Add regression tests for lattice partial replan, track-end gate, and e-stop switch - #27
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Add regression tests for lattice partial replan, track-end gate, and e-stop switch#27cursor[bot] wants to merge 1 commit into
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Cover obstacle_polygons hot-path glue in _partial_replan, track_end_s extension gate, edge-traversal handoff, and trailing-velocity emergency stop recovery in should_switch_plan. Co-authored-by: Majid Khonji <majid-khonji@users.noreply.github.com>
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Summary
Adds focused regression coverage for GreedyLatticePlanner sliding-window and plan-switch paths that remained untested after recent closed-loop / lattice work. Complements (does not duplicate) open drafts #17/#20/#22/#23/#24/#25/#26.
Risky behavior now covered
_partial_replanobstacle_polygons glue: with agents, everycheck_collisioncall receives precomputed polygons; without agents the kwarg staysNone(avoids silent CV-sweep slow-path semantics)_partial_replantrack_end_s gate: skips extension whentail.s + maneuver_distance > track_end_s; extends by one maneuver when room remains_advance_local_planhandoff: traversed head with successor advances to next edge and calls_on_edge_traversed→_partial_replan; no successor holds and does not callshould_switch_planemergency-stop recovery: trailing velocitylast < 0.5andmean < 3.0recovers to a clean plan; low-speed cruise andlast >= 0.5do not misclassifyTest files added/updated
test/c20_planning/test_c28_local_lattice_planners.pyWhy these tests materially reduce regression risk
Sliding-window extension is the default local-plan grow path after each edge traverse. Dropping
obstacle_polygonswould change collision semantics vs predictor-gated precompute. Wrongtrack_end_sgating (or reverting to stalepath_s[-2]) can append edges past finish or stop extending early. Emergency-stop recovery prevents stuck near-zero profiles without jittering normal low-speed cruise.Validation
All 40 tests passed. No production code changes.