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feat: publish rolling trajectories without stop tails

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梁薄云
2026-08-05 20:00:11 +08:00
parent 72592f0cae
commit 4159ae0bc1
9 changed files with 196 additions and 50 deletions
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ClumsyPilot/tests/EMPlannerVerificationHost/ExecutorChecks.cs
+6 -2
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@@ -252,7 +252,10 @@ internal static class ExecutorChecks
{
double signedSpeed = direction == TravelDirection.Forward ? 0.10d : -0.10d;
var metadata = new EmTrajectoryMetadata("executor-" + terminalBoundary, effectiveAt, effectiveAt, 70L,
"executor-reference", 60L, string.Empty, 4, direction, terminalType);
"executor-reference", 60L, string.Empty, 4, direction, terminalType,
terminalType == EmTerminalType.RollingSafetyStop
? EmLongitudinalMode.RollingContinuation
: EmLongitudinalMode.ExactStopAtBoundary);
return new EmTrajectory(metadata, new[]
{
new EmTrajectoryPoint(0d, 0d, 0d, signedSpeed, 0d, 0d, 4, 0d, 0d, direction, EmBoundaryType.None, 0d, 0d),
@@ -265,7 +268,8 @@ internal static class ExecutorChecks
double signedVelocity, double curvature)
{
var metadata = new EmTrajectoryMetadata("control-" + direction, effectiveAt, effectiveAt, 85L,
"control-reference", 84L, string.Empty, 5, direction, EmTerminalType.Goal);
"control-reference", 84L, string.Empty, 5, direction, EmTerminalType.Goal,
EmLongitudinalMode.ExactStopAtBoundary);
return new EmTrajectory(metadata, new[]
{
new EmTrajectoryPoint(1d, 2d, Math.PI / 3d, signedVelocity, 0d, curvature, 5, 0d, 0d, direction,