feat: configure MovementTest ST time controls

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationContracts.cs

@@ -14,6 +14,10 @@ public sealed class TrajectoryObservationSettings
     public double ObserverPeriodSeconds { get; set; } = 0.05d;
     public double SolverTimeoutSeconds { get; set; } = 0.50d;
     public int MaximumOsqpIterations { get; set; } = 12000;
+    /// <summary>单次 ST 轨迹覆盖的未来时长，单位 s；不等于观察循环周期。</summary>
+    public double TimeHorizonSeconds { get; set; } = 6d;
+    /// <summary>发布 Trajectory 相邻 TimeFromStart 时间戳的间隔，单位 s；不等于观察循环周期。</summary>
+    public double OutputTimeStepSeconds { get; set; } = 0.10d;
     public double VehicleLengthMeters { get; set; } = 0.80d;
     public double VehicleWidthMeters { get; set; } = 0.60d;
     public double SafetyMarginMeters { get; set; } = 0.05d;
@@ -29,6 +33,8 @@ public sealed class TrajectoryObservationSettings
             ObserverPeriodSeconds = ObserverPeriodSeconds,
             SolverTimeoutSeconds = SolverTimeoutSeconds,
             MaximumOsqpIterations = MaximumOsqpIterations,
+            TimeHorizonSeconds = TimeHorizonSeconds,
+            OutputTimeStepSeconds = OutputTimeStepSeconds,
             VehicleLengthMeters = VehicleLengthMeters,
             VehicleWidthMeters = VehicleWidthMeters,
             SafetyMarginMeters = SafetyMarginMeters,
@@ -47,6 +53,11 @@ public sealed class TrajectoryObservationSettings
         EnsurePositiveFinite(SolverTimeoutSeconds, nameof(SolverTimeoutSeconds));
         if (MaximumOsqpIterations <= 0)
             throw new ArgumentOutOfRangeException(nameof(MaximumOsqpIterations), "Value must be positive.");
+        EnsurePositiveFinite(TimeHorizonSeconds, nameof(TimeHorizonSeconds));
+        EnsurePositiveFinite(OutputTimeStepSeconds, nameof(OutputTimeStepSeconds));
+        if (OutputTimeStepSeconds > TimeHorizonSeconds)
+            throw new ArgumentOutOfRangeException(nameof(OutputTimeStepSeconds),
+                "The trajectory timestamp spacing cannot exceed the ST time horizon.");
         EnsurePositiveFinite(VehicleLengthMeters, nameof(VehicleLengthMeters));
         EnsurePositiveFinite(VehicleWidthMeters, nameof(VehicleWidthMeters));
         EnsurePositiveFinite(SafetyMarginMeters, nameof(SafetyMarginMeters));