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
@@ -9,6 +9,10 @@ public sealed class SchedulingConfiguration
    public double SolverTimeoutSeconds { get; set; }
    public double HandoffLookaheadSeconds { get; set; }
    public double MaximumVehicleStateAgeSeconds { get; set; }
+    public double MaximumOptimizationTimeStepSeconds { get; set; }
+    public double MaximumOptimizationSpatialStepMeters { get; set; }
+    public int MaximumOptimizationKnotCount { get; set; }
+    public int MaximumPublishedSampleCount { get; set; }

    internal SchedulingConfiguration Copy()
    {
@@ -21,6 +25,10 @@ public sealed class SchedulingConfiguration
            SolverTimeoutSeconds = SolverTimeoutSeconds,
            HandoffLookaheadSeconds = HandoffLookaheadSeconds,
            MaximumVehicleStateAgeSeconds = MaximumVehicleStateAgeSeconds,
+            MaximumOptimizationTimeStepSeconds = MaximumOptimizationTimeStepSeconds,
+            MaximumOptimizationSpatialStepMeters = MaximumOptimizationSpatialStepMeters,
+            MaximumOptimizationKnotCount = MaximumOptimizationKnotCount,
+            MaximumPublishedSampleCount = MaximumPublishedSampleCount,
        };
    }
 }