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feat: build EM path speed limits

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This commit is contained in:
梁薄云
2026-08-04 09:16:17 +08:00
parent e91dbceb0b
commit 62ea9db8cd
6 changed files with 734 additions and 1 deletions
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ClumsyPilot/tests/EMPlannerVerificationHost/Program.cs
+7 -1
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@@ -9,7 +9,8 @@ internal static class Program
if (args.Length != 1 || (args[0] != "foundation" && args[0] != "segmentation" && args[0] != "frenet" &&
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] != "lateral-real-osqp" && args[0] != "lateral-real-osqp-probe" && args[0] != "lateral-all" &&
args[0] != "longitudinal-model"))
{
Console.Error.WriteLine("Usage: EMPlannerVerificationHost foundation|segmentation|frenet|corridor|optimization|osqp|osqp-loader|all-foundation|lateral-model|lateral-integration|lateral-real-osqp|lateral-all");
return 2;
@@ -71,6 +72,11 @@ internal static class Program
MultiWheelC.TrajectoryPlanning.EMPlanner.LateralIntegrationChecks.RunRealOsqpInCleanPluginBundle();
Console.WriteLine("PASS lateral-real-osqp");
}
if (args[0] == "longitudinal-model")
{
MultiWheelC.TrajectoryPlanning.EMPlanner.LongitudinalModelChecks.Run();
Console.WriteLine("PASS longitudinal-model");
}
return 0;
}
catch (Exception exception)