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feat: coordinate rolling EM replans

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This commit is contained in:
梁薄云
2026-08-04 12:47:39 +08:00
parent 49109ec835
commit d75380cf8f
7 changed files with 497 additions and 1 deletions
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ClumsyPilot/tests/EMPlannerVerificationHost/Program.cs
+6 -1
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@@ -12,7 +12,7 @@ internal static class Program
args[0] != "lateral-real-osqp" && args[0] != "lateral-real-osqp-probe" && args[0] != "lateral-all" &&
args[0] != "longitudinal-model" && args[0] != "longitudinal-integration" &&
args[0] != "longitudinal-real-osqp-probe" && args[0] != "trajectory" &&
args[0] != "em-planning-service" && args[0] != "em-core-all"))
args[0] != "em-planning-service" && args[0] != "em-core-all" && args[0] != "coordinator"))
{
Console.Error.WriteLine("Usage: EMPlannerVerificationHost foundation|segmentation|frenet|corridor|optimization|osqp|osqp-loader|all-foundation|lateral-model|lateral-integration|lateral-real-osqp|lateral-all|longitudinal-model|longitudinal-integration");
return 2;
@@ -108,6 +108,11 @@ internal static class Program
MultiWheelC.TrajectoryPlanning.EMPlanner.EmPlanningServiceChecks.Run();
Console.WriteLine("PASS em-planning-service");
}
if (args[0] == "coordinator")
{
CoordinatorChecks.Run();
Console.WriteLine("PASS coordinator");
}
return 0;
}
catch (Exception exception)