xsxiaosa/FlyShotHost
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Merge commit '0952958af7685646cdbf2a4907c6e2ae59d4d352'

Browse Source
This commit is contained in:
yunxiao.zhu
2026-05-28 10:44:03 +08:00
parent 4eeaa3fef3
commit 35bdb08d11
144 changed files with 33730 additions and 392 deletions
Download Patch File Download Diff File Expand all files Collapse all files

21
tests/Flyshot.Core.Tests/OfflinePlanTests.cs
View File

@@ -2,7 +2,6 @@ using Flyshot.Core.Config;
using Flyshot.Core.Domain;
using Flyshot.Core.Planning;
using Flyshot.Core.Planning.Export;
using Flyshot.Core.Planning.Kinematics;
using Flyshot.Core.Planning.Sampling;
using Flyshot.Core.Triggering;
using Xunit.Abstractions;
@@ -24,26 +23,30 @@ public sealed class OfflinePlanTests
/// 使用预设参数生成离线轨迹，输出到 analysis/output/dotnet/。
/// </summary>
[Theory]
[InlineData("Rvbust/EOL9 EAU 90/eol9_eau_90.json", "FlyingShot/FlyingShot/Models/LR_Mate_200iD_7L.robot", "EOL9_EAU_90", false, 1.0)]
[InlineData("Rvbust/EOL9 EAU 90/eol9_eau_90.json", "FlyingShot/FlyingShot/Models/LR_Mate_200iD_7L.robot", "EOL9_EAU_90", true, 0.9)]
[InlineData("Rvbust/EOL10_EAU_0/EOL10_EAU_0.json", "FlyingShot/FlyingShot/Models/LR_Mate_200iD_7L.robot", "EOL10_EAU_0", false, 1.0)]
[InlineData("Rvbust/EOL9 EAU 90/eol9_eau_90.json", "EOL9_EAU_90", false, 1.0)]
[InlineData("Rvbust/EOL9 EAU 90/eol9_eau_90.json", "EOL9_EAU_90", true, 0.9)]
[InlineData("Rvbust/EOL10_EAU_0/EOL10_EAU_0.json", "EOL10_EAU_0", false, 1.0)]
public void GenerateTrajectory_MatchesPythonDemo(
string configPath,
string robotModelPath,
string trajName,
bool useSelfAdapt,
double speedRatio)
{
var workspaceRoot = GetWorkspaceRoot();
var resolvedConfigPath = Path.Combine(workspaceRoot, configPath);
var outputDir = Path.Combine(workspaceRoot, "analysis", "output", "dotnet", $"{trajName}_sr{speedRatio:F2}_{(useSelfAdapt ? "adapt" : "icsp")}");
Directory.CreateDirectory(outputDir);
// 1. 加载配置和模型。
var loadedConfig = new RobotConfigLoader().Load(configPath, repoRoot: workspaceRoot);
var loadedConfig = new RobotConfigLoader().Load(resolvedConfigPath, repoRoot: workspaceRoot);
var program = loadedConfig.Programs[trajName];
var resolvedRobotModelPath = Path.Combine(workspaceRoot, robotModelPath);
var baseProfile = new RobotModelLoader().LoadProfile(resolvedRobotModelPath, loadedConfig.Robot.AccLimitScale, loadedConfig.Robot.JerkLimitScale);
var kinematicsModel = new RobotModelLoader().LoadKinematicsModel(resolvedRobotModelPath);
var resolvedRobotModelPath = Path.Combine(workspaceRoot, "flyshot-replacement", "Config", "Models", "LR_Mate_200iD_7L.json");
var loadedModel = new RobotModelLoader().LoadProfileAndKinematics(
resolvedRobotModelPath,
loadedConfig.Robot.AccLimitScale,
loadedConfig.Robot.JerkLimitScale);
var baseProfile = loadedModel.Profile;
var kinematicsModel = loadedModel.KinematicsModel;
// 2. 应用 speed_ratio 缩放。
var scaledProfile = ScaleRobotProfile(baseProfile, speedRatio);