feat: configure MovementTest ST time controls

2026-08-05 13:39:18 +08:00
parent 308c8bb587
commit ddea58a139
4 changed files with 60 additions and 1 deletions
@@ -33,6 +33,10 @@ public sealed class TrajectoryObservationMovementTest : MovementTest
    public double ObserverPeriodSeconds = 0.05d;
    public double SolverTimeoutSeconds = 0.50d;
    public int MaximumOsqpIterations = 12000;
+    /// <summary>单次 ST 轨迹覆盖的未来时长，单位 s；默认 6s，不等于观察循环周期。</summary>
+    public double TimeHorizonSeconds = 6d;
+    /// <summary>Trajectory 相邻 TimeFromStart 时间戳的间隔，单位 s；默认 0.10s，不等于观察循环周期。</summary>
+    public double OutputTimeStepSeconds = 0.10d;
    public double VehicleLengthMeters = 0.80d;
    public double VehicleWidthMeters = 0.60d;
    public double SafetyMarginMeters = 0.05d;
@@ -63,6 +67,8 @@ public sealed class TrajectoryObservationMovementTest : MovementTest
                ObserverPeriodSeconds = ObserverPeriodSeconds,
                SolverTimeoutSeconds = SolverTimeoutSeconds,
                MaximumOsqpIterations = MaximumOsqpIterations,
+                TimeHorizonSeconds = TimeHorizonSeconds,
+                OutputTimeStepSeconds = OutputTimeStepSeconds,
                VehicleLengthMeters = VehicleLengthMeters,
                VehicleWidthMeters = VehicleWidthMeters,
                SafetyMarginMeters = SafetyMarginMeters,