feat: configure MovementTest ST time controls

2026-08-05 13:39:18 +08:00
parent 308c8bb587
commit ddea58a139
4 changed files with 60 additions and 1 deletions
@@ -209,6 +209,8 @@ public sealed class TrajectoryObservationController
        configuration.Scheduling.ReplanPeriodSeconds = settings.ReplanPeriodSeconds;
        configuration.Scheduling.SolverTimeoutSeconds = settings.SolverTimeoutSeconds;
        configuration.Solver.MaximumOsqpIterations = settings.MaximumOsqpIterations;
+        configuration.Scheduling.TimeHorizonSeconds = settings.TimeHorizonSeconds;
+        configuration.Scheduling.OutputTimeStepSeconds = settings.OutputTimeStepSeconds;
        coordinator = new EmPlanningCoordinator(planningService);
        executor = new TrajectoryExecutor(configuration);
        this.sessionId = sessionId;