feat: define full-direction EM planning scope

2026-08-06 20:48:44 +08:00
parent fcf7df17d5
commit f4e89b4b4f
20 changed files with 183 additions and 33 deletions
@@ -103,7 +103,8 @@ public sealed class EmPlanningService : IEmPlanningService

            var metadata = new EmTrajectoryMetadata(request.OutputTrajectoryId, request.RequestedAtUtc, request.EffectiveAtUtc,
                request.Map.SnapshotId, request.ReferencePathId, request.VehicleState.SequenceId, request.PreviousTrajectoryId,
-                segment.SegmentIndex, segment.Direction, horizon.TerminalType, horizon.LongitudinalMode);
+                segment.SegmentIndex, segment.Direction, horizon.TerminalType, horizon.LongitudinalMode,
+                request.PlanningScope);
            EmTrajectory trajectory = new EmTrajectoryAssembler(configuration).Assemble(lateral.Path, longitudinal, metadata);
            EmitDebug(request, "trajectory assembly succeeded");