重构横向控制器输出前后GCP目标转角并简化命令分配器

2026-08-07 18:13:55 +08:00
parent bc37e71ad0
commit 88f651e0c2
25 changed files with 310 additions and 105 deletions
@@ -33,7 +33,7 @@ namespace MultiWheelC.Control.Execution
        private readonly IVehicleStateProvider _stateProvider;
        private readonly ILateralController _lateralController;
        private readonly ILongitudinalController _longitudinalController;
-        private readonly AckermannGcpAllocator _gcpAllocator;
+        private readonly GcpCommandAllocator _gcpAllocator;
        private readonly GcpCommandExecutor _commandExecutor;

        private Trajectory2D _trajectory;
@@ -45,7 +45,7 @@ namespace MultiWheelC.Control.Execution
            IVehicleStateProvider stateProvider,
            ILateralController lateralController,
            ILongitudinalController longitudinalController,
-            AckermannGcpAllocator gcpAllocator,
+            GcpCommandAllocator gcpAllocator,
            GcpCommandExecutor commandExecutor,
            double finishDistanceMeters = 0.03,
            double finishSpeedMetersPerSecond = 0.02,