控制器测试横向跟踪，增加记录

2026-08-10 10:10:21 +08:00
parent 88f651e0c2
commit 2f9e4285d3
22 changed files with 769 additions and 92 deletions
@@ -47,11 +47,11 @@ namespace MultiWheelC.Control.Execution
            ILongitudinalController longitudinalController,
            GcpCommandAllocator gcpAllocator,
            GcpCommandExecutor commandExecutor,
-            double finishDistanceMeters = 0.03,
+            double finishDistanceMeters = 0.04,
            double finishSpeedMetersPerSecond = 0.02,
            double finishHeadingToleranceRadians =
                3.0 * Math.PI / 180.0,
-            double maximumDistanceToTrajectoryMeters = 0.50)
+            double maximumDistanceToTrajectoryMeters = 0.30)
        {
            _stateProvider = stateProvider ??
                throw new ArgumentNullException(
@@ -73,7 +73,7 @@ namespace MultiWheelC.Control.Lateral
        public double MinimumSpeedMetersPerSecond { get; }

        /// <summary>
-        /// 获取是否优先使用Detour估算的实际纵向速度计算横向修正。
+        /// 获取是否优先使用当前状态源提供的实际纵向速度计算横向修正。
        /// </summary>
        public bool UseActualSpeedForGain { get; }