[layout.A(index)] = candidate.A[index];
|
||||||
|
}
|
||||||
|
for (int index = 0; index < layout.KnotCount - 1; index++)
|
||||||
|
primal[layout.J(index)] = candidate.J[index];
|
||||||
|
return primal;
|
||||||
|
}
|
||||||
|
|
||||||
|
private static bool TryCreateEnvelopeIterate(LongitudinalPlanningInput input, LongitudinalCandidate previous,
|
||||||
|
LongitudinalCandidate candidate, out LongitudinalCandidate nextIterate)
|
||||||
|
{
|
||||||
|
nextIterate = null;
|
||||||
|
if (candidate.S.Count != previous.S.Count)
|
||||||
|
return false;
|
||||||
|
var candidateProgressSamples = new double[candidate.S.Count];
|
||||||
|
double priorProgress = double.NegativeInfinity;
|
||||||
|
double priorPreviousProgress = double.NegativeInfinity;
|
||||||
|
for (int index = 0; index < candidate.S.Count; index++)
|
||||||
|
{
|
||||||
|
double candidateProgress = candidate.S[index];
|
||||||
|
double previousProgress = previous.S[index];
|
||||||
|
if (!IsFinite(previousProgress) || previousProgress < 0d || previousProgress > input.TerminalPathS ||
|
||||||
|
previousProgress < priorPreviousProgress)
|
||||||
|
{
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
if (!IsFinite(candidateProgress))
|
||||||
|
{
|
||||||
|
candidateProgress = previousProgress;
|
||||||
|
}
|
||||||
|
candidateProgress = Math.Max(0d, Math.Min(input.TerminalPathS, candidateProgress));
|
||||||
|
if (index == candidate.S.Count - 1)
|
||||||
|
candidateProgress = input.TerminalPathS;
|
||||||
|
candidateProgress = Math.Max(priorProgress, candidateProgress);
|
||||||
|
candidateProgressSamples[index] = candidateProgress;
|
||||||
|
priorProgress = candidateProgress;
|
||||||
|
priorPreviousProgress = previousProgress;
|
||||||
|
}
|
||||||
|
var progress = new double[candidate.S.Count];
|
||||||
|
double previousNextProgress = 0d;
|
||||||
|
for (int index = 0; index < progress.Length; index++)
|
||||||
|
{
|
||||||
|
double candidateProgress = candidateProgressSamples[index];
|
||||||
|
if (index == 0 || index == progress.Length - 1 || candidateProgress >= input.TerminalPathS)
|
||||||
|
{
|
||||||
|
progress[index] = candidateProgress;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
double timeStep = candidate.KnotTimes[index + 1] - candidate.KnotTimes[index];
|
||||||
|
double iterationAdvance = Math.Max(0d, candidateProgress - previous.S[index]);
|
||||||
|
double candidateSpeed = IsFinite(candidate.U[index]) ? Math.Max(0d, candidate.U[index]) : 0d;
|
||||||
|
double lookaheadAdvance = IsFinite(candidate.U[index])
|
||||||
|
? OrdinaryEnvelopeProbeLookaheadSteps * candidateSpeed * timeStep
|
||||||
|
: 0d;
|
||||||
|
double terminalLimitedAdvance = OrdinaryTerminalProbeFraction *
|
||||||
|
(input.TerminalPathS - candidateProgress);
|
||||||
|
double advance = Math.Min(Math.Max(iterationAdvance, lookaheadAdvance), terminalLimitedAdvance);
|
||||||
|
progress[index] = candidateProgress + advance;
|
||||||
|
}
|
||||||
|
progress[index] = Math.Max(previousNextProgress, progress[index]);
|
||||||
|
previousNextProgress = progress[index];
|
||||||
|
}
|
||||||
|
nextIterate = new LongitudinalCandidate(candidate.KnotTimes, progress, previous.U, previous.A, previous.J);
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
private static bool HasStrictResiduals(QpSolveResult result, double tolerance)
|
||||||
|
{
|
||||||
|
return IsPositiveFinite(tolerance) && result.PrimalResidual >= 0d && result.DualResidual >= 0d &&
|
||||||
|
result.PrimalResidual <= tolerance && result.DualResidual <= tolerance;
|
||||||
|
}
|
||||||
|
|
||||||
|
private static string CreateEnvelopeDiagnostic(PathSpeedLimit speedLimit, LongitudinalCandidate iterate,
|
||||||
|
LongitudinalCandidate candidate, int iteration)
|
||||||
|
{
|
||||||
|
int worstIndex = -1;
|
||||||
|
double worstExcess = double.NegativeInfinity;
|
||||||
|
for (int index = 0; index < candidate.S.Count; index++)
|
||||||
|
{
|
||||||
|
if (!IsFinite(candidate.S[index]) || !IsFinite(candidate.U[index]))
|
||||||
|
continue;
|
||||||
|
double candidateProgress = Math.Max(0d, Math.Min(speedLimit.TerminalPathS, candidate.S[index]));
|
||||||
|
double limit = speedLimit.MaximumSpeedAt(candidateProgress);
|
||||||
|
double excess = candidate.U[index] - limit;
|
||||||
|
if (excess > worstExcess)
|
||||||
|
{
|
||||||
|
worstExcess = excess;
|
||||||
|
worstIndex = index;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if (worstIndex < 0)
|
||||||
|
return "";
|
||||||
|
return " Envelope iteration " + iteration + " used PathS=" + iterate.S[worstIndex] +
|
||||||
|
" and produced PathS=" + candidate.S[worstIndex] + " at its largest speed-envelope excess.";
|
||||||
|
}
|
||||||
|
|
||||||
|
private static double MaximumProgressOrSpeedChange(LongitudinalCandidate previous, LongitudinalCandidate current)
|
||||||
|
{
|
||||||
|
double maximum = 0d;
|
||||||
|
for (int index = 0; index < previous.S.Count; index++)
|
||||||
|
{
|
||||||
|
maximum = Math.Max(maximum, Math.Abs(current.S[index] - previous.S[index]));
|
||||||
|
maximum = Math.Max(maximum, Math.Abs(current.U[index] - previous.U[index]));
|
||||||
|
}
|
||||||
|
return maximum;
|
||||||
|
}
|
||||||
|
|
||||||
|
private static double RelativeObjectiveImprovement(double previous, double current)
|
||||||
|
{
|
||||||
|
return Math.Abs(previous - current) / Math.Max(1d, Math.Abs(previous));
|
||||||
|
}
|
||||||
|
|
||||||
|
private static LongitudinalPlanningResult FallbackOrFailure(LongitudinalCandidate candidate,
|
||||||
|
EmPlanningStatus failureStatus, string failureReason)
|
||||||
|
{
|
||||||
|
return candidate == null
|
||||||
|
? Failed(failureStatus, failureReason)
|
||||||
|
: new LongitudinalPlanningResult(EmPlanningStatus.SuccessWithFallback, candidate, failureReason);
|
||||||
|
}
|
||||||
|
|
||||||
|
private static LongitudinalPlanningResult Failed(EmPlanningStatus status, string reason)
|
||||||
|
{
|
||||||
|
return new LongitudinalPlanningResult(status, null, reason);
|
||||||
|
}
|
||||||
|
|
||||||
|
private static LongitudinalCandidate CopyCandidate(LongitudinalCandidate source)
|
||||||
|
{
|
||||||
|
return new LongitudinalCandidate(source.KnotTimes, source.S, source.U, source.A, source.J);
|
||||||
|
}
|
||||||
|
|
||||||
|
private static bool IsPositiveFinite(double value)
|
||||||
|
{
|
||||||
|
return IsFinite(value) && value > 0d;
|
||||||
|
}
|
||||||
|
|
||||||
|
private static bool IsFinite(double value)
|
||||||
|
{
|
||||||
|
return !double.IsNaN(value) && !double.IsInfinity(value);
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,484 @@
|
|||||||
|
using System;
|
||||||
|
using System.Collections.Generic;
|
||||||
|
using System.Diagnostics;
|
||||||
|
using System.IO;
|
||||||
|
using System.Threading;
|
||||||
|
using EMPlannerVerificationHost;
|
||||||
|
using MultiWheelC.TrajectoryPlanning.CoarsePath;
|
||||||
|
|
||||||
|
namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
|
||||||
|
|
||||||
|
internal static class LongitudinalIntegrationChecks
|
||||||
|
{
|
||||||
|
public static void Run()
|
||||||
|
{
|
||||||
|
VerifiesLastStrictCandidateSurvivesLaterTimeout();
|
||||||
|
VerifiesInvalidAndInaccurateCandidatesNeverBecomeFallbacks();
|
||||||
|
VerifiesEnvelopeLinearizationAdvancesAfterStrictRejection();
|
||||||
|
VerifiesRejectedTerminalPathSStillUpdatesEnvelope();
|
||||||
|
VerifiesValidatedEndpointsAreCanonical();
|
||||||
|
VerifiesWarmStartAndFiveIterationLimit();
|
||||||
|
VerifiesNonzeroSpeedSeedIsStrictlyFeasible();
|
||||||
|
VerifiesCancellationInfeasibilityAndPlannerDelegation();
|
||||||
|
RunRealOsqpInCleanPluginBundle();
|
||||||
|
}
|
||||||
|
|
||||||
|
public static void RunRealOsqp()
|
||||||
|
{
|
||||||
|
foreach (LongitudinalScenario scenario in CreateRealOsqpScenarios())
|
||||||
|
{
|
||||||
|
LongitudinalPlanningResult first = new LongitudinalPlanner(new OsqpNativeSolver()).Plan(scenario.Input,
|
||||||
|
CancellationToken.None);
|
||||||
|
LongitudinalPlanningResult second = new LongitudinalPlanner(new OsqpNativeSolver()).Plan(scenario.Input,
|
||||||
|
CancellationToken.None);
|
||||||
|
VerifyRealScenario(scenario, first);
|
||||||
|
VerifyRealScenario(scenario, second);
|
||||||
|
VerifyDeterministicResult(scenario.Name, first, second);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
private static void RunRealOsqpInCleanPluginBundle()
|
||||||
|
{
|
||||||
|
string pluginDirectory = Path.Combine(Path.GetTempPath(), "em-planner-longitudinal-real-" + Guid.NewGuid().ToString("N"));
|
||||||
|
try
|
||||||
|
{
|
||||||
|
Directory.CreateDirectory(pluginDirectory);
|
||||||
|
foreach (string sourcePath in Directory.GetFiles(AppContext.BaseDirectory))
|
||||||
|
File.Copy(sourcePath, Path.Combine(pluginDirectory, Path.GetFileName(sourcePath)), false);
|
||||||
|
string nativeSource = Path.GetFullPath(Path.Combine(AppContext.BaseDirectory, "..", "..", "..", "..", "..",
|
||||||
|
"ThirdParty", "OSQP", "win-x64", "osqp.dll"));
|
||||||
|
Verification.True(File.Exists(nativeSource), "pinned OSQP DLL is available for the real longitudinal bundle");
|
||||||
|
File.Copy(nativeSource, Path.Combine(pluginDirectory, "osqp.dll"), true);
|
||||||
|
|
||||||
|
var startInfo = new ProcessStartInfo
|
||||||
|
{
|
||||||
|
FileName = Path.Combine(pluginDirectory, "EMPlannerVerificationHost.exe"),
|
||||||
|
Arguments = "longitudinal-real-osqp-probe",
|
||||||
|
WorkingDirectory = pluginDirectory,
|
||||||
|
UseShellExecute = false,
|
||||||
|
CreateNoWindow = true,
|
||||||
|
RedirectStandardOutput = true,
|
||||||
|
RedirectStandardError = true,
|
||||||
|
};
|
||||||
|
using (var process = new Process { StartInfo = startInfo })
|
||||||
|
{
|
||||||
|
process.Start();
|
||||||
|
string standardOutput = process.StandardOutput.ReadToEnd();
|
||||||
|
string standardError = process.StandardError.ReadToEnd();
|
||||||
|
process.WaitForExit();
|
||||||
|
if (process.ExitCode != 0 || standardOutput.IndexOf("PASS longitudinal-real-osqp", StringComparison.Ordinal) < 0)
|
||||||
|
{
|
||||||
|
throw new InvalidOperationException("Real longitudinal OSQP clean-plugin probe exited " + process.ExitCode + ": " +
|
||||||
|
standardError + standardOutput);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
finally
|
||||||
|
{
|
||||||
|
if (Directory.Exists(pluginDirectory))
|
||||||
|
Directory.Delete(pluginDirectory, true);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
private static void VerifiesLastStrictCandidateSurvivesLaterTimeout()
|
||||||
|
{
|
||||||
|
LongitudinalPlanningInput input = CreateFakeInput(out LongitudinalCandidate valid);
|
||||||
|
var solver = new FakeQpSolver(new[]
|
||||||
|
{
|
||||||
|
Result(QpSolveStatus.Solved, ToPrimal(valid), 10d),
|
||||||
|
Result(QpSolveStatus.TimeLimit, Array.Empty<double>(), 10d),
|
||||||
|
});
|
||||||
|
|
||||||
|
LongitudinalPlanningResult result = new SequentialLongitudinalOptimizer(solver).Optimize(input,
|
||||||
|
CancellationToken.None);
|
||||||
|
Verification.Equal(EmPlanningStatus.SuccessWithFallback, result.Status,
|
||||||
|
"timeout after strict candidate returns fallback success");
|
||||||
|
LongitudinalCandidate fallback = result.Candidate ?? throw new InvalidOperationException("Fallback candidate was missing.");
|
||||||
|
Verification.NearlyEqual(valid.S[1], fallback.S[1], "last strict candidate remains the fallback");
|
||||||
|
}
|
||||||
|
|
||||||
|
private static void VerifiesInvalidAndInaccurateCandidatesNeverBecomeFallbacks()
|
||||||
|
{
|
||||||
|
LongitudinalPlanningInput input = CreateFakeInput(out LongitudinalCandidate valid);
|
||||||
|
double[] invalid = ToPrimal(valid);
|
||||||
|
var layout = new LongitudinalVariableLayout(valid.KnotTimes.Count);
|
||||||
|
invalid[layout.U(1)] = 10d;
|
||||||
|
var invalidSolver = new FakeQpSolver(new[]
|
||||||
|
{
|
||||||
|
Result(QpSolveStatus.Solved, invalid, 1d),
|
||||||
|
Result(QpSolveStatus.TimeLimit, Array.Empty<double>(), 1d),
|
||||||
|
});
|
||||||
|
LongitudinalPlanningResult invalidResult = new SequentialLongitudinalOptimizer(invalidSolver).Optimize(input,
|
||||||
|
CancellationToken.None);
|
||||||
|
Verification.Equal(EmPlanningStatus.SolverTimedOut, invalidResult.Status,
|
||||||
|
"invalid solver vector cannot become fallback");
|
||||||
|
Verification.True(invalidResult.Candidate == null, "invalid solver vector publishes no candidate");
|
||||||
|
|
||||||
|
var inaccurateSolver = new FakeQpSolver(new[]
|
||||||
|
{
|
||||||
|
Result(QpSolveStatus.SolvedInaccurate, ToPrimal(valid), 1d, 2e-5d, 0d),
|
||||||
|
Result(QpSolveStatus.TimeLimit, Array.Empty<double>(), 1d),
|
||||||
|
});
|
||||||
|
LongitudinalPlanningResult inaccurateResult = new SequentialLongitudinalOptimizer(inaccurateSolver).Optimize(input,
|
||||||
|
CancellationToken.None);
|
||||||
|
Verification.Equal(EmPlanningStatus.SolverTimedOut, inaccurateResult.Status,
|
||||||
|
"inaccurate residual candidate cannot become fallback");
|
||||||
|
Verification.True(inaccurateResult.Candidate == null, "inaccurate residual publishes no candidate");
|
||||||
|
double[] inaccuratePrimal = ToPrimal(valid);
|
||||||
|
for (int index = 0; index < inaccuratePrimal.Length; index++)
|
||||||
|
{
|
||||||
|
Verification.NearlyEqual(inaccuratePrimal[index], inaccurateSolver.WarmStarts[1][index],
|
||||||
|
"inaccurate finite primal only warms the next ST QP " + index);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
private static void VerifiesWarmStartAndFiveIterationLimit()
|
||||||
|
{
|
||||||
|
LongitudinalPlanningInput input = CreateFakeInput(out LongitudinalCandidate valid);
|
||||||
|
var firstSolveOnly = new FakeQpSolver(Result(QpSolveStatus.TimeLimit, Array.Empty<double>(), 1d));
|
||||||
|
new SequentialLongitudinalOptimizer(firstSolveOnly).Optimize(input, CancellationToken.None);
|
||||||
|
Verification.Equal(true, firstSolveOnly.LastSettings != null && firstSolveOnly.LastSettings.EnableWarmStart,
|
||||||
|
"first ST solve enables a dynamics-consistent native warm start");
|
||||||
|
Verification.True(FromPrimal(valid.KnotTimes, firstSolveOnly.WarmStarts[0]).SatisfiesExactDiscreteDynamics(1e-12d),
|
||||||
|
"first ST warm start satisfies exact constant-jerk dynamics");
|
||||||
|
|
||||||
|
var results = new List<QpSolveResult>();
|
||||||
|
for (int index = 0; index < 5; index++)
|
||||||
|
results.Add(Result(QpSolveStatus.Solved, ToPrimal(valid), 100d - 10d * index));
|
||||||
|
var solver = new FakeQpSolver(results);
|
||||||
|
|
||||||
|
LongitudinalPlanningResult result = new SequentialLongitudinalOptimizer(solver).Optimize(input,
|
||||||
|
CancellationToken.None);
|
||||||
|
Verification.Equal(EmPlanningStatus.Success, result.Status, "five solved iterations publish success");
|
||||||
|
Verification.Equal(5, solver.SolveCallCount, "ST has a hard five-envelope-iteration maximum");
|
||||||
|
Verification.Equal(new LongitudinalVariableLayout(valid.KnotTimes.Count).VariableCount, solver.WarmStarts[0].Count,
|
||||||
|
"first ST linearization seed remains a complete primal vector");
|
||||||
|
Verification.Equal(true, solver.LastSettings != null && solver.LastSettings.EnableWarmStart,
|
||||||
|
"later ST solves enable native warm start");
|
||||||
|
for (int index = 0; index < solver.WarmStarts[1].Count; index++)
|
||||||
|
Verification.NearlyEqual(ToPrimal(valid)[index], solver.WarmStarts[1][index], "strict candidate warms the next QP " + index);
|
||||||
|
}
|
||||||
|
|
||||||
|
private static void VerifiesEnvelopeLinearizationAdvancesAfterStrictRejection()
|
||||||
|
{
|
||||||
|
LongitudinalPlanningInput baseline = CreateFakeInput(out LongitudinalCandidate candidate);
|
||||||
|
var curvedPath = new LateralPath(new[]
|
||||||
|
{
|
||||||
|
Point(0d, 0d, 0d),
|
||||||
|
Point(1d, candidate.S[1], 10000d),
|
||||||
|
Point(2d, baseline.TerminalPathS, 0d),
|
||||||
|
}, true);
|
||||||
|
var input = new LongitudinalPlanningInput(curvedPath, TravelDirection.Forward,
|
||||||
|
baseline.InitialProgressSpeedMetersPerSecond, baseline.InitialAccelerationMetersPerSecondSquared,
|
||||||
|
baseline.TerminalType, baseline.Configuration, Array.Empty<double>(), Array.Empty<double>());
|
||||||
|
EmPlanningStatus speedStatus = new PathSpeedLimitBuilder().Build(input, out PathSpeedLimit envelope,
|
||||||
|
out string speedFailure);
|
||||||
|
Verification.Equal(EmPlanningStatus.Success, speedStatus, "curved-envelope setup: " + speedFailure);
|
||||||
|
Verification.True(candidate.U[1] > envelope.MaximumSpeedAt(candidate.S[1]),
|
||||||
|
"scripted candidate violates its own curvature speed envelope");
|
||||||
|
var solver = new FakeQpSolver(new[]
|
||||||
|
{
|
||||||
|
Result(QpSolveStatus.Solved, ToPrimal(candidate), 2d),
|
||||||
|
Result(QpSolveStatus.TimeLimit, Array.Empty<double>(), 2d),
|
||||||
|
});
|
||||||
|
|
||||||
|
new SequentialLongitudinalOptimizer(solver).Optimize(input, CancellationToken.None);
|
||||||
|
Verification.Equal(2, solver.SolveCallCount, "rejected candidate reaches the next envelope iteration");
|
||||||
|
var layout = new LongitudinalVariableLayout(candidate.KnotTimes.Count);
|
||||||
|
FindSingleVariableBounds(solver.Problems[1], layout.U(1), out _, out double secondUpper);
|
||||||
|
double initialProgress = solver.WarmStarts[0][layout.S(1)];
|
||||||
|
double timeStep = candidate.KnotTimes[2] - candidate.KnotTimes[1];
|
||||||
|
double expectedAdvance = Math.Max(Math.Max(0d, candidate.S[1] - initialProgress), candidate.U[1] * timeStep);
|
||||||
|
double expectedProgress = candidate.S[1] + Math.Min(expectedAdvance,
|
||||||
|
0.5d * (input.TerminalPathS - candidate.S[1]));
|
||||||
|
Verification.True(expectedProgress > candidate.S[1], "scripted rejection advances the ST PathS envelope probe");
|
||||||
|
Verification.NearlyEqual(envelope.MaximumSpeedAt(expectedProgress), secondUpper,
|
||||||
|
"next ST QP samples the bounded forward-extrapolated PathS envelope");
|
||||||
|
}
|
||||||
|
|
||||||
|
private static void VerifiesRejectedTerminalPathSStillUpdatesEnvelope()
|
||||||
|
{
|
||||||
|
LongitudinalPlanningInput baseline = CreateFakeInput(out LongitudinalCandidate valid);
|
||||||
|
double[] perturbedProgress = new double[valid.S.Count];
|
||||||
|
for (int index = 0; index < perturbedProgress.Length; index++)
|
||||||
|
perturbedProgress[index] = valid.S[index];
|
||||||
|
perturbedProgress[perturbedProgress.Length - 1] += 0.05d;
|
||||||
|
var toleranceCandidate = new LongitudinalCandidate(valid.KnotTimes, perturbedProgress, valid.U, valid.A, valid.J);
|
||||||
|
var curvedPath = new LateralPath(new[]
|
||||||
|
{
|
||||||
|
Point(0d, 0d, 0d),
|
||||||
|
Point(1d, valid.S[1], 10000d),
|
||||||
|
Point(2d, baseline.TerminalPathS, 0d),
|
||||||
|
}, true);
|
||||||
|
var input = new LongitudinalPlanningInput(curvedPath, TravelDirection.Forward,
|
||||||
|
baseline.InitialProgressSpeedMetersPerSecond, baseline.InitialAccelerationMetersPerSecondSquared,
|
||||||
|
baseline.TerminalType, baseline.Configuration, Array.Empty<double>(), Array.Empty<double>());
|
||||||
|
var solver = new FakeQpSolver(new[]
|
||||||
|
{
|
||||||
|
Result(QpSolveStatus.Solved, ToPrimal(toleranceCandidate), 2d),
|
||||||
|
Result(QpSolveStatus.TimeLimit, Array.Empty<double>(), 2d),
|
||||||
|
});
|
||||||
|
|
||||||
|
new SequentialLongitudinalOptimizer(solver).Optimize(input, CancellationToken.None);
|
||||||
|
Verification.Equal(2, solver.SolveCallCount, "rejected terminal PathS still reaches a new envelope iteration");
|
||||||
|
var layout = new LongitudinalVariableLayout(valid.KnotTimes.Count);
|
||||||
|
FindSingleVariableBounds(solver.Problems[0], layout.U(1), out _, out double firstUpper);
|
||||||
|
FindSingleVariableBounds(solver.Problems[1], layout.U(1), out _, out double secondUpper);
|
||||||
|
Verification.True(Math.Abs(firstUpper - secondUpper) > 1e-12d,
|
||||||
|
"rejected terminal PathS is projected before the next envelope sample");
|
||||||
|
}
|
||||||
|
|
||||||
|
private static void VerifiesCancellationInfeasibilityAndPlannerDelegation()
|
||||||
|
{
|
||||||
|
LongitudinalPlanningInput input = CreateFakeInput(out LongitudinalCandidate valid);
|
||||||
|
using (var cancellation = new CancellationTokenSource())
|
||||||
|
{
|
||||||
|
cancellation.Cancel();
|
||||||
|
var cancellationSolver = new FakeQpSolver(Result(QpSolveStatus.Solved, ToPrimal(valid), 1d));
|
||||||
|
LongitudinalPlanningResult cancelled = new SequentialLongitudinalOptimizer(cancellationSolver).Optimize(input,
|
||||||
|
cancellation.Token);
|
||||||
|
Verification.Equal(EmPlanningStatus.Cancelled, cancelled.Status, "cancellation before QP solve");
|
||||||
|
Verification.Equal(0, cancellationSolver.SolveCallCount, "cancelled ST does not call the QP solver");
|
||||||
|
}
|
||||||
|
|
||||||
|
var infeasibleSolver = new FakeQpSolver(Result(QpSolveStatus.PrimalInfeasible, Array.Empty<double>(), 1d));
|
||||||
|
LongitudinalPlanningResult infeasible = new SequentialLongitudinalOptimizer(infeasibleSolver).Optimize(input,
|
||||||
|
CancellationToken.None);
|
||||||
|
Verification.Equal(EmPlanningStatus.LongitudinalInfeasible, infeasible.Status, "QP infeasibility is longitudinal");
|
||||||
|
|
||||||
|
var plannerSolver = new FakeQpSolver(new[]
|
||||||
|
{
|
||||||
|
Result(QpSolveStatus.Solved, ToPrimal(valid), 2d),
|
||||||
|
Result(QpSolveStatus.Solved, ToPrimal(valid), 1d),
|
||||||
|
Result(QpSolveStatus.Solved, ToPrimal(valid), 1d),
|
||||||
|
});
|
||||||
|
LongitudinalPlanningResult delegated = new LongitudinalPlanner(plannerSolver).Plan(input, CancellationToken.None);
|
||||||
|
Verification.Equal(EmPlanningStatus.Success, delegated.Status, "LongitudinalPlanner delegates to the ST optimizer");
|
||||||
|
}
|
||||||
|
|
||||||
|
private static void VerifiesNonzeroSpeedSeedIsStrictlyFeasible()
|
||||||
|
{
|
||||||
|
LongitudinalPlanningInput input = CreateRealScenario("seed", TravelDirection.Forward, 0.20d, 0d, 0.20d, 0d).Input;
|
||||||
|
var solver = new FakeQpSolver(Result(QpSolveStatus.TimeLimit, Array.Empty<double>(), 1d));
|
||||||
|
LongitudinalPlanningResult result = new SequentialLongitudinalOptimizer(solver).Optimize(input,
|
||||||
|
CancellationToken.None);
|
||||||
|
IReadOnlyList<double> times = LongitudinalCandidate.CreateKnotTimes(
|
||||||
|
input.Configuration.Scheduling.TimeHorizonSeconds, input.Configuration.Scheduling.OutputTimeStepSeconds);
|
||||||
|
LongitudinalCandidate seed = FromPrimal(times, solver.WarmStarts[0]);
|
||||||
|
EmPlanningStatus speedStatus = new PathSpeedLimitBuilder().Build(input, out PathSpeedLimit envelope,
|
||||||
|
out string speedFailure);
|
||||||
|
Verification.Equal(EmPlanningStatus.Success, speedStatus, "nonzero-speed seed envelope: " + speedFailure);
|
||||||
|
Verification.True(new LongitudinalSolutionValidator().TryValidate(input, envelope, seed, out _,
|
||||||
|
out string validationFailure), "nonzero-speed seed is strictly feasible: " + validationFailure);
|
||||||
|
Verification.Equal(EmPlanningStatus.SuccessWithFallback, result.Status,
|
||||||
|
"strictly validated initial seed survives an immediate solver timeout");
|
||||||
|
Verification.True(result.Candidate != null,
|
||||||
|
"strictly validated initial seed is retained as the timeout fallback");
|
||||||
|
}
|
||||||
|
|
||||||
|
private static void VerifiesValidatedEndpointsAreCanonical()
|
||||||
|
{
|
||||||
|
LongitudinalPlanningInput input = CreateFakeInput(out LongitudinalCandidate valid);
|
||||||
|
double toleranceOffset = 0.5d * input.Configuration.Validation.KinematicTolerance;
|
||||||
|
double[] progress = new double[valid.S.Count];
|
||||||
|
double[] speed = new double[valid.U.Count];
|
||||||
|
for (int index = 0; index < progress.Length; index++)
|
||||||
|
{
|
||||||
|
progress[index] = valid.S[index];
|
||||||
|
speed[index] = valid.U[index];
|
||||||
|
}
|
||||||
|
progress[progress.Length - 1] += toleranceOffset;
|
||||||
|
speed[speed.Length - 1] += toleranceOffset;
|
||||||
|
var toleranceCandidate = new LongitudinalCandidate(valid.KnotTimes, progress, speed, valid.A, valid.J);
|
||||||
|
var solver = new FakeQpSolver(new[]
|
||||||
|
{
|
||||||
|
Result(QpSolveStatus.Solved, ToPrimal(toleranceCandidate), 2d),
|
||||||
|
Result(QpSolveStatus.TimeLimit, Array.Empty<double>(), 2d),
|
||||||
|
});
|
||||||
|
|
||||||
|
LongitudinalPlanningResult result = new SequentialLongitudinalOptimizer(solver).Optimize(input,
|
||||||
|
CancellationToken.None);
|
||||||
|
|
||||||
|
Verification.Equal(EmPlanningStatus.SuccessWithFallback, result.Status,
|
||||||
|
"canonical strict candidate remains the timeout fallback");
|
||||||
|
LongitudinalCandidate canonical = result.Candidate ??
|
||||||
|
throw new InvalidOperationException("Canonical fallback candidate was missing.");
|
||||||
|
Verification.Equal(input.TerminalPathS, canonical.S[canonical.S.Count - 1],
|
||||||
|
"validated terminal PathS is canonicalized exactly");
|
||||||
|
Verification.Equal(0d, canonical.U[canonical.U.Count - 1],
|
||||||
|
"validated terminal speed is canonicalized exactly");
|
||||||
|
}
|
||||||
|
|
||||||
|
private static IReadOnlyList<LongitudinalScenario> CreateRealOsqpScenarios()
|
||||||
|
{
|
||||||
|
return new[]
|
||||||
|
{
|
||||||
|
CreateRealScenario("forward", TravelDirection.Forward, 0.50d, 0d, 0d, 0d),
|
||||||
|
CreateRealScenario("reverse", TravelDirection.Reverse, 0.50d, 0d, 0d, 0d),
|
||||||
|
CreateRealScenario("curvature-limited", TravelDirection.Forward, 0.35d, 20d, 0d, 0d),
|
||||||
|
CreateRealScenario("jerk-limited-stop", TravelDirection.Forward, 0.20d, 0d, 0.20d, 0d),
|
||||||
|
CreateRealScenario("short-segment", TravelDirection.Forward, 0.05d, 0d, 0d, 0d),
|
||||||
|
CreateRealScenario("zero-start-speed", TravelDirection.Forward, 0.50d, 0d, 0d, 0d),
|
||||||
|
};
|
||||||
|
}
|
||||||
|
|
||||||
|
private static LongitudinalScenario CreateRealScenario(string name, TravelDirection direction, double terminalPathS,
|
||||||
|
double middleCurvature, double initialSpeed, double initialAcceleration)
|
||||||
|
{
|
||||||
|
EmPlannerConfiguration configuration = EmPlannerConfiguration.CreateDefault();
|
||||||
|
configuration.Scheduling.SolverTimeoutSeconds = 1d;
|
||||||
|
configuration.Validation.KinematicTolerance = 1e-5d;
|
||||||
|
var points = new[]
|
||||||
|
{
|
||||||
|
Point(0d, 0d, 0d),
|
||||||
|
Point(1d, terminalPathS * 0.5d, middleCurvature),
|
||||||
|
Point(2d, terminalPathS, 0d),
|
||||||
|
};
|
||||||
|
return new LongitudinalScenario(name, new LongitudinalPlanningInput(new LateralPath(points, true), direction,
|
||||||
|
initialSpeed, initialAcceleration, EmTerminalType.Goal, configuration, Array.Empty<double>(), Array.Empty<double>()));
|
||||||
|
}
|
||||||
|
|
||||||
|
private static void VerifyRealScenario(LongitudinalScenario scenario, LongitudinalPlanningResult result)
|
||||||
|
{
|
||||||
|
Verification.True(result.Status == EmPlanningStatus.Success || result.Status == EmPlanningStatus.SuccessWithFallback,
|
||||||
|
scenario.Name + " returns a strict profile: " + result.FailureReason);
|
||||||
|
LongitudinalCandidate candidate = result.Candidate ?? throw new InvalidOperationException(scenario.Name + " candidate missing.");
|
||||||
|
Verification.NearlyEqual(scenario.Input.TerminalPathS, candidate.S[candidate.S.Count - 1],
|
||||||
|
scenario.Name + " exact terminal PathS");
|
||||||
|
Verification.NearlyEqual(0d, candidate.U[candidate.U.Count - 1], scenario.Name + " exact terminal speed");
|
||||||
|
PathSpeedLimitBuilder builder = new PathSpeedLimitBuilder();
|
||||||
|
EmPlanningStatus speedStatus = builder.Build(scenario.Input, out PathSpeedLimit envelope, out string speedFailure);
|
||||||
|
Verification.Equal(EmPlanningStatus.Success, speedStatus, scenario.Name + " envelope: " + speedFailure);
|
||||||
|
Verification.True(new LongitudinalSolutionValidator().TryValidate(scenario.Input, envelope, candidate,
|
||||||
|
out _, out string validationFailure), scenario.Name + " strict physical validation: " + validationFailure);
|
||||||
|
}
|
||||||
|
|
||||||
|
private static void VerifyDeterministicResult(string name, LongitudinalPlanningResult first, LongitudinalPlanningResult second)
|
||||||
|
{
|
||||||
|
Verification.Equal(first.Status, second.Status, name + " deterministic status");
|
||||||
|
LongitudinalCandidate left = first.Candidate ?? throw new InvalidOperationException(name + " first candidate missing.");
|
||||||
|
LongitudinalCandidate right = second.Candidate ?? throw new InvalidOperationException(name + " second candidate missing.");
|
||||||
|
for (int index = 0; index < left.S.Count; index++)
|
||||||
|
{
|
||||||
|
Verification.NearlyEqual(left.S[index], right.S[index], name + " deterministic S " + index);
|
||||||
|
Verification.NearlyEqual(left.U[index], right.U[index], name + " deterministic U " + index);
|
||||||
|
Verification.NearlyEqual(left.A[index], right.A[index], name + " deterministic A " + index);
|
||||||
|
}
|
||||||
|
for (int index = 0; index < left.J.Count; index++)
|
||||||
|
Verification.NearlyEqual(left.J[index], right.J[index], name + " deterministic J " + index);
|
||||||
|
}
|
||||||
|
|
||||||
|
private static LongitudinalPlanningInput CreateFakeInput(out LongitudinalCandidate valid)
|
||||||
|
{
|
||||||
|
EmPlannerConfiguration configuration = EmPlannerConfiguration.CreateDefault();
|
||||||
|
configuration.Scheduling.TimeHorizonSeconds = 1d;
|
||||||
|
configuration.Scheduling.OutputTimeStepSeconds = 0.25d;
|
||||||
|
configuration.Scheduling.SolverTimeoutSeconds = 1d;
|
||||||
|
configuration.Longitudinal.MaximumForwardSpeedMetersPerSecond = 1d;
|
||||||
|
configuration.Longitudinal.MaximumReverseSpeedMetersPerSecond = 1d;
|
||||||
|
configuration.Longitudinal.MaximumAccelerationMetersPerSecondSquared = 1d;
|
||||||
|
configuration.Longitudinal.MaximumDecelerationMetersPerSecondSquared = 1d;
|
||||||
|
configuration.Longitudinal.MaximumJerkMetersPerSecondCubed = 1d;
|
||||||
|
configuration.Longitudinal.MaximumLateralAccelerationMetersPerSecondSquared = 1d;
|
||||||
|
configuration.Longitudinal.MaximumCurvatureRatePerMeterPerSecond = 1d;
|
||||||
|
IReadOnlyList<double> times = LongitudinalCandidate.CreateKnotTimes(1d, 0.25d);
|
||||||
|
valid = LongitudinalCandidate.Integrate(times, 0d, 0.10d, 0d,
|
||||||
|
new[] { -0.45714285714285714d, 0d, 0d, 0d });
|
||||||
|
double terminalPathS = valid.S[valid.S.Count - 1];
|
||||||
|
var path = new LateralPath(new[]
|
||||||
|
{
|
||||||
|
Point(0d, 0d, 0d),
|
||||||
|
Point(1d, terminalPathS * 0.5d, 0d),
|
||||||
|
Point(2d, terminalPathS, 0d),
|
||||||
|
}, true);
|
||||||
|
return new LongitudinalPlanningInput(path, TravelDirection.Forward, 0.10d, 0d, EmTerminalType.Goal,
|
||||||
|
configuration, Array.Empty<double>(), Array.Empty<double>());
|
||||||
|
}
|
||||||
|
|
||||||
|
private static LateralPathPoint Point(double referenceS, double pathS, double curvature)
|
||||||
|
{
|
||||||
|
return new LateralPathPoint(referenceS, pathS, 0d, 0d, 0d, 0d, pathS, 0d, 0d, curvature, curvature, 0d);
|
||||||
|
}
|
||||||
|
|
||||||
|
private static QpSolveResult Result(QpSolveStatus status, IReadOnlyList<double> primal, double objective,
|
||||||
|
double primalResidual = 0d, double dualResidual = 0d)
|
||||||
|
{
|
||||||
|
return new QpSolveResult(status, primal, objective, primalResidual, dualResidual, 1, TimeSpan.Zero,
|
||||||
|
status.ToString(), string.Empty);
|
||||||
|
}
|
||||||
|
|
||||||
|
private static double[] ToPrimal(LongitudinalCandidate candidate)
|
||||||
|
{
|
||||||
|
var layout = new LongitudinalVariableLayout(candidate.KnotTimes.Count);
|
||||||
|
var primal = new double[layout.VariableCount];
|
||||||
|
for (int index = 0; index < layout.KnotCount; index++)
|
||||||
|
{
|
||||||
|
primal[layout.S(index)] = candidate.S[index];
|
||||||
|
primal[layout.U(index)] = candidate.U[index];
|
||||||
|
primal[layout.A(index)] = candidate.A[index];
|
||||||
|
}
|
||||||
|
for (int index = 0; index < layout.KnotCount - 1; index++)
|
||||||
|
primal[layout.J(index)] = candidate.J[index];
|
||||||
|
return primal;
|
||||||
|
}
|
||||||
|
|
||||||
|
private static LongitudinalCandidate FromPrimal(IReadOnlyList<double> times, IReadOnlyList<double> primal)
|
||||||
|
{
|
||||||
|
var layout = new LongitudinalVariableLayout(times.Count);
|
||||||
|
var s = new double[layout.KnotCount];
|
||||||
|
var u = new double[layout.KnotCount];
|
||||||
|
var a = new double[layout.KnotCount];
|
||||||
|
var j = new double[layout.KnotCount - 1];
|
||||||
|
for (int index = 0; index < layout.KnotCount; index++)
|
||||||
|
{
|
||||||
|
s[index] = primal[layout.S(index)];
|
||||||
|
u[index] = primal[layout.U(index)];
|
||||||
|
a[index] = primal[layout.A(index)];
|
||||||
|
}
|
||||||
|
for (int index = 0; index < j.Length; index++)
|
||||||
|
j[index] = primal[layout.J(index)];
|
||||||
|
return new LongitudinalCandidate(times, s, u, a, j);
|
||||||
|
}
|
||||||
|
|
||||||
|
private static void FindSingleVariableBounds(QuadraticProgram problem, int variable, out double lower, out double upper)
|
||||||
|
{
|
||||||
|
for (int row = 0; row < problem.ConstraintCount; row++)
|
||||||
|
{
|
||||||
|
int found = 0;
|
||||||
|
double coefficient = 0d;
|
||||||
|
for (int column = 0; column < problem.ConstraintMatrix.ColumnCount; column++)
|
||||||
|
{
|
||||||
|
for (int index = problem.ConstraintMatrix.ColumnPointers[column];
|
||||||
|
index < problem.ConstraintMatrix.ColumnPointers[column + 1]; index++)
|
||||||
|
{
|
||||||
|
if (problem.ConstraintMatrix.RowIndices[index] == row)
|
||||||
|
{
|
||||||
|
found++;
|
||||||
|
if (column == variable)
|
||||||
|
coefficient = problem.ConstraintMatrix.Values[index];
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if (found == 1 && Math.Abs(coefficient - 1d) <= 1e-12d)
|
||||||
|
{
|
||||||
|
lower = problem.LowerBounds[row];
|
||||||
|
upper = problem.UpperBounds[row];
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
throw new InvalidOperationException("No single-variable bounds were found for ST variable " + variable + ".");
|
||||||
|
}
|
||||||
|
|
||||||
|
private sealed class LongitudinalScenario
|
||||||
|
{
|
||||||
|
public LongitudinalScenario(string name, LongitudinalPlanningInput input)
|
||||||
|
{
|
||||||
|
Name = name;
|
||||||
|
Input = input;
|
||||||
|
}
|
||||||
|
|
||||||
|
public string Name { get; }
|
||||||
|
|
||||||
|
public LongitudinalPlanningInput Input { get; }
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -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] != "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] != "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] != "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;
|
return 2;
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -77,6 +78,16 @@ internal static class Program
|
|||||||
MultiWheelC.TrajectoryPlanning.EMPlanner.LongitudinalModelChecks.Run();
|
MultiWheelC.TrajectoryPlanning.EMPlanner.LongitudinalModelChecks.Run();
|
||||||
Console.WriteLine("PASS longitudinal-model");
|
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;
|
return 0;
|
||||||
}
|
}
|
||||||
catch (Exception exception)
|
catch (Exception exception)
|
||||||
|
|||||||
Reference in New Issue
Block a user