feat: derive adaptive full-segment ST schedule

2026-08-06 23:54:34 +08:00
parent dad4ff4b04
commit 3269d556b6
14 changed files with 1642 additions and 108 deletions
@@ -39,8 +39,9 @@ public sealed class EmTrajectoryAssembler
            throw new ArgumentNullException(nameof(metadata));

        var interpolator = new LateralPathInterpolator(path);
-        var schedule = new TrajectorySampleSchedule(longitudinal.Candidate, outputTimeStepSeconds, zeroSpeedHoldSeconds,
-            metadata.LongitudinalMode);
+        bool isFullDirectionSegment = metadata.PlanningScope == EmPlanningScope.FullDirectionSegment;
+        var schedule = new TrajectorySampleSchedule(longitudinal.Candidate, outputTimeStepSeconds,
+            isFullDirectionSegment ? 0d : zeroSpeedHoldSeconds, metadata.LongitudinalMode, isFullDirectionSegment);
        double terminalPathS = path.Points[path.Points.Count - 1].PathS;
        var points = new List<EmTrajectoryPoint>(schedule.Samples.Count);
        double directionSign = metadata.Direction == TravelDirection.Forward ? 1d : -1d;