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feat: preserve EM planner segment boundaries

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This commit is contained in:
梁薄云
2026-08-03 22:27:00 +08:00
parent b326431d63
commit e492e1610a
8 changed files with 407 additions and 4 deletions
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ClumsyPilot/tests/EMPlannerVerificationHost/Program.cs
+12 -4
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@@ -6,16 +6,24 @@ internal static class Program
{
private static int Main(string[] args)
{
if (args.Length != 1 || args[0] != "foundation")
if (args.Length != 1 || (args[0] != "foundation" && args[0] != "segmentation"))
{
Console.Error.WriteLine("Usage: EMPlannerVerificationHost foundation");
Console.Error.WriteLine("Usage: EMPlannerVerificationHost foundation|segmentation");
return 2;
}
try
{
MultiWheelC.TrajectoryPlanning.EMPlanner.FoundationChecks.Run();
Console.WriteLine("PASS foundation");
if (args[0] == "foundation")
{
MultiWheelC.TrajectoryPlanning.EMPlanner.FoundationChecks.Run();
Console.WriteLine("PASS foundation");
}
else
{
MultiWheelC.TrajectoryPlanning.EMPlanner.SegmentationChecks.Run();
Console.WriteLine("PASS segmentation");
}
return 0;
}
catch (Exception exception)