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feat: configure observation visualization

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梁薄云
2026-08-06 10:16:48 +08:00
parent 0bc8df9d5e
commit c5ea4f6d91
5 changed files with 201 additions and 14 deletions
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ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/README.md
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@@ -27,10 +27,24 @@ single S-T output duration. Only a real Goal or gear-switch boundary may publish
| `MapResolutionMm` | mm | `50` | Local occupancy-grid resolution. |
| `ReplanPeriodSeconds` | s | `0.20` | Minimum interval between EM planning cycles. |
| `ObserverPeriodSeconds` | s | `0.05` | Live-state sampling and redraw interval. |
| `SolverTimeoutSeconds` | s | `5.0` | EM solver timeout frozen for the session. |
| `MaximumOsqpIterations` | iterations | `100000` | OSQP iteration limit frozen for the session. |
| `TimeHorizonSeconds` | s | `2.0` | Single ST trajectory horizon, not the observer period. |
| `OutputTimeStepSeconds` | s | `0.10` | Published trajectory timestamp spacing. |
| `VehicleLengthMeters` | m | `0.80` | Vehicle envelope length supplied to coarse, smoothing, and EM planning. |
| `VehicleWidthMeters` | m | `0.60` | Vehicle envelope width supplied to planning. |
| `SafetyMarginMeters` | m | `0.05` | Additional planning clearance outside the vehicle envelope. |
| `MaximumCurvaturePerMeter` | 1/m | `1 / 1.20` | Maximum allowed vehicle curvature (about `0.8333 1/m`). |
| `EnableWebVisualization` | bool | `false` | Enables the local web dashboard session. |
| `AutoOpenWebVisualization` | bool | `true` | Opens the tokenized local dashboard URI when web output is enabled. |
| `WebVisualizationPort` | port | `0` | `0` selects an ephemeral port; otherwise use `1024` through `65535`. |
| `WebRefreshRateHz` | Hz | `10` | Maximum dynamic web snapshot publication rate. |
| `VisualizationHistoryCycleLimit` | cycles | `60` | Bounded web history length. |
| `EnableNativePainterVisualization` | bool | `false` | Enables the optional native Painter fallback. |
| `DirectionConfirmationSpeedMetersPerSecond` | m/s | `0.02` | Minimum signed-speed magnitude used to confirm the next direction. |
| `DirectionConfirmationSamples` | samples | `3` | Strictly increasing matching-direction samples required after the stop hold. |
| `GearSwitchProjectionToleranceMeters` | m | `0.50` | Maximum switch-point projection distance for both adjacent segments. |
| `GearSwitchStopHoldSeconds` | s | `0.20` | Continuous real-stop duration required before direction samples count. |
The four vehicle fields are public editable MovementTest inputs. They, the map/timing fields, goal, and manual obstacles
are validated and copied into a frozen input snapshot before the background session starts. Later edits cannot change an