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feat: configure MovementTest solver timeout

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梁薄云
2026-08-05 11:39:45 +08:00
parent 6cc24735ba
commit 685d9cc636
4 changed files with 20 additions and 0 deletions
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ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationContracts.cs
+3
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@@ -12,6 +12,7 @@ public sealed class TrajectoryObservationSettings
public float MapResolutionMillimeters { get; set; } = 50f;
public double ReplanPeriodSeconds { get; set; } = 0.20d;
public double ObserverPeriodSeconds { get; set; } = 0.05d;
public double SolverTimeoutSeconds { get; set; } = 0.50d;
public double VehicleLengthMeters { get; set; } = 0.80d;
public double VehicleWidthMeters { get; set; } = 0.60d;
public double SafetyMarginMeters { get; set; } = 0.05d;
@@ -25,6 +26,7 @@ public sealed class TrajectoryObservationSettings
MapResolutionMillimeters = MapResolutionMillimeters,
ReplanPeriodSeconds = ReplanPeriodSeconds,
ObserverPeriodSeconds = ObserverPeriodSeconds,
SolverTimeoutSeconds = SolverTimeoutSeconds,
VehicleLengthMeters = VehicleLengthMeters,
VehicleWidthMeters = VehicleWidthMeters,
SafetyMarginMeters = SafetyMarginMeters,
@@ -40,6 +42,7 @@ public sealed class TrajectoryObservationSettings
EnsurePositiveFinite(MapResolutionMillimeters, nameof(MapResolutionMillimeters));
EnsurePositiveFinite(ReplanPeriodSeconds, nameof(ReplanPeriodSeconds));
EnsurePositiveFinite(ObserverPeriodSeconds, nameof(ObserverPeriodSeconds));
EnsurePositiveFinite(SolverTimeoutSeconds, nameof(SolverTimeoutSeconds));
EnsurePositiveFinite(VehicleLengthMeters, nameof(VehicleLengthMeters));
EnsurePositiveFinite(VehicleWidthMeters, nameof(VehicleWidthMeters));
EnsurePositiveFinite(SafetyMarginMeters, nameof(SafetyMarginMeters));