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feat: add observation test map inputs

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This commit is contained in:
梁薄云
2026-08-04 15:40:47 +08:00
parent 13d7e51b93
commit 5df198bf69
3 changed files with 266 additions and 2 deletions
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ClumsyPilot/tests/EMPlannerVerificationHost/Program.cs
+7 -2
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@@ -13,9 +13,9 @@ internal static class Program
args[0] != "longitudinal-model" && args[0] != "longitudinal-integration" &&
args[0] != "longitudinal-real-osqp-probe" && args[0] != "trajectory" &&
args[0] != "em-planning-service" && args[0] != "em-core-all" && args[0] != "coordinator" &&
args[0] != "executor" && args[0] != "plugin-package" && args[0] != "em-all"))
args[0] != "executor" && args[0] != "plugin-package" && args[0] != "trajectory-observation" && args[0] != "em-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|em-core-all|coordinator|executor|plugin-package|em-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|em-core-all|coordinator|executor|plugin-package|trajectory-observation|em-all");
return 2;
}
@@ -124,6 +124,11 @@ internal static class Program
PluginPackagingChecks.Run();
Console.WriteLine("PASS plugin-package");
}
if (args[0] == "trajectory-observation" || args[0] == "em-all")
{
TrajectoryObservationChecks.Run();
Console.WriteLine("PASS trajectory-observation");
}
if (args[0] == "em-all")
{
CoordinatorChecks.RunRollingEndToEnd();
ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs
+47
View File
@@ -0,0 +1,47 @@
using System;
using MultiWheelC.TrajectoryPlanning.CoarsePath;
using MultiWheelC.TrajectoryPlanning.CoarsePath.Facade;
using MultiWheelC.TrajectoryPlanning.TrajectoryObservation;
namespace EMPlannerVerificationHost;
internal static class TrajectoryObservationChecks
{
public static void Run()
{
VerifiesStartGoalBoundsUseOnlyConfiguredPadding();
RejectsObstacleOutsideConfiguredBounds();
}
private static void VerifiesStartGoalBoundsUseOnlyConfiguredPadding()
{
var settings = new TrajectoryObservationSettings
{
MapPaddingMeters = 2d,
MapResolutionMillimeters = 50f,
};
CoarsePathPlanningJob job = TrajectoryObservationSetupFactory.CreateBootstrapJob(
new Pose2D(10d, -5d, 0d), new Pose2D(13d, -1d, 0d), settings,
Array.Empty<TrajectoryObservationObstacle>(), 17L);
Verification.NearlyEqual(8000d, job.MapRequest.Bounds.XMin, "observer map x min");
Verification.NearlyEqual(15000d, job.MapRequest.Bounds.XMax, "observer map x max");
Verification.NearlyEqual(-7000d, job.MapRequest.Bounds.YMin, "observer map y min");
Verification.NearlyEqual(1000d, job.MapRequest.Bounds.YMax, "observer map y max");
Verification.NearlyEqual(50d, job.MapRequest.ResolutionMm, "observer map resolution");
}
private static void RejectsObstacleOutsideConfiguredBounds()
{
Verification.True(Throws(() => TrajectoryObservationSetupFactory.CreateBootstrapJob(
new Pose2D(0d, 0d, 0d), new Pose2D(1d, 1d, 0d), new TrajectoryObservationSettings(),
new[] { TrajectoryObservationObstacle.Rectangle(-2100d, -2000d, 0d, 100d) }, 1L)),
"observer obstacle outside configured bounds");
}
private static bool Throws(Action action)
{
try { action(); return false; }
catch (ArgumentOutOfRangeException) { return true; }
}
}