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fix: stabilize stopped-start EM planning and add txt diagnostics

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梁薄云
2026-08-07 15:51:31 +08:00
parent f2970d0aff
commit d378ad6257
13 changed files with 373 additions and 53 deletions
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ClumsyPilot/tests/EMPlannerVerificationHost/FoundationChecks.cs
+5 -3
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@@ -101,6 +101,8 @@ internal static class FoundationChecks
EMPlannerVerificationHost.Verification.NearlyEqual(1e-5d, configuration.Solver.AbsoluteTolerance, "absolute tolerance");
EMPlannerVerificationHost.Verification.NearlyEqual(1e-5d, configuration.Solver.RelativeTolerance, "relative tolerance");
EMPlannerVerificationHost.Verification.NearlyEqual(1e-5d, configuration.Solver.StrictResidualTolerance, "strict residual tolerance");
EMPlannerVerificationHost.Verification.NearlyEqual(1e-5d, configuration.Validation.KinematicTolerance,
"kinematic tolerance");
EMPlannerVerificationHost.Verification.Equal(true, configuration.Solver.WarmStart, "warm start");
EMPlannerVerificationHost.Verification.Equal(true, configuration.Solver.Polish, "polish");
EMPlannerVerificationHost.Verification.Equal(false, configuration.Solver.NativeVerbose, "native verbose");
@@ -179,9 +181,9 @@ internal static class FoundationChecks
"optimization knot cap");
EMPlannerVerificationHost.Verification.Equal(5001, defaults.Scheduling.MaximumPublishedSampleCount,
"publication sample cap");
EMPlannerVerificationHost.Verification.NearlyEqual(0.03d,
EMPlannerVerificationHost.Verification.NearlyEqual(0d,
defaults.Validation.TerminalPositionToleranceMeters, "terminal position tolerance");
EMPlannerVerificationHost.Verification.NearlyEqual(5d * Math.PI / 180d,
EMPlannerVerificationHost.Verification.NearlyEqual(0d,
defaults.Validation.TerminalYawToleranceRadians, "terminal yaw tolerance");
EMPlannerVerificationHost.Verification.Equal(EmPlanningStatus.NoProgress, EmPlanningStatus.NoProgress,
"no-progress status exists");
@@ -200,7 +202,7 @@ internal static class FoundationChecks
copied.Longitudinal.DesiredForwardSpeedMetersPerSecond, "copy keeps desired forward speed");
EMPlannerVerificationHost.Verification.Equal(401, copied.Scheduling.MaximumOptimizationKnotCount,
"copy keeps knot cap");
EMPlannerVerificationHost.Verification.NearlyEqual(0.03d,
EMPlannerVerificationHost.Verification.NearlyEqual(0d,
copied.Validation.TerminalPositionToleranceMeters, "copy keeps terminal tolerance");
EmPlannerConfiguration invalidKnotCap = EmPlannerConfiguration.CreateDefault();