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test: freeze Local G2 diagnostic evidence

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梁薄云
2026-08-02 19:34:26 +08:00
parent 23788c0147
commit fdfd853df0
3 changed files with 203 additions and 0 deletions
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ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/Fixtures/local-g2-diagnostic-single-turn.json
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{
"SourceMeasurementBatchSha256": "ac8166828813d85bf6f8b58f985839e5b2a049e75cb94186ed04f59d540e4eed",
"FixtureSha256": "3d05daee5a211b3e7aa0b77193423b5fa07d3135e241a4413be3518fc7efe563",
"ScenarioId": "single-turn",
"CandidateStableKey": "single-turn/s0/r0/w5/seed2",
"CandidateSha256": "7cefb76c77e48a49bf3212e7a2472e23036c3899daa94b5c6b68fa5db29a3392",
"CandidateIndex": 5,
"SegmentIndex": 0,
"WindowStartArcLengthMeters": 1.9199999999999982,
"WindowEndArcLengthMeters": 2.1199999999999983,
"StartGeometricCurvaturePerMeter": 0.41666666666666663,
"EndGeometricCurvaturePerMeter": 0.0,
"StartVehicleCurvaturePerMeter": 0.41666666666666663,
"EndVehicleCurvaturePerMeter": 0.0,
"EvaluatorResult": "InsufficientClearance",
"StopGate": "Clearance",
"PublishedStatus": "Unchanged",
"CandidatePoints": [
{ "X": 2.7216397035494579, "Y": 1.7279184433567971, "ReferenceArcLengthMeters": 1.9199999999999982, "HeadingRadians": 0.799999999999999, "UnwrappedHeadingRadians": 0.799999999999999, "Source": 4 },
{ "X": 2.7355188205174521, "Y": 1.7423187041196302, "ReferenceArcLengthMeters": 1.9399999999999982, "HeadingRadians": 0.80751185024996908, "UnwrappedHeadingRadians": 0.80751185024996908, "Source": 4 },
{ "X": 2.7492871654421882, "Y": 1.7568248978050907, "ReferenceArcLengthMeters": 1.9599999999999982, "HeadingRadians": 0.8157618125921976, "UnwrappedHeadingRadians": 0.8157618125921976, "Source": 4 },
{ "X": 2.7629234692741469, "Y": 1.7714552535786874, "ReferenceArcLengthMeters": 1.9799999999999982, "HeadingRadians": 0.82542852165703573, "UnwrappedHeadingRadians": 0.82542852165703573, "Source": 4 },
{ "X": 2.7764244476704873, "Y": 1.786210614200662, "ReferenceArcLengthMeters": 1.9999999999999982, "HeadingRadians": 0.83333333333333237, "UnwrappedHeadingRadians": 0.83333333333333237, "Source": 4 },
{ "X": 2.7925350453990334, "Y": 1.803999635249544, "ReferenceArcLengthMeters": 2.0239999999999982, "HeadingRadians": 0.835253334801853, "UnwrappedHeadingRadians": 0.835253334801853, "Source": 4 },
{ "X": 2.80865418003672, "Y": 1.8217809211927092, "ReferenceArcLengthMeters": 2.0479999999999983, "HeadingRadians": 0.83333333355178374, "UnwrappedHeadingRadians": 0.83333333355178374, "Source": 4 },
{ "X": 2.8248074262445737, "Y": 1.8395312269498194, "ReferenceArcLengthMeters": 2.0719999999999983, "HeadingRadians": 0.8318933325232104, "UnwrappedHeadingRadians": 0.8318933325232104, "Source": 4 },
{ "X": 2.8409691920174533, "Y": 1.8572737784943611, "ReferenceArcLengthMeters": 2.0959999999999983, "HeadingRadians": 0.83237333274470626, "UnwrappedHeadingRadians": 0.83237333274470626, "Source": 4 },
{ "X": 2.8571139169604551, "Y": 1.8750318365841865, "ReferenceArcLengthMeters": 2.1199999999999983, "HeadingRadians": 0.83333333333333237, "UnwrappedHeadingRadians": 0.83333333333333237, "Source": 4 }
]
}