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docs: align EM guide step anchors

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梁薄云
2026-08-11 17:36:08 +08:00
parent c17a6edd25
commit c18315e31e
1 changed files with 2 additions and 2 deletions
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ClumsyPilot/ParkrobTrajplanner/Trajplanner_guide/README.md
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@@ -146,7 +146,7 @@ PlanningGridMap → PlanningRequest → HybridAStarPlanner.Plan
### 步骤 14：适配为控制轨迹
[对应完整示例：步骤 14](EmPlannerFullPipelineDemo.cs#L304)
[对应完整示例：步骤 14](EmPlannerFullPipelineDemo.cs#L305)
**本步输入**：步骤 12 的同一方向完整 `EmTrajectory`。
**调用**：`new EmControlTrajectoryAdapter().Create(emTrajectory)`。
@@ -155,7 +155,7 @@ PlanningGridMap → PlanningRequest → HybridAStarPlanner.Plan
### 步骤 15：交给闭环动作
[对应完整示例：步骤 15](EmPlannerFullPipelineDemo.cs#L308)
[对应完整示例：步骤 15](EmPlannerFullPipelineDemo.cs#L309)
**本步输入**：`Trajectory2D`、控制器维护者拥有的 `StateProvider` 与调参。
**调用**：赋给 `TrajectoryTrackingMovement.Trajectory`（或由宿主包装为 `TrackMotionPlanSegment`）。