First_Dev_Dept/ParkingRobot
10
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

feat: observe one full EM direction segment

Browse Source
This commit is contained in:
梁薄云
2026-08-07 08:56:14 +08:00
parent 57d8abb3e1
commit ab3204bfde
6 changed files with 289 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/MovementTest.TrajectoryObservationTest.cs
+6 -4
View File
@@ -32,22 +32,23 @@ public sealed class TrajectoryObservationMovementTest : MovementTest
public float MapResolutionMm = 50f;
public double ReplanPeriodSeconds = 0.20d;
public double ObserverPeriodSeconds = 0.05d;
public bool UseFullDirectionSegmentPlanning = true;
public double SolverTimeoutSeconds = 5.0d;
public int MaximumOsqpIterations = 100000;
/// <summary>单次 ST 轨迹覆盖的未来时长，单位 s；默认 2s，不等于观察循环周期。</summary>
public double TimeHorizonSeconds = 2d;
/// <summary>仅滚动兼容字段；完整方向段模式不用于截断。默认 2s，不等于观察循环周期。</summary>
public double TimeHorizonSeconds = 20d;
/// <summary>Trajectory 相邻 TimeFromStart 时间戳的间隔，单位 s；默认 0.10s，不等于观察循环周期。</summary>
public double OutputTimeStepSeconds = 0.10d;
public double VehicleLengthMeters = 0.80d;
public double VehicleWidthMeters = 0.60d;
public double SafetyMarginMeters = 0.05d;
public double MaximumCurvaturePerMeter = 1d / 1.20d;
public bool EnableWebVisualization = false;
public bool EnableWebVisualization = true;
public bool AutoOpenWebVisualization = true;
public int WebVisualizationPort = 0;
public double WebRefreshRateHz = 10d;
public int VisualizationHistoryCycleLimit = 60;
public bool EnableNativePainterVisualization = false;
public bool EnableNativePainterVisualization = true;
public double DirectionConfirmationSpeedMetersPerSecond = 0.02d;
public int DirectionConfirmationSamples = 3;
public double GearSwitchProjectionToleranceMeters = 0.50d;
@@ -76,6 +77,7 @@ public sealed class TrajectoryObservationMovementTest : MovementTest
MapResolutionMillimeters = MapResolutionMm,
ReplanPeriodSeconds = ReplanPeriodSeconds,
ObserverPeriodSeconds = ObserverPeriodSeconds,
PlanningScope = UseFullDirectionSegmentPlanning ? EmPlanningScope.FullDirectionSegment : EmPlanningScope.RollingHorizon,
SolverTimeoutSeconds = SolverTimeoutSeconds,
MaximumOsqpIterations = MaximumOsqpIterations,
TimeHorizonSeconds = TimeHorizonSeconds,