First_Dev_Dept/ParkingRobot
10
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

完善Detour状态估计与轨迹跟踪验证

Browse Source
This commit is contained in:
yuxiang.shen
2026-08-19 17:38:17 +08:00
parent d8de901a80
commit 0d5539e595
55 changed files with 4473 additions and 387 deletions
Download Patch File Download Diff File Expand all files Collapse all files
data_process/跳变排查/第四次/TrackingExperiments/jilu.txt
+94
View File
@@ -0,0 +1,94 @@
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.045m，航向4.53°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.045m，航向4.53°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.102m，航向0.39°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.102m，航向0.39°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.162m，航向0.78°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.162m，航向0.78°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.070m，航向1.89°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.070m，航向1.89°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.102m，航向1.72°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.102m，航向1.72°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.112m，航向0.79°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.112m，航向0.79°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.048m，航向0.29°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.048m，航向0.29°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.102m，航向2.53°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.102m，航向2.53°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112