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feat: optimize lateral paths with SQP

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This commit is contained in:
梁薄云
2026-08-04 08:46:24 +08:00
parent f5c69c252b
commit f19df53f73
5 changed files with 583 additions and 5 deletions
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ClumsyPilot/tests/EMPlannerVerificationHost/Program.cs
+7 -2
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@@ -8,9 +8,9 @@ internal static class Program
{
if (args.Length != 1 || (args[0] != "foundation" && args[0] != "segmentation" && args[0] != "frenet" &&
args[0] != "corridor" && args[0] != "optimization" && args[0] != "osqp" && args[0] != "osqp-loader" && args[0] != "osqp-probe" &&
args[0] != "all-foundation" && args[0] != "lateral-model"))
args[0] != "all-foundation" && args[0] != "lateral-model" && args[0] != "lateral-integration"))
{
Console.Error.WriteLine("Usage: EMPlannerVerificationHost foundation|segmentation|frenet|corridor|optimization|osqp|osqp-loader|all-foundation|lateral-model");
Console.Error.WriteLine("Usage: EMPlannerVerificationHost foundation|segmentation|frenet|corridor|optimization|osqp|osqp-loader|all-foundation|lateral-model|lateral-integration");
return 2;
}
@@ -55,6 +55,11 @@ internal static class Program
MultiWheelC.TrajectoryPlanning.EMPlanner.LateralModelChecks.Run();
Console.WriteLine("PASS lateral-model");
}
if (args[0] == "lateral-integration")
{
MultiWheelC.TrajectoryPlanning.EMPlanner.LateralIntegrationChecks.Run();
Console.WriteLine("PASS lateral-integration");
}
return 0;
}
catch (Exception exception)