feat: define full-direction EM planning scope

2026-08-06 20:48:44 +08:00
parent fcf7df17d5
commit f4e89b4b4f
20 changed files with 183 additions and 33 deletions
@@ -1,4 +1,4 @@
-namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
+namespace MultiWheelC.TrajectoryPlanning.EMPlanner;

 public sealed partial class EmPlannerConfiguration
 {
@@ -23,6 +23,10 @@ public sealed partial class EmPlannerConfiguration
                SolverTimeoutSeconds = 0.10d,
                HandoffLookaheadSeconds = 0.30d,
                MaximumVehicleStateAgeSeconds = 0.20d,
+                MaximumOptimizationTimeStepSeconds = 0.20d,
+                MaximumOptimizationSpatialStepMeters = 0.10d,
+                MaximumOptimizationKnotCount = 401,
+                MaximumPublishedSampleCount = 5001,
            },
            Corridor = new CorridorConfiguration
            {
@@ -58,8 +62,10 @@ public sealed partial class EmPlannerConfiguration
            },
            Longitudinal = new LongitudinalConfiguration
            {
-                MaximumForwardSpeedMetersPerSecond = 0.20d,
-                MaximumReverseSpeedMetersPerSecond = 0.20d,
+                MaximumForwardSpeedMetersPerSecond = 1d,
+                MaximumReverseSpeedMetersPerSecond = 0.5d,
+                DesiredForwardSpeedMetersPerSecond = 1d,
+                DesiredReverseSpeedMetersPerSecond = 0.5d,
                MaximumAccelerationMetersPerSecondSquared = 0.20d,
                MaximumDecelerationMetersPerSecondSquared = 0.30d,
                MaximumJerkMetersPerSecondCubed = 0.50d,
@@ -91,6 +97,8 @@ public sealed partial class EmPlannerConfiguration
            {
                SpatialToleranceMeters = 1e-8d,
                KinematicTolerance = 1e-8d,
+                TerminalPositionToleranceMeters = 0.03d,
+                TerminalYawToleranceRadians = 5d * System.Math.PI / 180d,
            },
        };
    }