优化轨迹制动与轮速反馈并补充实验记录和中英文说明

data_process/plot_new_controller_experiment.py

@@ -530,10 +530,16 @@ def plot_experiment(
             label="Detour估计Vx",
         )
     if np.any(np.isfinite(data["wheel_filtered_speed"])):
-        axis.plot(
-            data["time"],
-            data["wheel_filtered_speed"],
-            linewidth=1.5,
+        wheel_filtered_valid = np.isfinite(
+            data["wheel_filtered_speed"]
+        )
+        axis.scatter(
+            data["time"][wheel_filtered_valid],
+            data["wheel_filtered_speed"][wheel_filtered_valid],
+            color="tab:red",
+            s=14,
+            marker="o",
+            zorder=5,
             label="轮速解算滤波Vx（控制使用）",
         )
     else:

data_process/新版前后角解耦控制器测试处理/4m0.4偏10/记录.txt

@@ -0,0 +1,21 @@
+第一次：
+: * (Exception):DriveTask failed, msg=车辆已在终点零速参考处停稳，但终点精度不满足要求：位置误差=0.040m，航向误差=0.15°。, stack:
+   at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
+   at MultiWheelC.NewControllerStraight4mTest.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\NewControllerTrackingTests.cs:line 246
+   at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
+
+  *p.InnerException * (InvalidOperationException):车辆已在终点零速参考处停稳，但终点精度不满足要求：位置误差=0.040m，航向误差=0.15°。, stack:
+   at MultiWheelC.TrajectoryTrackingMovement.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\TrajectoryTrackingMovement.cs:line 257
+   at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
+
+第三次：
+
+: * (Exception):DriveTask failed, msg=车辆已在终点零速参考处停稳，但终点精度不满足要求：位置误差=0.032m，航向误差=0.10°。, stack:
+   at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
+   at MultiWheelC.NewControllerStraight4mTest.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\NewControllerTrackingTests.cs:line 246
+   at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
+
+  *p.InnerException * (InvalidOperationException):车辆已在终点零速参考处停稳，但终点精度不满足要求：位置误差=0.032m，航向误差=0.10°。, stack:
+   at MultiWheelC.TrajectoryTrackingMovement.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\TrajectoryTrackingMovement.cs:line 257
+   at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
+

data_process/新版前后角解耦控制器测试处理/直线圆弧折线/记录.txt

@@ -0,0 +1,22 @@
+第二次：
+: * (Exception):DriveTask failed, msg=车辆已在终点零速参考处停稳，但终点精度不满足要求：位置误差=0.037m，航向误差=0.27°。, stack:
+   at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
+   at MultiWheelC.CompositeStopTurnGoTest.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\CompositeMotionPlanTests.cs:line 211
+   at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
+
+  *p.InnerException * (InvalidOperationException):车辆已在终点零速参考处停稳，但终点精度不满足要求：位置误差=0.037m，航向误差=0.27°。, stack:
+   at MultiWheelC.TrajectoryTrackingMovement.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\TrajectoryTrackingMovement.cs:line 257
+   at MultiWheelC.MotionPlanExecutor.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\MotionPlanExecutor.cs:line 174
+   at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
+
+第二次：
+: * (Exception):DriveTask failed, msg=车辆已在终点零速参考处停稳，但终点精度不满足要求：位置误差=0.033m，航向误差=0.27°。, stack:
+   at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
+   at MultiWheelC.CompositeStopTurnGoTest.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\CompositeMotionPlanTests.cs:line 211
+   at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
+
+  *p.InnerException * (InvalidOperationException):车辆已在终点零速参考处停稳，但终点精度不满足要求：位置误差=0.033m，航向误差=0.27°。, stack:
+   at MultiWheelC.TrajectoryTrackingMovement.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\TrajectoryTrackingMovement.cs:line 257
+   at MultiWheelC.MotionPlanExecutor.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\MotionPlanExecutor.cs:line 174
+   at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
+

data_process/新版前后角解耦控制器测试处理/直线圆弧直线/记录.txt

@@ -0,0 +1,10 @@
+第二次：
+: * (Exception):DriveTask failed, msg=车辆已在终点零速参考处停稳，但终点精度不满足要求：位置误差=0.034m，航向误差=0.11°。, stack:
+   at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
+   at MultiWheelC.NewControllerStraightSemicircleStraightTest.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\NewControllerTrackingTests.cs:line 613
+   at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
+
+  *p.InnerException * (InvalidOperationException):车辆已在终点零速参考处停稳，但终点精度不满足要求：位置误差=0.034m，航向误差=0.11°。, stack:
+   at MultiWheelC.TrajectoryTrackingMovement.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\TrajectoryTrackingMovement.cs:line 257
+   at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
+