feat(simulation): add Worker AI polygon runtime and terrain navigation

2026-09-25 16:40:45 +03:00
parent a7c64e009d
commit f01bd39037
88 changed files with 9918 additions and 108 deletions
@@ -0,0 +1,14 @@
+"""Apply one explicit adapter patch to the pinned CMU selector; fail on drift."""
+from pathlib import Path
+
+path = Path("/opt/cmu/src/local_planner/src/localPlanner.cpp")
+source = path.read_text()
+needle = "            maxScore = clearPathPerGroupScore[i];\n            selectedGroupID = i;"
+replacement = """\
+            if (!missioncoreFootprintClear(*plannerCloudCrop, *startPaths[i % groupNum],
+                rotAng, pathScale, std::min(pathRange, relativeGoalDis),
+                vehicleLength, vehicleWidth, obstacleHeightThre, twoWayDrive)) continue;
+            maxScore = clearPathPerGroupScore[i];
+            selectedGroupID = i;"""
+assert source.count(needle) == 1, "CMU selector source changed"
+path.write_text('#include "missioncore_footprint.hpp"\n' + source.replace(needle, replacement))