fix: stabilize stopped-start EM planning and add txt diagnostics

2026-08-07 15:51:31 +08:00
parent f2970d0aff
commit d378ad6257
13 changed files with 373 additions and 53 deletions
@@ -150,8 +150,8 @@ public static class EmPlanningRequestValidator
            !Positive(scheduling.MaximumOptimizationTimeStepSeconds) ||
            !Positive(scheduling.MaximumOptimizationSpatialStepMeters) ||
            scheduling.MaximumOptimizationKnotCount < 3 || scheduling.MaximumPublishedSampleCount < 2 ||
-            !Positive(validation.TerminalPositionToleranceMeters) ||
-            !Positive(validation.TerminalYawToleranceRadians) || validation.TerminalYawToleranceRadians > Math.PI ||
+            validation.TerminalPositionToleranceMeters < 0d ||
+            validation.TerminalYawToleranceRadians < 0d || validation.TerminalYawToleranceRadians > Math.PI ||
            !WeightsAreValid(configuration.Lateral.Weights) || !WeightsAreValid(configuration.Longitudinal.Weights))
            return false;