完善Detour状态估计与轨迹跟踪验证

2026-08-19 17:38:17 +08:00
parent d8de901a80
commit 0d5539e595
55 changed files with 4473 additions and 387 deletions
@@ -157,7 +157,8 @@ namespace MultiWheelC
                    (float)AccelerationMetersPerSecondSquared,
                referenceDecelerationMetersPerSecondSquared:
                    (float)DecelerationMetersPerSecondSquared,
-                diagnosticChassis: chassis);
+                diagnosticChassis: chassis,
+                diagnosticStateProvider: stateProvider);
            _recorder.Start();

            var controlPointRadiusMeters =