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docs: disambiguate controller state provider example

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梁薄云
2026-08-11 17:11:09 +08:00
parent 1784e6a121
commit 53331a04ab
1 changed files with 3 additions and 3 deletions
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ClumsyPilot/ParkrobTrajplanner/Trajplanner_guide/EmPlannerTrajectoryReplacementExample.cs
+3 -3
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@@ -4,7 +4,7 @@
using System; using System;
using System.Threading; using System.Threading;
using MultiWheelC.StateEstimation; using ControllerStateProvider = MultiWheelC.StateEstimation.IVehicleStateProvider;
using MultiWheelC.TrajectoryPlanning.EMPlanner; using MultiWheelC.TrajectoryPlanning.EMPlanner;
using MultiWheelC.TrajectoryPlanning.TrajectoryObservation; using MultiWheelC.TrajectoryPlanning.TrajectoryObservation;
using MyParking.Shared; using MyParking.Shared;
@@ -40,7 +40,7 @@ public static class EmPlannerTrajectoryReplacementExample
// Task 2 内部同步调用 EmPlanningService.Plan(request, cancellationToken)， // Task 2 内部同步调用 EmPlanningService.Plan(request, cancellationToken)，
// 并在返回前完成 Success/SuccessWithFallback、非空轨迹和可控点的发布闸门检查。 // 并在返回前完成 Success/SuccessWithFallback、非空轨迹和可控点的发布闸门检查。
private static void WrapperReplacement( private static void WrapperReplacement(
IVehicleStateProvider stateProvider, ControllerStateProvider stateProvider,
CancellationToken cancellationToken) CancellationToken cancellationToken)
{ {
FixedOfflinePlanningOutput planningOutput = FixedOfflinePlanningOutput planningOutput =
@@ -77,7 +77,7 @@ public static class EmPlannerTrajectoryReplacementExample
// 没有轮询、HTTP、消息队列或轨迹仓库查询，也不能从其他调用的结果中取轨迹。 // 没有轮询、HTTP、消息队列或轨迹仓库查询，也不能从其他调用的结果中取轨迹。
private static void DirectServiceReplacement( private static void DirectServiceReplacement(
EmPlanningRequest request, EmPlanningRequest request,
IVehicleStateProvider stateProvider, ControllerStateProvider stateProvider,
CancellationToken cancellationToken) CancellationToken cancellationToken)
{ {
var planningService = new EmPlanningService(new OsqpNativeSolver()); var planningService = new EmPlanningService(new OsqpNativeSolver());