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
@@ -257,7 +257,7 @@ public sealed class TrajectoryObservationController
            ActiveSegment.SegmentIndex, previousTrajectory, now, now,
            sessionId + "-trajectory-" + currentCycleId, sessionId + "-reference",
            previousTrajectory?.Metadata.TrajectoryId ?? string.Empty,
-            EmMotionModel.NonholonomicForwardReverse);
+            EmMotionModel.NonholonomicForwardReverse, EmPlanningScope.RollingHorizon);
        return coordinator.PlanLatestAsync(new PlanningCycleInput(request, now), cancellationToken);
    }