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fix: orient observation LS chart by path S

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This commit is contained in:
梁薄云
2026-08-04 16:24:58 +08:00
parent 08f6603cad
commit fded5181db
2 changed files with 70 additions and 8 deletions
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ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs
+17
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@@ -18,6 +18,7 @@ internal static class TrajectoryObservationChecks
RejectsObstacleOutsideConfiguredBounds();
VerifiesLsAndStUsePublishedTrajectoryData();
VerifiesPresentationTextDescribesObservationWithoutSendingCommand();
VerifiesLsPresentationUsesPathSOnHorizontalAxis();
VerifiesRollingRequestUsesOnePublishedTrajectorySnapshot();
FreezesBootstrapVehicleForRollingRequests();
}
@@ -155,6 +156,22 @@ internal static class TrajectoryObservationChecks
"observer presentation LS projection failures");
}
private static void VerifiesLsPresentationUsesPathSOnHorizontalAxis()
{
TrajectoryObservationCharts charts = TrajectoryObservationCharts.Build(
CreatePublishedTrajectory(new DateTimeOffset(2026, 8, 4, 0, 0, 0, TimeSpan.Zero)),
CreateStraightSegment(), 0.5d);
TrajectoryObservationLsPresentationModel model = TrajectoryObservationLsPresentationModel.Create(charts);
Verification.Equal("path-S (m)", model.HorizontalAxisLabel, "observer LS horizontal axis label");
Verification.Equal("lateral offset (m)", model.VerticalAxisLabel, "observer LS vertical axis label");
Verification.NearlyEqual(10.25d, model.Samples[0].HorizontalPathS,
"observer LS path-S is horizontal");
Verification.NearlyEqual(0.10d, model.Samples[0].VerticalLateralOffset,
"observer LS lateral offset is vertical");
}
private static void FreezesBootstrapVehicleForRollingRequests()
{
DateTimeOffset effectiveAt = new DateTimeOffset(2026, 8, 4, 2, 0, 0, TimeSpan.Zero);