1.3 KiB
1.3 KiB
MovementTest Longitudinal Time-Step Design
Goal
Reduce the observation-test longitudinal QP size without relaxing the solver accuracy, time budget, vehicle limits, or observe-only behavior.
Decision
Add configurable TimeHorizonSeconds and OutputTimeStepSeconds values to the trajectory-observation MovementTest, with defaults of 6d and 0.10d seconds.
TimeHorizonSeconds controls how far into the future the ST plan covers. OutputTimeStepSeconds controls how many knots divide that horizon and must not exceed it. At the parking-test speed limit of 0.20m/s, a 0.10-second knot interval corresponds to at most 0.02m of travel between knots.
Scope
- Add, snapshot, and validate
TimeHorizonSecondsandOutputTimeStepSecondsinTrajectoryObservationSettings. - Expose both settings in the MovementTest as public fields with defaults of
6dand0.10d. - Copy both values to the session-local
EmPlannerConfiguration.Schedulingconfiguration. - Verify custom settings reach the planning request and non-positive values are rejected.
Non-goals
- Keep
ObserverPeriodSeconds = 0.05d. - Keep
SolverTimeoutSeconds = 0.50d,MaximumOsqpIterations = 12000, and all1e-5dsolver tolerances. - Do not change production EM defaults, maps, vehicle constraints, or command output behavior.