feat: configure MovementTest OSQP iterations

2026-08-05 12:03:28 +08:00
parent 30234d42df
commit 1a94cc2a6b
4 changed files with 23 additions and 1 deletions
@@ -208,6 +208,7 @@ public sealed class TrajectoryObservationController
        configuration = EmPlannerConfiguration.CreateDefault();
        configuration.Scheduling.ReplanPeriodSeconds = settings.ReplanPeriodSeconds;
        configuration.Scheduling.SolverTimeoutSeconds = settings.SolverTimeoutSeconds;
+        configuration.Solver.MaximumOsqpIterations = settings.MaximumOsqpIterations;
        coordinator = new EmPlanningCoordinator(planningService);
        executor = new TrajectoryExecutor(configuration);
        this.sessionId = sessionId;