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fix: publish distinct EM observation semantics

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梁薄云
2026-08-07 09:28:55 +08:00
parent 5d1c875584
commit d33257cc46
8 changed files with 313 additions and 30 deletions
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ClumsyPilot/tests/TrajectoryPlanningVisualizationVerificationHost/SampleSnapshotFactory.cs
+22 -7
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@@ -20,7 +20,12 @@ internal static class SampleSnapshotFactory
new VisualizationPolyline("global", "全局参考路径", "global", VisualizationLineStyle.Solid,
Points((0d, 1d), (3d, 1d), (6d, 2d), (8d, 4d), (11d, 6d)))
},
new[] { new VisualizationMarker("gear-1", "gear-switch", "换向 1", new VisualizationPoint(6d, 2d)) },
new[]
{
new VisualizationMarker("gear-1", "gear-switch", "换向 1", new VisualizationPoint(6d, 2d)),
new VisualizationMarker("gear-1-end", "gear-switch-end", "换向点 1 / s_end", new VisualizationPoint(6d, 2d)),
new VisualizationMarker("final-goal", "final-goal", "终点 / s_end", new VisualizationPoint(11d, 6d))
},
new[]
{
new VisualizationDirectionSegment(0, "forward", false, true, Points((0d, 1d), (3d, 1d), (6d, 2d))),
@@ -55,7 +60,12 @@ internal static class SampleSnapshotFactory
new VisualizationPolyline("previous", "上一轮轨迹", "previous", VisualizationLineStyle.Dashed, Points((1d, 1d), (2.5d, 1d), (4d, 1.3d))),
new VisualizationPolyline("current", "当前轨迹", "current", VisualizationLineStyle.Solid, Points((2d + offset, 1d), (3.8d + offset, 1.2d), (5.8d + offset, 1.9d)))
},
new[] { new VisualizationMarker("handoff", "handoff", "交接", new VisualizationPoint(2d + offset, 1d)) },
new[]
{
new VisualizationMarker("vehicle", "vehicle", "车辆", new VisualizationPoint(2d + offset, 1d)),
new VisualizationMarker("plan-start", "plan-start", "计划起点", new VisualizationPoint(2d + offset, 1d)),
new VisualizationMarker("gear-switch-end", "gear-switch-end", "换向点 1 / s_end", new VisualizationPoint(6d, 2d))
},
CreateCharts(offset),
new[]
{
@@ -70,21 +80,26 @@ internal static class SampleSnapshotFactory
{
return new[]
{
Chart("ls", "横向偏移", "ReferenceS (m)", "l (m)", Points((0d, .05d), (2d, .08d), (4d, .02d))),
Chart("st", "时空轨迹", "t (s)", "PathS (m)", Points((0d, 0d), (1d, 1.2d), (2d, 3.0d))),
Chart("ls", "横向偏移", "ReferenceS (m)", "l (m)", Points((0d, .05d), (2d, .08d), (4d, .02d)),
new[] { new VisualizationChartAnnotation("ls-s-end", "s-end", "s_end", 4d) }),
Chart("st", "时空轨迹", "t (s)", "PathS (m)", Points((0d, 0d), (1d, 1.2d), (2d, 3.0d)),
new[] { new VisualizationChartAnnotation("st-s-end", "s-end", "s_end", 2d) }),
Chart("curvature-s", "曲率—距离", "s (m)", "κ (m⁻¹)", Points((0d, .01d), (2d, .04d), (4d, .02d))),
Chart("curvature-t", "曲率—时间", "t (s)", "κ (m⁻¹)", Points((0d, .01d), (1d, .04d), (2d, .02d))),
Chart("velocity-t", "速度", "t (s)", "v (m/s)", Points((0d, 0d), (1d, 1d), (2d, 1.2d + offset))),
Chart("acceleration-t", "加速度", "t (s)", "a (m/s²)", Points((0d, .8d), (1d, .2d), (2d, 0d))),
Chart("jerk-t", "加加速度", "t (s)", "j (m/s³)", Points((0d, -.6d), (1d, -.2d))),
Chart("yaw-rate-t", "横摆角速度", "t (s)", "yaw rate (rad/s)", Points((0d, 0d), (1d, .08d), (2d, .04d)))
Chart("yaw-rate-t", "横摆角速度", "t (s)", "ω (rad/s)", Points((0d, 0d), (1d, .08d), (2d, .04d)))
};
}
private static VisualizationChart Chart(string id, string title, string xAxis, string yAxis, IReadOnlyList<VisualizationPoint> points)
private static VisualizationChart Chart(string id, string title, string xAxis, string yAxis,
IReadOnlyList<VisualizationPoint> points,
IReadOnlyList<VisualizationChartAnnotation> annotations = null)
{
return new VisualizationChart(id, title, xAxis, yAxis,
new[] { new VisualizationSeries(id + "-current", "当前轨迹", VisualizationLineStyle.Solid, points) });
new[] { new VisualizationSeries(id + "-current", "当前轨迹", VisualizationLineStyle.Solid, points) },
"", annotations ?? Array.Empty<VisualizationChartAnnotation>());
}
private static IReadOnlyList<VisualizationPoint> Points(params (double x, double y)[] values)