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
@@ -20,7 +20,8 @@ public sealed class EmPlanningRequest
        string outputTrajectoryId,
        string referencePathId,
        string previousTrajectoryId,
-        EmMotionModel motionModel)
+        EmMotionModel motionModel,
+        EmPlanningScope planningScope)
    {
        ReferencePath = referencePath;
        Map = map;
@@ -35,6 +36,7 @@ public sealed class EmPlanningRequest
        ReferencePathId = referencePathId;
        PreviousTrajectoryId = previousTrajectoryId;
        MotionModel = motionModel;
+        PlanningScope = planningScope;
    }

    public PathSmoothingResult ReferencePath { get; }
@@ -50,6 +52,7 @@ public sealed class EmPlanningRequest
    public string ReferencePathId { get; }
    public string PreviousTrajectoryId { get; }
    public EmMotionModel MotionModel { get; }
+    public EmPlanningScope PlanningScope { get; }
 }

 // The request owns this DTO contract; Task 2 adds its request-bound settings.