From bc8e695654fff5ca4c176138f3867c0229a6fb21 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E6=A2=81=E8=96=84=E4=BA=91?= Date: Mon, 10 Aug 2026 10:00:10 +0800 Subject: [PATCH] docs: explain trajectory planning flow demo --- ClumsyPilot/ParkrobTrajplanner/Trajplanner_output/README.md | 6 ++++++ ClumsyPilot/tests/verify_trajectory_planning_flow_demo.ps1 | 6 ++++++ 2 files changed, 12 insertions(+) diff --git a/ClumsyPilot/ParkrobTrajplanner/Trajplanner_output/README.md b/ClumsyPilot/ParkrobTrajplanner/Trajplanner_output/README.md index 8c76752..efdd6b7 100644 --- a/ClumsyPilot/ParkrobTrajplanner/Trajplanner_output/README.md +++ b/ClumsyPilot/ParkrobTrajplanner/Trajplanner_output/README.md @@ -62,6 +62,12 @@ EmTrajectory.Points + Metadata 中间任一阶段失败都会立刻停止，打印状态与诊断，且不会导出部分或伪造的 CSV。 +## 全链路可视化（Offline Flow Demo） + +双击打开 [trajectory-planning-flow-demo.html](trajectory-planning-flow-demo.html)，可在同一米制地图中按阶段查看地图、Hybrid A* 粗路径、Local G2 平滑路径、`EmTrajectory` 和控制层采样命令。该页面使用内置说明数据，帮助理解版本身份与数据边界；它不调用 OSQP、定位、硬件或真实控制器。 + +控制器只消费已验证完整轨迹的采样结果或执行层导出的 `TrajectoryControlCommand`。粗路径、平滑路径、地图和规划诊断属于观测、回放和问题定位证据链，不是逐周期的底盘命令。 + ## 运行（Run） 在仓库根目录执行： diff --git a/ClumsyPilot/tests/verify_trajectory_planning_flow_demo.ps1 b/ClumsyPilot/tests/verify_trajectory_planning_flow_demo.ps1 index c78a082..ba3a6b8 100644 --- a/ClumsyPilot/tests/verify_trajectory_planning_flow_demo.ps1 +++ b/ClumsyPilot/tests/verify_trajectory_planning_flow_demo.ps1 @@ -47,4 +47,10 @@ foreach ($forbidden in @('http://', 'https://', 'fetch(', 'XMLHttpRequest', 'Web } } +$readme = Get-Content -LiteralPath (Join-Path $PSScriptRoot '..\ParkrobTrajplanner\Trajplanner_output\README.md') -Raw -Encoding UTF8 +if (-not $readme.Contains('trajectory-planning-flow-demo.html')) +{ + throw 'README must link to the trajectory-planning-flow demo.' +} + Write-Output 'Trajectory planning flow demo checks passed.'