chore: save current workspace progress

2026-08-09 22:13:18 +08:00
parent 650c2ab0e3
commit 2f4fd15e52
449 changed files with 76593 additions and 971 deletions
@@ -1,4 +1,4 @@
-namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
+namespace MultiWheelC.TrajectoryPlanning.EMPlanner;

 public sealed partial class EmPlannerConfiguration
 {
@@ -17,8 +17,8 @@ public sealed partial class EmPlannerConfiguration
            Scheduling = new SchedulingConfiguration
            {
                ReplanPeriodSeconds = 0.20d,
-                TimeHorizonSeconds = 6d,
-                DistanceHorizonMeters = 5d,
+                TimeHorizonSeconds = 6d,                //窗口的规划时间长度。单位s
+                DistanceHorizonMeters = 500d,           //最大探索s里程距离，单位m
                OutputTimeStepSeconds = 0.05d,
                SolverTimeoutSeconds = 0.10d,
                HandoffLookaheadSeconds = 0.30d,