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fix: align overview smoke plan start with EM path

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梁薄云
2026-08-09 19:50:03 +08:00
parent 444cc3af2a
commit 650c2ab0e3
2 changed files with 6 additions and 1 deletions
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ClumsyPilot/tests/TrajectoryPlanningVisualizationVerificationHost/SampleSnapshotFactory.cs
+1 -1
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@@ -63,7 +63,7 @@ internal static class SampleSnapshotFactory
new VisualizationPolyline("active-segment", "活动方向段", "active-segment", VisualizationLineStyle.Solid,
Points((0d, 1d), (3d, 1d), (6d, 2d))),
new VisualizationPolyline("previous", "上一轮轨迹", "previous", VisualizationLineStyle.Dashed, Points((1d, 1d), (2.5d, 1d), (4d, 1.3d))),
new VisualizationPolyline("current", "当前轨迹", "current", VisualizationLineStyle.Solid, Points((2d + offset, 1d), (3.8d + offset, 1.2d), (5.8d + offset, 1.9d)))
new VisualizationPolyline("current", "当前轨迹", "current", VisualizationLineStyle.Solid, Points((0d, 1d), (3.8d + offset, 1.2d), (5.8d + offset, 1.9d)))
},
new[]
{
ClumsyPilot/tests/TrajectoryPlanningVisualizationVerificationHost/WebAssetChecks.cs
+5
View File
@@ -130,10 +130,15 @@ internal static class WebAssetChecks
"smoke snapshot has exactly one dynamic active segment");
VisualizationMarker smoothStart = staticSnapshot.StaticMarkers.Single(marker => marker.Kind == "smooth-start");
VisualizationMarker planStart = dynamicSnapshot.DynamicMarkers.Single(marker => marker.Kind == "plan-start");
VisualizationPolyline current = dynamicSnapshot.DynamicPolylines.Single(line => line.Kind == "current");
Verification.NearlyEqual(smoothStart.Position.X, planStart.Position.X,
"smoke snapshot overlaps smoothed-path and plan-start x coordinates");
Verification.NearlyEqual(smoothStart.Position.Y, planStart.Position.Y,
"smoke snapshot overlaps smoothed-path and plan-start y coordinates");
Verification.NearlyEqual(current.Points[0].X, planStart.Position.X,
"smoke snapshot aligns plan-start x with the current EM trajectory start");
Verification.NearlyEqual(current.Points[0].Y, planStart.Position.Y,
"smoke snapshot aligns plan-start y with the current EM trajectory start");
Verification.Equal(2, staticSnapshot.DirectionSegments.Count, "smoke snapshot has two direction segments");
Verification.True(staticSnapshot.StaticMarkers.Any(marker => marker.Kind == "gear-switch"), "smoke snapshot has a gear marker");
Verification.True(staticSnapshot.ConfigurationGroups.Count > 0, "smoke snapshot has effective configuration");