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
@@ -255,7 +255,7 @@ internal static class ExecutorChecks
            "executor-reference", 60L, string.Empty, 4, direction, terminalType,
            terminalType == EmTerminalType.RollingSafetyStop
                ? EmLongitudinalMode.RollingContinuation
-                : EmLongitudinalMode.ExactStopAtBoundary);
+                : EmLongitudinalMode.ExactStopAtBoundary, EmPlanningScope.RollingHorizon);
        return new EmTrajectory(metadata, new[]
        {
            new EmTrajectoryPoint(0d, 0d, 0d, signedSpeed, 0d, 0d, 4, 0d, 0d, direction, EmBoundaryType.None, 0d, 0d),
@@ -269,7 +269,7 @@ internal static class ExecutorChecks
    {
        var metadata = new EmTrajectoryMetadata("control-" + direction, effectiveAt, effectiveAt, 85L,
            "control-reference", 84L, string.Empty, 5, direction, EmTerminalType.Goal,
-            EmLongitudinalMode.ExactStopAtBoundary);
+            EmLongitudinalMode.ExactStopAtBoundary, EmPlanningScope.RollingHorizon);
        return new EmTrajectory(metadata, new[]
        {
            new EmTrajectoryPoint(1d, 2d, Math.PI / 3d, signedVelocity, 0d, curvature, 5, 0d, 0d, direction,