From 09753143f7c31d7aeaaaf4ce1bf0f6ddf8c16746 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E6=A2=81=E8=96=84=E4=BA=91?= Date: Wed, 5 Aug 2026 13:31:36 +0800 Subject: [PATCH] docs: expose MovementTest time horizon --- ...-05-movementtest-longitudinal-time-step-design.md | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) diff --git a/docs/superpowers/specs/2026-08-05-movementtest-longitudinal-time-step-design.md b/docs/superpowers/specs/2026-08-05-movementtest-longitudinal-time-step-design.md index 86e5106..1d4d52a 100644 --- a/docs/superpowers/specs/2026-08-05-movementtest-longitudinal-time-step-design.md +++ b/docs/superpowers/specs/2026-08-05-movementtest-longitudinal-time-step-design.md @@ -6,21 +6,19 @@ Reduce the observation-test longitudinal QP size without relaxing the solver acc ## Decision -Add a configurable `OutputTimeStepSeconds` to the trajectory-observation MovementTest with a default of `0.10d` seconds. +Add configurable `TimeHorizonSeconds` and `OutputTimeStepSeconds` values to the trajectory-observation MovementTest, with defaults of `6d` and `0.10d` seconds. -The EM time horizon remains `6d` seconds. 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. +`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 `OutputTimeStepSeconds` in `TrajectoryObservationSettings`. -- Expose the setting in the MovementTest as a public field with a default of `0.10d`. -- Copy it to the session-local `EmPlannerConfiguration.Scheduling.OutputTimeStepSeconds`. +- Add, snapshot, and validate `TimeHorizonSeconds` and `OutputTimeStepSeconds` in `TrajectoryObservationSettings`. +- Expose both settings in the MovementTest as public fields with defaults of `6d` and `0.10d`. +- Copy both values to the session-local `EmPlannerConfiguration.Scheduling` configuration. - Verify custom settings reach the planning request and non-positive values are rejected. ## Non-goals -- Keep `TimeHorizonSeconds = 6d`. - Keep `ObserverPeriodSeconds = 0.05d`. - Keep `SolverTimeoutSeconds = 0.50d`, `MaximumOsqpIterations = 12000`, and all `1e-5d` solver tolerances. - Do not change production EM defaults, maps, vehicle constraints, or command output behavior. -