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fix: complete EM observation final review

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梁薄云
2026-08-04 17:33:14 +08:00
parent d0e673b573
commit bd7170b611
7 changed files with 655 additions and 50 deletions
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ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationPresentation.cs
+7 -1
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@@ -88,7 +88,7 @@ public sealed class TrajectoryObservationPresentation
private readonly Painter stPainter = UI.GetPainter("TrajectoryObserver.ST", true);
public void DrawWorld(TrajectoryObservationBootstrapResult bootstrap,
TrajectoryObservationObservation observation)
TrajectoryObservationObservation observation, TrajectoryObservationRuntimeState runtimeState)
{
worldPainter.Clear();
if (bootstrap == null)
@@ -104,6 +104,12 @@ public sealed class TrajectoryObservationPresentation
DrawLocalG2Path(bootstrap.SmoothedPath == null ? null : bootstrap.SmoothedPath.Path);
DrawPose(observation == null || observation.VehicleState == null ? null : observation.VehicleState.Pose,
Color.DeepSkyBlue, "real pose");
if (runtimeState != null && runtimeState.WorldNotice.Length > 0)
{
float noticeX = bootstrap.Map == null ? 0f : bootstrap.Map.Bounds.XMin + 100f;
float noticeY = bootstrap.Map == null ? 0f : bootstrap.Map.Bounds.YMax - 200f;
worldPainter.DrawText(Color.OrangeRed, runtimeState.WorldNotice, noticeX, noticeY);
}
EmTrajectory trajectory = observation == null ? null : observation.PublishedTrajectory;
if (trajectory == null || trajectory.Points == null || trajectory.Points.Count == 0)