## 论文风格 · 细线版

恢复之前的科研绘图语言，并进一步减小所有线宽。蓝色只表示完整规划轨迹，红色只表示真实越界。

Preview: Full-direction-segment trajectory observation
EM Full-Direction-Segment Trajectory Observation
OBSERVE_ONLY · segment 0 / Forward · units: m, s, rad
● VALIDFullDirectionSegment　solve 186 ms
(a) World path and complete planned trajectory Layers　Box zoom　Reset　Full screen
Terminal boundary

Δ position | 0.012 m
Δ yaw | 1.8°
v terminal | 0.000 m/s
a terminal | 0.000 m/s²
yaw rate | 0.000 rad/s

Profile summary

segment length | 8.42 m
planned duration | 12.80 s
cruise target | 1.00 m/s
brake start | 6.31 m
zero progress | NO

LS / ST Curvature Velocity / Acceleration / Jerk Terminal validation Configuration
(b) Lateral offset Zoom　Reset　⛶
(c) Complete ST Zoom　Reset　⛶
(d) Signed velocity Zoom　Reset　⛶
Thin scientific rendering · current trajectory 0.70 px · reference 0.50 px · grid 0.35 px · all axes include numeric ticks and units · per-plot zoom does not alter source data
✓

### 采用论文风格细线版

后续页面沿用这套排版、线宽、颜色和交互密度。