[Jenkins]Jenkins

Changes

Summary

  1. feat: 增加ssep scenario config，通过参数文件设置场景触发条件及场景参数 (details)
  2. chore: SSEP: 前港进出堆场改进 (details)
  3. chore: SSEP: 改善集卡多段出停车位效果 (details)
  4. Refactor: SSEP: 整理代码目录结构，分离onboard代码与offboard代码 (details)
  5. Refactor: SSEP: minor updates (details)
  6. feat:整理安全防护 (details)
  7. fix:修复距离超视距框过近，搜索失败的bug (details)
  8. fix:调整ttc 预测轨迹 (details)
  9. feat: 太阳纸业场景适配 (details)
  10. feat:wcba求解路径过短的问题修复 (details)
  11. fix:wcba路径过短的问题 (details)
  12. feat: SSEP: 前进/后退时使用不同的碰撞检测策略。增加前进方向的额外碰撞检测。 (details)
  13. feat: SSEP: 前进/后退时使用不同的碰撞检测策略。增加前进方向的额外碰撞检测。 (details)
  14. fix:参考线拼接的bug (details)
  15. feat: SSEP: IMV更换新的运动学模型，额外状态量从后轮转向更改为beta (details)
  16. feat: 增加ssep-heatnet-2.0训练场景生成器 (details)
  17. refactor: 将ssep的依赖改为sub_directory的形式，添加proto数据结构 (details)
  18. feat: SSEP增加IMV进堆场场景 (details)
  19. chore: SSEP: 调试IMV路径 (details)
  20. chore: Add proto converters. (details)
  21. refactor: 去除SSEP中不再用到的参数与相关处理。 (details)
  22. fix:太阳纸业 出库， ssep路径匹配的bug (details)
  23. fix: SSEP 修复proto版本不兼容的问题 (details)
  24. fix:修复ttc预测的bug (details)
  25. Revert "feat:暂时屏蔽container size 变量" (details)
  26. chore: SSEP: 改进多段路径 - 短路径去除的逻辑 (details)
  27. refactor: update cmakelist (details)
  28. chore: 改进出堆场搜索，调整offboard部分代码 (details)
  29. chore: 改进友谊关多段倒车路径形状 (details)
  30. fix: SSEP: proto去除optional关键字 (details)
  31. feat: SSEP: 完成ssep相关的proto定义。 (details)
  32. fix: fix building issue (details)
  33. fix: 修复imv优化器斜行代价太小的问题 (details)
  34. fix: 修复imv优化器斜行代价太小的问题 (details)
  35. Revert "fix: 修复imv优化器斜行代价太小的问题" (details)
  36. fix:修复imv优化器斜行代价太小的问题 (details)
  37. fix: first_frame smooth mode except in_yard (details)
  38. refactor:优化进苏溪停车位的搜索 (details)
  39. fix: clear route in smooth mode when large deviation. (details)
  40. feat: construct start_up pseudo ogm for loading task. (details)
  41. fix: pseudo ogm for unloading task. (details)
Commit e83dce8cb0b0176c291c3111c32a761e20c0be23 by tangwenqing
feat: 增加ssep scenario config，通过参数文件设置场景触发条件及场景参数

The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/ssep_planner.cc
The file was modifieddata/config/cfg_ssep.cpp
The file was modifieddata/config/cfg_ssep.hpp
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was addeddata/ssep/ssep_scenario_config.hpp
The file was addeddata/ssep/ssep_scenario_config_loader.hpp
The file was modifieddata/ssep/forward_ec.cpp
The file was addeddata/ssep/ssep_scenario_config_loader.cpp
The file was modifieddata/ssep/ssep_common.hpp
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/app/fsm/task_command_type.cpp
The file was addeddata/ssep/ssep_scenario_config.cpp
The file was modifiedtasks/deciders/search_decider/forward_search_decider.cpp
The file was modifieddata/app/fsm/task_command_type.hpp
Commit 96b821ac3c22a53c3e4e6ff9cbf0b7c81640f0ee by tangwenqing
chore: SSEP: 前港进出堆场改进

The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
Commit cc1d282761453b73188d303088adbde37b9eaf62 by tangwenqing
chore: SSEP: 改善集卡多段出停车位效果

The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
Commit e2822cab98d532445f28abe87f444e591eb85b06 by tangwenqing
Refactor: SSEP: 整理代码目录结构，分离onboard代码与offboard代码
The file was addedssep/offboard/main_test/main_ssep.cc
The file was addedssep/maps/ogm.cc
The file was removedssep/main_test/hdmap_interface/rapidjson/cursorstreamwrapper.h
The file was removedssep/images/enviroment.png
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/stream.h
The file was removedssep/main_test/hdmap_interface/map_elements/junction.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/uri.h
The file was removedssep/senior.sh
The file was addedssep/offboard/tools/executable/main_region_cut_boost.cc
The file was addedssep/offboard/main_test/hdmap_interface/libhdmap_interface.so
The file was modifiedssep/ssep_planner.cc
The file was addedssep/offboard/tools/executable/third_party/tabulate.hpp
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/meta.h
The file was addedssep/offboard/tools/imv/imv_kinematic.py
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was removedssep/third_party/tabulate.hpp
The file was removedssep/tools/executable/main_translation.cc
The file was modifiedssep/coarse_search/evaluator/trailer_shortest_path_heur_computer.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/section_info.h
The file was removedssep/main_test/hdmap_interface/rapidjson/fwd.h
The file was removedssep/main_test/hdmap_interface/rapidjson/memorystream.h
The file was addedssep/offboard/main_test/hdmap_interface/hdmap.h
The file was addedssep/maps/sl_projection_map.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/rapidjson.h
The file was removedssep/influence_map/layer_base.cc
The file was addedssep/offboard/main_test/hdmap_interface/parser/interface_singleton.hpp
The file was addedssep/offboard/main_test/main_test_park.cc
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/overlap.h
The file was removedssep/tools/executable/third_party/matlab_plot_cplusplus.hpp
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/biginteger.h
The file was removedssep/main_test/hdmap_interface/map_elements/object.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was removedssep/demo/src/main_ssep_activation.cc
The file was removedssep/main_test/hdmap_interface/map_elements/section.h
The file was removedssep/main_test/main_test_zhoushan.cc
The file was removedssep/tools/executable/main_clipper.cc
The file was removedssep/main_test/hdmap_interface/rapidjson/filewritestream.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/strtod.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/istreamwrapper.h
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_car.cc
The file was removedssep/main_test/hdmap_interface/rapidjson/msinttypes/inttypes.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was addedssep/offboard/tools/scene_data_generator/generate_scene_data_cli.cc
The file was removedssep/influence_map/obstacle_layer.cc
The file was removedssep/main_test/hdmap_interface/map_elements/section_info.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/schema.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/msinttypes/inttypes.h
The file was addedssep/offboard/main_test/main_test_car.cc
The file was addedssep/offboard/tools/executable/third_party/matlab_plot_cplusplus.hpp
The file was removedssep/tools/obstacle_penalty/penalty_func_fit.asv
The file was modifiedalgorithm/plan/plot_st_graph.cpp
The file was modifiedssep/coarse_search/evaluator/ref_line_heuristic_computer.h
The file was removedssep/tools/executable/CMakeLists.txt
The file was removedssep/main_test/hdmap_interface/rapidjson/ostreamwrapper.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/road_info.h
The file was removedssep/main_test/hdmap_interface/map_elements/overlap_info.h
The file was addedssep/offboard/third_party/matplotlibcpp.h
The file was removedssep/main_test/hdmap_interface/common/math/polygon2d.hpp
The file was modifiedssep/coarse_search/topology_analysis/barrier_detector.h
The file was removedssep/main_test/hdmap_interface/rapidjson/uri.h
The file was removedssep/tools/executable/liang_barsky_clipper.hpp
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/biginteger.h
The file was removedssep/tools/executable/third_party/matplotlibcpp.h
The file was addedssep/offboard/tools/executable/main_obstacle_publisher.cc
The file was removedssep/cmake/Findosqp.cmake
The file was removedssep/main_test/hdmap_interface/rapidjson/rapidjson.h
The file was removedssep/images/search_smooth_comparison.png
The file was modifiedssep/keb_optimizer/keb_utils.h
The file was addedssep/offboard/third_party/matlab_plot_cplusplus.hpp
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/overlap_info.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/diyfp.h
The file was modifiedssep/keb_optimizer/cost_features/disk_collision_cost.h
The file was removedssep/CMakeLists.txt
The file was removedssep/ssep_type_definition.h
The file was addedssep/offboard/tools/executable/third_party/matplotlibcpp.h
The file was removedssep/tools/obstacle_penalty/createFit.m
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was addedssep/offboard/tools/executable/main_obb_vehicle.cc
The file was removedssep/tools/executable/third_party/optional_lite.hpp
The file was removedssep/smoother/cg_cost_function.hpp
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/stringbuffer.h
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_car.h
The file was addedssep/offboard/tools/executable/main_translation.cc
The file was modifiedssep/common/utils/plotter.hpp
The file was removedssep/main_test/hdmap_interface/common/math/math_utils.hpp
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/regex.h
The file was addedssep/offboard/start.sh
The file was removedssep/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cc
The file was removedssep/smoother/cg_smoother.h
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.h
The file was modifiedhmi/widget/pnc_mat.cpp
The file was removedssep/tools/obstacle_penalty/penalty_func_fit_normal.m
The file was removedssep/main_test/main_test_car.cc
The file was removedssep/tools/executable/main_region_cut_boost.cc
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/ssep_heat_net/ssep_heat_net.cc
The file was addedssep/offboard/main_test/main_ssep_test.cc
The file was removedssep/main_test/hdmap_interface/rapidjson/document.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/regex.h
The file was removedssep/main_test/hdmap_interface/common/data_types.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/swap.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/junction.h
The file was removedssep/smoother/safety_corridor_smoother.cc
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_tt.h
The file was removedssep/main_test/main_ssep_test.cc
The file was removedssep/smoother/fem_pos_smoother.cc
The file was removedssep/tools/executable/main_obstacle_publisher.cc
The file was removedssep/main_test/hdmap_interface/parser/interface_singleton.hpp
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/itoa.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/map_info.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was removedssep/main_test/hdmap_interface/rapidjson/filereadstream.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/stack.h
The file was removedssep/main_test/hdmap_interface/rapidjson/writer.h
The file was modifiedssep/ssep_heat_net/ssep_heat_net.h
The file was removedssep/main_test/hdmap_interface/rapidjson/error/error.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/error/error.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/filereadstream.h
The file was removedssep/conf/ssep_preprocess.yaml
The file was removedssep/tools/scene_data_generator/conf/scene_conf.yaml
The file was addedssep/offboard/main_test/hdmap_interface/common/math/polygon2d.hpp
The file was removedssep/ssep_activation_sdk.h
The file was addedssep/offboard/main_test/hdmap_interface/hdmap_impl.h
The file was addedssep/offboard/main_test/hdmap_interface/public_data_struct.h
The file was removedssep/tools/executable/third_party/tabulate.hpp
The file was removedssep/input/.gitkeep
The file was modifiedssep/coarse_search/topology_analysis/voronoi_graph_visualizer.h
The file was addedssep/offboard/demo/src/CMakeLists.txt
The file was removedssep/main_test/hdmap_interface/rapidjson/schema.h
The file was addedssep/offboard/tools/executable/CMakeLists.txt
The file was removedssep/demo/src/CMakeLists.txt
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/junction_info.h
The file was removedssep/influence_map/reference_line_layer.cc
The file was removedssep/smoother/fem_pos_smoother.h
The file was removedssep/main_test/hdmap_interface/rapidjson/stringbuffer.h
The file was addedssep/coarse_search/evaluator/shortest_path_heur_table.h
The file was removedssep/tools/executable/main_obb_vehicle.cc
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_imv.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/ieee754.h
The file was removedssep/tools/scene_data_generator/state_augment_util.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/object.h
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
The file was removedssep/tools/executable/main_region_cut_apollo.cc
The file was addedssep/offboard/tools/executable/third_party/json.hpp
The file was addedssep/offboard/tools/scene_data_generator/data_structures.h
The file was addedssep/offboard/main_test/main_test_zhoushan.cc
The file was addedssep/offboard/third_party/tabulate.hpp
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/memorystream.h
The file was addedssep/maps/ogm.h
The file was addedssep/offboard/main_test/hdmap_interface/parser/map_loader.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/map.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/filewritestream.h
The file was removedssep/main_test/hdmap_interface/rapidjson/stream.h
The file was addedssep/offboard/third_party/json.hpp
The file was removedssep/ssep_activation_sdk.cc
The file was addedssep/offboard/tools/obstacle_penalty/penalty_func_fit_normal.m
The file was addedssep/offboard/tools/scene_data_generator/conf/scene_conf.yaml
The file was addedssep/offboard/conf/ssep/ssep_imv.yaml
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_tt.cc
The file was addedssep/offboard/main_test/hdmap_interface/common/math/math_utils.hpp
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/diyfp.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/ostreamwrapper.h
The file was removedssep/smoother/fem_pos_deviation_sqp_osqp_interface.cc
The file was removedssep/third_party/matplotlibcpp.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was removedssep/main_test/hdmap_interface/rapidjson/pointer.h
The file was addedssep/offboard/main_test/main_test_tt.cc
The file was addedssep/offboard/tools/scene_data_generator/utils.h
The file was removedssep/main_test/hdmap_interface/rapidjson/msinttypes/stdint.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/encodings.h
The file was removedssep/third_party/matlab_plot_cplusplus.hpp
The file was removedssep/smoother/safety_corridor_smoother.h
The file was modifiedssep/coarse_search/geometric_search_visualizer.h
The file was modifiedssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
The file was addedssep/offboard/main_test/hdmap_interface/common/math/geometry_utils.h
The file was removedssep/start.sh
The file was removedssep/influence_map/layer_base.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/fwd.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/pow10.h
The file was modifiedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/section.h
The file was removedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.cc
The file was removedssep/main_test/hdmap_interface/map_elements/overlap.h
The file was removedssep/tools/scene_data_generator/generate_scene_data_cli.cc
The file was addedssep/offboard/tools/scene_data_generator/scene_yaml_reader.h
The file was modifiedssep/coarse_search/evaluator/ref_line_cost_computer.h
The file was addedssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cc
The file was removedssep/sdk/ssep_activation_impl.cc
The file was removedssep/conf/ssep/ssep_imv.yaml
The file was removedssep/main_test/hdmap_interface/common/glog_helper.h
The file was removedssep/main_test/hdmap_interface/map_elements/junction_info.h
The file was removedssep/main_test/hdmap_interface/common/math/box2d.hpp
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/swap.h
The file was removedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.h
The file was removedssep/tools/scene_data_generator/ogm_builder/ogm_builder.cc
The file was modifiedssep/coarse_search/disk_collision_checker.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/cursorstreamwrapper.h
The file was addedssep/offboard/ssep_activation_sdk.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/itoa.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/stack.h
The file was removedssep/tools/executable/inference_ml_trajectory_cli.cc
The file was removedssep/main_test/hdmap_interface/map_elements/lane_info.h
The file was addedssep/offboard/main_test/hdmap_interface/common/data_types.h
The file was removedssep/main_test/hdmap_interface/map_elements/lane.h
The file was addedssep/offboard/conf/ssep_imv.yaml
The file was removedssep/ogm_map/ogm.cc
The file was removedssep/main_test/hdmap_interface/map_elements/road.h
The file was removedssep/demo/src/package.xml
The file was addedssep/offboard/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.h
The file was removedssep/sdk/ssep_activation_impl.h
The file was removedssep/main_test/hdmap_interface/map_elements/map.h
The file was removedssep/smoother/fem_pos_deviation_sqp_osqp_interface.h
The file was removedssep/conf/ssep_imv_xugong.yaml
The file was addedssep/offboard/tools/scene_data_generator/state_augment_util.h
The file was removedssep/influence_map/obstacle_dis_layer.h
The file was removedssep/third_party/json.hpp
The file was addedssep/offboard/tools/obstacle_penalty/penalty_func_fit.asv
The file was addedssep/data_structures/path_utils.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was removedssep/influence_map/sl_projection_map.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/writer.h
The file was addedssep/maps/ogm_builder.h
The file was addedssep/offboard/tools/executable/third_party/optional_lite.hpp
The file was removedssep/main_test/hdmap_interface/rapidjson/prettywriter.h
The file was addedssep/offboard/tools/executable/liang_barsky_clipper.hpp
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/strtod.h
The file was addedssep/offboard/senior.sh
The file was addedssep/offboard/conf/ssep.yaml
The file was removedssep/main_test/hdmap_interface/rapidjson/reader.h
The file was addedssep/offboard/ssep_type_definition.h
The file was addedssep/offboard/tools/obstacle_penalty/exp_test.m
The file was addedssep/offboard/conf/ssep_imv_xugong.yaml
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/prettywriter.h
The file was addedssep/offboard/tools/executable/main_region_cut_apollo.cc
The file was removedssep/tools/imv/imv_kinematic.py
The file was modifiedCMakeLists.txt
The file was removedssep/main_test/main_ssep_input.cc
The file was addedssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.h
The file was removedssep/influence_map/obstacle_dis_layer.cc
The file was removedssep/conf/ssep_car.yaml
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/msinttypes/stdint.h
The file was modifiedssep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.h
The file was removedssep/main_test/hdmap_interface/hdmap_impl.h
The file was removedssep/main_test/hdmap_interface/rapidjson/encodedstream.h
The file was addedssep/offboard/ssep_activation_sdk.cc
The file was addedssep/offboard/tools/executable/main_obb.cc
The file was modifiedssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.h
The file was removedssep/influence_map/reference_line_layer.h
The file was modifiedssep/keb_optimizer/cost_features/soft_disk_collision_cost.h
The file was removedssep/tools/obstacle_penalty/penalty_func_fit_seaside.m
The file was removedssep/conf/ssep_imv.yaml
The file was removedssep/tools/obstacle_penalty/exp_test.m
The file was removedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cc
The file was addedssep/offboard/sdk/ssep_activation_impl.h
The file was removedssep/tools/scene_data_generator/scene_yaml_reader.h
The file was removedssep/conf/ssep_tt.yaml
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/clzll.h
The file was removedssep/main_test/main_test_park.cc
The file was removedssep/main_test/hdmap_interface/parser/interface_param_parser.h
The file was removedssep/images/init_result_comparison.png
The file was removedssep/main_test/main_test_tt.cc
The file was removedssep/main_test/hdmap_interface/libhdmap_interface.so
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/error/en.h
The file was removedssep/main_test/hdmap_interface/rapidjson/istreamwrapper.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/lane.h
The file was removedssep/input/ssep_2024_02_20_10_19_35_OUTYARD_output_hr_13_oy-rt-bf_0_nml_0_as.binary
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was removedssep/cmake/FindMATLAB.cmake
The file was addedssep/maps/ogm_builder.cc
The file was removedssep/tools/executable/main_obb_port.cc
The file was removedssep/ogm_map/ogm.h
The file was addedssep/offboard/main_test/hdmap_interface/common/math/line_segment2d.hpp
The file was addedssep/offboard/main_test/main_ssep_input.cc
The file was removedssep/ReadMe.md
The file was addedssep/offboard/main_test/hdmap_interface/common/math/box2d.hpp
The file was addedssep/offboard/main_test/main_test_dg.cc
The file was removedssep/smoother/fem_pos_deviation_osqp_interface.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/memorybuffer.h
The file was removedssep/tools/executable/main_obb.cc
The file was removedssep/main_test/hdmap_interface/map_elements/map_info.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/dtoa.h
The file was modifiedhmi/widget/replayer_pnc_mat.cpp
The file was addedssep/offboard/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
The file was removedssep/main_test/main_test_qhd.cc
The file was addedssep/offboard/tools/executable/main_clipper.cc
The file was addedssep/offboard/main_test/hdmap_interface/common/math/vec2d.hpp
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was removedssep/main_test/hdmap_interface/map_elements/road_info.h
The file was removedssep/smoother/cg_smoother.cc
The file was addedssep/offboard/demo/src/package.xml
The file was modifiedssep/coarse_search/topology_analysis/voronoi_graph_builder.h
The file was addedssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cc
The file was removedssep/smoother/smoother.h
The file was addedssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.h
The file was removedssep/main_test/hdmap_interface/map_elements/object_info.h
The file was removedssep/main_test/hdmap_interface/common/math/line_segment2d.hpp
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/object_info.h
The file was removedssep/tools/scene_data_generator/data_structures.h
The file was addedssep/offboard/install.sh
The file was removedssep/third_party/optional_lite.hpp
The file was modifieddata/lattice/path_time_graph.cpp
The file was addedssep/offboard/ssep_visualizer.cc
The file was removedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/encodedstream.h
The file was removedssep/main_test/main_test_dg.cc
The file was removedssep/main_test/hdmap_interface/libhdmap_interface_shm.so
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/dtoa.h
The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.h
The file was modifiedssep/coarse_search/state_hasher.h
The file was removedssep/main_test/hdmap_interface/rapidjson/encodings.h
The file was addedssep/offboard/tools/executable/main_obb_port.cc
The file was removedssep/tools/scene_data_generator/utils.h
The file was addedssep/offboard/sdk/ssep_activation_impl.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was addedssep/offboard/main_test/hdmap_interface/common/glog_helper.h
The file was addedssep/offboard/tools/obstacle_penalty/createFit.m
The file was removedssep/influence_map/obstacle_layer.h
The file was removedssep/influence_map/sl_projection_map.cc
The file was addedssep/offboard/third_party/optional_lite.hpp
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/clzll.h
The file was removedssep/main_test/main_ssep.cc
The file was removedssep/tools/executable/third_party/json.hpp
The file was addedssep/offboard/main_test/hdmap_interface/libhdmap_interface_shm.so
The file was removedssep/ssep_visualizer.cc
The file was removedssep/ssep_visualizer.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/strfunc.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/reader.h
The file was modifiedssep/keb_optimizer/cost_features/trailer_disk_collision_cost.h
The file was addedssep/offboard/main_test/main_test_qhd.cc
The file was removedssep/main_test/main_test_diagonal.cc
The file was removedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.h
The file was addedssep/offboard/main_test/hdmap_interface/parser/interface_param_parser.h
The file was removedssep/tools/scene_data_generator/ogm_builder/ogm_builder.h
The file was removedssep/main_test/hdmap_interface/rapidjson/memorybuffer.h
The file was removedssep/influence_map/dubin_layer.cc
The file was removedssep/install.sh
The file was removedssep/main_test/hdmap_interface/parser/map_loader.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/pointer.h
The file was addedssep/offboard/conf/ssep_tt.yaml
The file was addedssep/offboard/demo/src/main_ssep_activation.cc
The file was removedssep/main_test/hdmap_interface/hdmap.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/road.h
The file was addedssep/offboard/tools/obstacle_penalty/penalty_func_fit_seaside.m
The file was removedssep/smoother/fem_pos_deviation_osqp_interface.cc
The file was addedssep/offboard/ssep_visualizer.h
The file was removedssep/main_test/hdmap_interface/common/math/vec2d.hpp
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/meta.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/document.h
The file was addedssep/offboard/main_test/main_test_diagonal.cc
The file was addedssep/offboard/conf/ssep_car.yaml
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/ieee754.h
The file was removedssep/main_test/hdmap_interface/rapidjson/error/en.h
The file was removedssep/main_test/hdmap_interface/common/math/linear_interpolation.hpp
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/allocators.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/strfunc.h
The file was addedssep/maps/sl_projection_map.cc
The file was addedssep/offboard/tools/executable/inference_ml_trajectory_cli.cc
The file was addedssep/offboard/ReadMe.md
The file was removedssep/conf/ssep.yaml
The file was removedssep/main_test/hdmap_interface/rapidjson/allocators.h
The file was addedssep/offboard/CMakeLists.txt
The file was removedssep/main_test/hdmap_interface/common/math/geometry_utils.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/pow10.h
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.cc
The file was removedssep/main_test/hdmap_interface/public_data_struct.h
The file was addedssep/offboard/main_test/hdmap_interface/common/math/linear_interpolation.hpp
The file was removedssep/influence_map/dubin_layer.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/lane_info.h
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_imv.cc
Commit 7ae0972f4d80cd99916cd02d61c01515cd0ff0a8 by tangwenqing
Refactor: SSEP: minor updates

The file was modifiedssep/data_structures/path.h
The file was addedssep/data_structures/path.cc
Commit a070758b45d37f6151bcf4310817a1189f0a2135 by wuyanjun110
feat:整理安全防护

The file was modifiedtasks/deciders/other_decider/stop_decider.cpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/lattice/ogm_crash_data.cpp
The file was modifiedsink/ros_sink_ctrl_reference.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/plan/predict_path.cpp
The file was modifiedhmi/widget/diagnose.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/obstacle/obstacle_decider_attr.cpp
The file was modifieddata/other/flow_control.hpp
The file was modifieddata/vehicle/vehicle_status.hpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifiedplan/prepare/prepare_ogm.hpp
The file was modifiedsink/ros_sink_pnc_status.cpp
The file was modifieddata/vehicle/vehicle_status.cpp
Commit 33839fa3fd7703979b0ba2219f2ba1365c6bdf39 by wuyanjun110
fix:修复距离超视距框过近，搜索失败的bug

The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
Commit 543ce03650538f03454ee3ae19b4413979c2a53b by wuyanjun110
fix:调整ttc 预测轨迹

The file was modifieddata/plan/predict_path.cpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/config/cfg_safe_const.cpp
Commit 972b7f7ddbd40d0d7790bd2f397a966d463ea50b by wuyanjun110
feat: 太阳纸业场景适配

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit a4ea13640165e8f74f283cb643ff624931d7a14e by wuyanjun110
feat:wcba求解路径过短的问题修复

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit c6bfcc0b215f342209dda15c66761d51b47317fc by wuyanjun110
fix:wcba路径过短的问题

The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/plan/ssep_data.cpp
Commit 6341363bd6f0200d42c967b920d429902d61a925 by tangwenqing
feat: SSEP: 前进/后退时使用不同的碰撞检测策略。增加前进方向的额外碰撞检测。

The file was modifiedssep/data_structures/directional_path.h
The file was modifiedssep/data_structures/ssep_output.hpp
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/data_structures/pose.h
The file was modifiedssep/coarse_search/evaluator/collision_cost_computer.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/data_structures/type_definition.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/data_structures/path.h
The file was modifiedssep/data_structures/ssep_input.hpp
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/data_structures/map_element_polyline.hpp
The file was modifiedssep/data_structures/search_boundary.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
Commit 5413b860f2b300b25dcad25300eecba5a1eb7bfb by wuyanjun110
feat: SSEP: 前进/后退时使用不同的碰撞检测策略。增加前进方向的额外碰撞检测。

The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/data_structures/map_element_polyline.hpp
The file was modifiedssep/data_structures/ssep_input.hpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/data_structures/type_definition.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/coarse_search/evaluator/collision_cost_computer.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/data_structures/pose.h
The file was modifiedssep/data_structures/directional_path.h
The file was modifiedssep/data_structures/ssep_output.hpp
The file was modifiedssep/data_structures/path.h
The file was modifiedssep/data_structures/search_boundary.h
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
Commit c24b7d04a7324e424b4542cea4f4e33b8e21350c by wuyanjun110
fix:参考线拼接的bug

The file was modifiedtasks/other_tasks/stitch_path_to_reference_line.cpp
Commit 4a7760bed4eeaeaf47cefb31ab1d7f11e4754b22 by tangwenqing
feat: SSEP: IMV更换新的运动学模型，额外状态量从后轮转向更改为beta

The file was modifiedssep/keb_optimizer/data_structure.h
The file was removedssep/keb_optimizer/cost_features/imv_rear_curvature_cost.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was addedssep/keb_optimizer/cost_features/beta_dot_cost.h
The file was removedssep/keb_optimizer/cost_features/imv_center_pinch_cost.h
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was removedssep/keb_optimizer/cost_features/imv_rear_pinch_cost.h
The file was removedssep/keb_optimizer/cost_features/imv_center_curvature_constraint.h
The file was removedssep/keb_optimizer/cost_features/imv_rear_oversteer_cost.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
The file was removedssep/keb_optimizer/cost_features/imv_center_curvature_cost.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/offboard/ssep_visualizer.cc
The file was addedssep/keb_optimizer/cost_features/beta_cost.h
The file was modifiedssep/keb_optimizer/cost_features/imv_dynamic_constraint.h
Commit fc36a15194d428385393b0a1400b59a6bd831fda by tangwenqing
feat: 增加ssep-heatnet-2.0训练场景生成器

The file was addedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was removedssep/offboard/tools/scene_data_generator/conf/scene_conf.yaml
The file was removedssep/offboard/tools/scene_data_generator/generate_scene_data_cli.cc
The file was addedssep/offboard/ssep_input_provider.h
The file was addedssep/offboard/generate_scene_data/protos/geometry.proto
The file was addedssep/offboard/generate_scene_data/state_augment_util.h
The file was addedssep/offboard/ssep_planner_wrapper.h
The file was removedssep/offboard/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.cc
The file was removedssep/offboard/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.h
The file was addedssep/offboard/generate_scene_data/protos/path.proto
The file was modifiedssep/offboard/CMakeLists.txt
The file was addedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/ssep_planner.h
The file was removedssep/offboard/tools/scene_data_generator/state_augment_util.h
The file was addedssep/offboard/generate_scene_data/CMakeLists.txt
The file was addedssep/offboard/generate_scene_data/data_structures.h
The file was addedssep/offboard/generate_scene_data/protos/scene.proto
The file was modifiedssep/maps/ogm.cc
The file was modifiedssep/maps/ogm.h
The file was addedssep/offboard/ssep_input_provider.cc
The file was removedssep/offboard/tools/scene_data_generator/scene_yaml_reader.h
The file was removedssep/offboard/tools/scene_data_generator/utils.h
The file was removedssep/offboard/tools/scene_data_generator/data_structures.h
The file was modifiedssep/ssep_planner.cc
The file was addedssep/offboard/generate_scene_data/trajectory_provider/search_based_trajectory_provider.cc
The file was modifiedssep/coarse_search/evaluator/curvature_cost_computer.h
The file was addedssep/offboard/generate_scene_data/conf/scene_conf.yaml
The file was addedssep/offboard/generate_scene_data/utils.h
The file was addedssep/offboard/generate_scene_data/trajectory_provider/search_based_trajectory_provider.h
Commit f4e6eeab76603fcafa435ec4d10fb7b6d51cc1e4 by tangwenqing
refactor: 将ssep的依赖改为sub_directory的形式，添加proto数据结构

The file was modifiedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was addedssep/protos/geometry.proto
The file was removedssep/offboard/generate_scene_data/protos/geometry.proto
The file was addedssep/offboard/generate_scene_data/obstacle_polygon_extractor.cc
The file was modifiedCMakeLists.txt
The file was modifiedssep/data_structures/polyline.h
The file was removedssep/offboard/generate_scene_data/protos/path.proto
The file was modifiedssep/data_structures/polyline.cc
The file was addedssep/CMakeLists.txt
The file was addedssep/protos/path.proto
The file was addedssep/offboard/generate_scene_data/obstacle_polygon_extractor.h
Commit 09dd79fe99c36b853d09d2682024347bc85b061e by tangwenqing
feat: SSEP增加IMV进堆场场景

The file was addedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/offboard/CMakeLists.txt
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was addedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.h
The file was addedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
Commit dcd791fb65e0c212a659866bc865ed1dbb929349 by tangwenqing
chore: SSEP: 调试IMV路径

The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifiedssep/coarse_search/legacy_searcher_adaptor.h
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
Commit ab11b4a40f4bab56714cc113091122842c75ca38 by tangwenqing
chore: Add proto converters.

The file was modifiedssep/data_structures/path.h
The file was modifiedssep/data_structures/path.cc
The file was modifiedssep/offboard/CMakeLists.txt
The file was modifiedssep/protos/geometry.proto
The file was modifiedssep/data_structures/polyline.h
The file was modifiedssep/data_structures/polyline.cc
The file was modifiedssep/protos/path.proto
The file was modifiedCMakeLists.txt
Commit b7d46a53ed7dfc59017559b8d8500c1040fd8ca7 by tangwenqing
refactor: 去除SSEP中不再用到的参数与相关处理。

The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifieddata/ssep/reverse_ec.cpp
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifiedssep/param_loader/yaml_loader.cc
The file was modifieddata/config/cfg_ssep.cpp
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_tt.cc
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/ssep_util.cpp
The file was modifieddata/ssep/seaside_junction_ec.cpp
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifieddata/ssep/ssep_activation.hpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/maps/ogm_builder.cc
The file was modifieddata/ssep/normal_junction_ec.cpp
The file was modifieddata/ssep/bridge_junction_ec.cpp
The file was modifieddata/ssep/ex_lane_change_ec.cpp
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_imv.cc
The file was modifiedssep/data_structures/ssep_input.hpp
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_car.cc
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifiedhmi/draw/draw_ssep.cpp
The file was modifiedssep/ssep_planner.cc
The file was modifieddata/ssep/reverse_ec.hpp
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_car.h
The file was modifiedssep/maps/ogm_builder.h
The file was modifiedssep/param_loader/param.h
The file was modifieddata/ssep/ssep_util.hpp
The file was modifiedssep/offboard/main_test/main_ssep_input.cc
The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit 09b5db88ef67201a1558e30e8d6b16840d5e2299 by wuyanjun110
fix:太阳纸业 出库， ssep路径匹配的bug

The file was modifiedtasks/deciders/lat_decider/path_direction_decider.cpp
Commit c085a6c4c4aeeb58856f07723a75607d6fd1578d by tangwenqing
fix: SSEP 修复proto版本不兼容的问题

The file was modifiedssep/offboard/generate_scene_data/protos/scene.proto
The file was modifiedssep/protos/geometry.proto
The file was modifiedssep/protos/path.proto
Commit fdf7f852c0106c6a3b58f718e9b004178f1895d5 by wuyanjun110
fix:修复ttc预测的bug

The file was modifiedhmi/draw/draw_pose_predict.cpp
The file was modifieddata/plan/predict_path.cpp
The file was modifiedalgorithm/vehicle_model/kinematic_bicycle_model.cpp
Commit a3617580835c6e4a93d437ed914fa63c5a9c37ee by wuyanjun110
Revert "feat:暂时屏蔽container size 变量"

This reverts commit 39185fee5b5f13e40dbab72d65d0ed72c169107e.
The file was modifieddata/app/app_data.cpp
Commit 1460dad8f30ac58ef79ded9771914f43c54fdc00 by tangwenqing
chore: SSEP: 改进多段路径 - 短路径去除的逻辑

The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/data_structures/ssep_output.hpp
The file was modifiedssep/data_structures/directional_path.h
The file was modifiedssep/data_structures/directional_path.cc
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was modifiedssep/data_structures/path.cc
The file was modifiedssep/data_structures/path.h
Commit eec9c972b05ae26f7ce8b0e4c600a5e8603f7068 by tangwenqing
refactor: update cmakelist

The file was modifiedssep/offboard/ssep_input_provider.cc
The file was modifiedCMakeLists.txt
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
Commit 8a307a64fe2763be6e85162bf5b6bc09a4d5ec2e by tangwenqing
chore: 改进出堆场搜索，调整offboard部分代码
The file was addedssep/offboard/hdmap_interface/rapidjson/fwd.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/meta.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/road_info.h
The file was addedssep/offboard/hdmap_interface/common/math/geometry_utils.h
The file was addedssep/offboard/hdmap_interface/map_elements/map.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/strfunc.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/stack.h
The file was addedssep/offboard/hdmap_interface/common/math/polygon2d.hpp
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/encodedstream.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/ostreamwrapper.h
The file was removedssep/offboard/main_test/hdmap_interface/parser/map_loader.h
The file was removedssep/offboard/main_test/hdmap_interface/public_data_struct.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/filewritestream.h
The file was addedssep/offboard/hdmap_interface/rapidjson/stringbuffer.h
The file was addedssep/offboard/hdmap_interface/map_elements/road_info.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/regex.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/biginteger.h
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was removedssep/offboard/main_test/hdmap_interface/common/math/math_utils.hpp
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/msinttypes/stdint.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/istreamwrapper.h
The file was addedssep/offboard/hdmap_interface/rapidjson/msinttypes/inttypes.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/document.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was removedssep/offboard/main_test/hdmap_interface/parser/interface_singleton.hpp
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/strfunc.h
The file was addedssep/offboard/hdmap_interface/libhdmap_interface_shm.so
The file was modifiedssep/offboard/generate_scene_data/obstacle_polygon_extractor.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/map.h
The file was addedssep/offboard/hdmap_interface/rapidjson/encodedstream.h
The file was addedssep/offboard/hdmap_interface/rapidjson/encodings.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/filereadstream.h
The file was removedssep/offboard/generate_scene_data/protos/scene.proto
The file was addedssep/offboard/hdmap_interface/rapidjson/ostreamwrapper.h
The file was addedssep/offboard/hdmap_interface/rapidjson/filereadstream.h
The file was addedssep/offboard/hdmap_interface/hdmap_impl.h
The file was addedssep/scenarios/planner_utils.cc
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/map_info.h
The file was addedssep/offboard/hdmap_interface/rapidjson/msinttypes/stdint.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/prettywriter.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/uri.h
The file was addedssep/offboard/hdmap_interface/map_elements/overlap_info.h
The file was addedssep/offboard/hdmap_interface/parser/map_loader.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/dtoa.h
The file was modifiedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/ieee754.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/reader.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/swap.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/memorystream.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/schema.h
The file was removedssep/offboard/main_test/hdmap_interface/hdmap_impl.h
The file was addedssep/protos/scene.proto
The file was addedssep/offboard/hdmap_interface/map_elements/junction.h
The file was addedssep/offboard/hdmap_interface/rapidjson/allocators.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was removedssep/offboard/main_test/hdmap_interface/common/math/vec2d.hpp
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/itoa.h
The file was addedssep/offboard/hdmap_interface/rapidjson/error/en.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/object.h
The file was addedssep/offboard/hdmap_interface/rapidjson/cursorstreamwrapper.h
The file was addedssep/offboard/hdmap_interface/rapidjson/error/error.h
The file was addedssep/offboard/hdmap_interface/hdmap.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/writer.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/biginteger.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/object_info.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/fwd.h
The file was addedssep/offboard/hdmap_interface/map_elements/lane.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/clzll.h
The file was addedssep/offboard/hdmap_interface/common/glog_helper.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/junction.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/pow10.h
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
The file was addedssep/offboard/hdmap_interface/map_elements/road.h
The file was addedssep/offboard/hdmap_interface/common/math/box2d.hpp
The file was removedssep/offboard/main_test/hdmap_interface/common/data_types.h
The file was addedssep/offboard/hdmap_interface/rapidjson/memorystream.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/regex.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/rapidjson.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/stream.h
The file was removedssep/offboard/main_test/hdmap_interface/common/math/polygon2d.hpp
The file was modifiedssep/CMakeLists.txt
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/stack.h
The file was removedssep/offboard/main_test/hdmap_interface/common/glog_helper.h
The file was addedssep/offboard/hdmap_interface/map_elements/lane_info.h
The file was addedssep/offboard/hdmap_interface/map_elements/section_info.h
The file was removedssep/offboard/main_test/hdmap_interface/common/math/line_segment2d.hpp
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/clzll.h
The file was addedssep/offboard/hdmap_interface/libhdmap_interface.so
The file was addedssep/scenarios/planner_utils.h
The file was addedssep/offboard/hdmap_interface/rapidjson/rapidjson.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/cursorstreamwrapper.h
The file was addedssep/offboard/hdmap_interface/common/data_types.h
The file was removedssep/offboard/main_test/hdmap_interface/common/math/linear_interpolation.hpp
The file was removedssep/offboard/main_test/hdmap_interface/common/math/box2d.hpp
The file was addedssep/offboard/hdmap_interface/public_data_struct.h
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was addedssep/offboard/hdmap_interface/rapidjson/writer.h
The file was addedssep/offboard/hdmap_interface/rapidjson/stream.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/strtod.h
The file was removedssep/offboard/main_test/hdmap_interface/libhdmap_interface.so
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/lane_info.h
The file was addedssep/offboard/hdmap_interface/map_elements/map_info.h
The file was addedssep/offboard/hdmap_interface/rapidjson/istreamwrapper.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/pointer.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/junction_info.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/error/error.h
The file was removedssep/offboard/main_test/hdmap_interface/libhdmap_interface_shm.so
The file was addedssep/offboard/hdmap_interface/rapidjson/schema.h
The file was addedssep/offboard/hdmap_interface/common/math/vec2d.hpp
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/section.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/diyfp.h
The file was addedssep/offboard/scene_replay/replay_ssep_input_cli.cc
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/ieee754.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/strtod.h
The file was addedssep/offboard/hdmap_interface/parser/interface_singleton.hpp
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/pow10.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/overlap.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/road.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/lane.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/diyfp.h
The file was modifiedssep/offboard/ssep_visualizer.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/stringbuffer.h
The file was modifiedssep/coarse_search/conditions/along_lane_condition.h
The file was addedssep/offboard/hdmap_interface/map_elements/section.h
The file was addedssep/offboard/scene_replay/CMakeLists.txt
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/itoa.h
The file was addedssep/offboard/hdmap_interface/rapidjson/prettywriter.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/error/en.h
The file was removedssep/offboard/main_test/hdmap_interface/hdmap.h
The file was addedssep/offboard/hdmap_interface/rapidjson/uri.h
The file was modifiedssep/offboard/ssep_planner_wrapper.h
The file was removedssep/offboard/main_test/hdmap_interface/parser/interface_param_parser.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/encodings.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/dtoa.h
The file was addedssep/offboard/hdmap_interface/rapidjson/reader.h
The file was addedssep/offboard/hdmap_interface/rapidjson/document.h
The file was addedssep/offboard/hdmap_interface/map_elements/object.h
The file was addedssep/offboard/hdmap_interface/map_elements/object_info.h
The file was addedssep/offboard/hdmap_interface/map_elements/junction_info.h
The file was addedssep/offboard/hdmap_interface/common/math/math_utils.hpp
The file was addedssep/offboard/hdmap_interface/map_elements/overlap.h
The file was addedssep/offboard/hdmap_interface/rapidjson/memorybuffer.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/memorybuffer.h
The file was addedssep/offboard/hdmap_interface/rapidjson/pointer.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/overlap_info.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/swap.h
The file was removedssep/offboard/main_test/hdmap_interface/common/math/geometry_utils.h
The file was addedssep/offboard/hdmap_interface/rapidjson/filewritestream.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/msinttypes/inttypes.h
The file was addedssep/offboard/hdmap_interface/common/math/line_segment2d.hpp
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/allocators.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/meta.h
The file was modifiedssep/offboard/ssep_visualizer.cc
The file was addedssep/offboard/hdmap_interface/parser/interface_param_parser.h
The file was modifiedssep/offboard/generate_scene_data/CMakeLists.txt
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/section_info.h
The file was addedssep/offboard/hdmap_interface/common/math/linear_interpolation.hpp
Commit 0196b7d55751661b434ffd02e66c428756418d21 by tangwenqing
chore: 改进友谊关多段倒车路径形状

The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
Commit 73ba9eb3ea01c3ecb1f733b48be0b0d18b3c526d by tangwenqing
fix: SSEP: proto去除optional关键字

The file was modifiedssep/protos/scene.proto
The file was modifieddata/plan/ssep_data.cpp
Commit 4d0bb553a1f262d32c060b54c440602a396af343 by tangwenqing
feat: SSEP: 完成ssep相关的proto定义。

The file was modifiedssep/protos/geometry.proto
The file was modifieddata/plan/ssep_data.hpp
The file was modifieddata/ssep/forward_ec.hpp
The file was modifiedssep/CMakeLists.txt
The file was addedssep/protos/map_element.proto
The file was addedssep/protos/params.proto
The file was modifieddata/ssep/forward_ec.cpp
The file was addedssep/protos/ssep_scenario_type.proto
The file was modifiedssep/protos/scene.proto
The file was modifiedssep/protos/path.proto
The file was addedssep/protos/object.proto
Commit b5e1fcf682a37641e855aad606e45900f23af207 by tangwenqing
fix: fix building issue

The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifieddata/plan/ssep_data.hpp
Commit 8b25d72c0b8580de808cdd4b2288fb9ab7eb5584 by tangwenqing
fix: 修复imv优化器斜行代价太小的问题

The file was modifiedssep/offboard/generate_scene_data/obstacle_polygon_extractor.cc
The file was modifiedssep/maps/ogm.h
The file was modifiedssep/maps/ogm.cc
The file was modifiedssep/param_loader/param.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
Commit fe79f04a178dc104ef47b0c7982d90456d5da2dc by wuyanjun110
fix: 修复imv优化器斜行代价太小的问题

The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/maps/ogm.cc
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedssep/offboard/generate_scene_data/obstacle_polygon_extractor.cc
The file was modifiedssep/maps/ogm.h
The file was modifiedssep/param_loader/param.h
Commit ad6ce86814302e4e6d0769134de820ba50f489b0 by wuyanjun110
Revert "fix: 修复imv优化器斜行代价太小的问题"

This reverts commit fe79f04a178dc104ef47b0c7982d90456d5da2dc.
The file was modifiedssep/maps/ogm.cc
The file was modifiedssep/maps/ogm.h
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/offboard/generate_scene_data/obstacle_polygon_extractor.cc
The file was modifiedssep/param_loader/param.h
Commit 18dd6b332a9504cc4969e5ecff261f16b536cc79 by wuyanjun110
fix:修复imv优化器斜行代价太小的问题

The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
Commit ea741cf40281c03fab8e7a1ab312a8abcdbeb248 by 5081703.cr
fix: first_frame smooth mode except in_yard

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit dd5fd681aae51116a9520425bf8354ad3c195617 by wuyanjun110
refactor:优化进苏溪停车位的搜索

The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 9740bf0d913ffc59a3aa7d72814d7b186b8b6205 by 5081703.cr
fix: clear route in smooth mode when large deviation.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 34b4019c8accd84fd18f9db5040918699cedeb40 by 5081703.cr
feat: construct start_up pseudo ogm for loading task.

The file was modifiedplan/prepare/prepare_ogm.cpp
Commit 71e2ffd9e128daf4fce5508b4469d812839ae185 by 5081703.cr
fix: pseudo ogm for unloading task.

The file was modifiedplan/prepare/prepare_ogm.cpp