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feat: mark smoothed path start in EM overview

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梁薄云
2026-08-09 19:06:53 +08:00
parent 99a7d5bb2f
commit 40a28138b9
2 changed files with 13 additions and 0 deletions
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ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationStaticSnapshotBuilder.cs
+6
View File
@@ -56,6 +56,12 @@ public sealed class TrajectoryObservationStaticSnapshotBuilder
private static IReadOnlyList<VisualizationMarker> CreateMarkers(TrajectoryObservationBootstrapResult bootstrap) private static IReadOnlyList<VisualizationMarker> CreateMarkers(TrajectoryObservationBootstrapResult bootstrap)
{ {
var markers = new List<VisualizationMarker>(); var markers = new List<VisualizationMarker>();
if (bootstrap.SmoothedPath.Path.Count > 0)
{
var start = bootstrap.SmoothedPath.Path[0];
markers.Add(new VisualizationMarker("smooth-start", "smooth-start",
"平滑路径起点", new VisualizationPoint(start.X, start.Y)));
}
foreach (DirectionSegmentView segment in bootstrap.Segments) foreach (DirectionSegmentView segment in bootstrap.Segments)
{ {
if (segment.EndBoundary.BoundaryType == EmBoundaryType.GearSwitchApproach) if (segment.EndBoundary.BoundaryType == EmBoundaryType.GearSwitchApproach)
ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationVisualizationChecks.cs
+7
View File
@@ -82,6 +82,13 @@ internal static class TrajectoryObservationVisualizationChecks
Verification.Equal(bootstrap.Segments.Count, snapshot.DirectionSegments.Count, "all direction segments exported"); Verification.Equal(bootstrap.Segments.Count, snapshot.DirectionSegments.Count, "all direction segments exported");
Verification.True(snapshot.StaticPolylines.Any(x => x.Id == "coarse-path"), "coarse path exported"); Verification.True(snapshot.StaticPolylines.Any(x => x.Id == "coarse-path"), "coarse path exported");
Verification.True(snapshot.StaticPolylines.Any(x => x.Id == "local-g2-path"), "full Local G2 path exported"); Verification.True(snapshot.StaticPolylines.Any(x => x.Id == "local-g2-path"), "full Local G2 path exported");
VisualizationMarker smoothStart = snapshot.StaticMarkers.Single(x => x.Kind == "smooth-start");
Verification.Equal("平滑路径起点", smoothStart.LabelChinese,
"static snapshot labels the smoothed-path start");
Verification.NearlyEqual(bootstrap.SmoothedPath.Path[0].X, smoothStart.Position.X,
"smoothed-path start marker X matches the first smoothed point");
Verification.NearlyEqual(bootstrap.SmoothedPath.Path[0].Y, smoothStart.Position.Y,
"smoothed-path start marker Y matches the first smoothed point");
byte[] occupancy = Convert.FromBase64String(snapshot.OccupancyGrid.OccupancyBitsBase64); byte[] occupancy = Convert.FromBase64String(snapshot.OccupancyGrid.OccupancyBitsBase64);
Verification.Equal((bootstrap.Map.Rows * bootstrap.Map.Cols + 7) / 8, occupancy.Length, Verification.Equal((bootstrap.Map.Rows * bootstrap.Map.Cols + 7) / 8, occupancy.Length,
"occupancy bitset compact length"); "occupancy bitset compact length");