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Changes

Summary

  1. fix: merge wbca_v2. using soft_min collision cost for truck. (details)
  2. feat: SSEP: 集卡进堆场搜索的碰撞检测使用软约束。保证生成一条碰撞程度最低的路径。 (details)
  3. feat: SSEP: SSEP输入中加入"作业模式"参数（正向作业/反向作业/Undetermined），统一IMV路径搜索流程 (details)
  4. fix: wbca ignores ref_pts out of range. (details)
  5. chore: SSEP: 提升集卡常规场景的规划的成功率，缓解末端路径画龙的问题 (details)
  6. feat: SSEP: Car模型多段倒车场景，途径点角度增加角度限制 (details)
  7. chore: SSEP: Car车型多段倒车参数调整 (details)
  8. fix:修复出停车位ssep路径方向的bug (details)
  9. fix:sweep路径的bug (details)
  10. feat:界面添加障碍物类别的显示 (details)
  11. feat:优化云端障碍物的赋值 (details)
  12. fix: 修复威海car bulkout场景进错的问题 (details)
  13. fix: typo (details)
  14. fix: SSEP: 修复最后一段有碰撞时可能优化失败的问题。 (details)
  15. fix: sc unloading for remote ctrl. (details)
Commit 3e4dc285c3f92a8bf37472dbb8966c9b22656d05 by 5081703.cr
fix: merge wbca_v2. using soft_min collision cost for truck.

The file was modifiedalgorithm/wbca/wbca_manager.hpp
The file was modifiedalgorithm/wbca/path_optimization/truck_path_optimization.cpp
The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.hpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.hpp
The file was modifiedalgorithm/wbca/path_optimization/truck_path_optimization.hpp
The file was modifieddata/wbca/wbca_data.cpp
Commit 4d2867fdbeaef8b50be33bd358b2b171d49686b3 by tangwenqing
feat: SSEP: 集卡进堆场搜索的碰撞检测使用软约束。保证生成一条碰撞程度最低的路径。

The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was modifiedssep/coarse_search/evaluator/trailer_collision_cost_computer.h
The file was modifiedssep/coarse_search/evaluator/collision_cost_computer.h
The file was addedssep/coarse_search/evaluator/collision_constraint_type.h
The file was modifiedssep/coarse_search/evaluator/cost_feature_computer.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit f53030a5ae83cab7ae5cbedbf88eaa8ca2b42d2b by tangwenqing
feat: SSEP: SSEP输入中加入"作业模式"参数（正向作业/反向作业/Undetermined），统一IMV路径搜索流程

The file was modifiedssep/data_structures/ssep_input.hpp
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/protos/scene.proto
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/data_structures/ssep_input.cc
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was addedssep/data_structures/operation_mode.hpp
The file was modifiedssep/ssep_planner.h
Commit 92cd7fbed1c667aee820c6e4e6a4d3b49ad8316d by 5081703.cr
fix: wbca ignores ref_pts out of range.

The file was modifieddata/wbca/grid_map/esdf_map.hpp
The file was modifieddata/wbca/grid_map/esdf_map.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit f546b267e4e9660516d4ed47f2a1bda76afa52c9 by tangwenqing
chore: SSEP: 提升集卡常规场景的规划的成功率，缓解末端路径画龙的问题

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/coarse_search/evaluator/trailer_collision_cost_computer.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/keb_optimizer/cost_features/state_constraint.h
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
Commit 1767b681baa5a6e2f9e0eb8960a03adf70f50097 by tangwenqing
feat: SSEP: Car模型多段倒车场景，途径点角度增加角度限制

The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 67eca496cd33a1fb02ae55d339b9ccf72b0aafd7 by tangwenqing
chore: SSEP: Car车型多段倒车参数调整

The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
Commit cae158b3fb5fff3be9563caaae55148935200e16 by wuyanjun110
fix:修复出停车位ssep路径方向的bug

The file was modifieddata/plan/ssep_data.cpp
Commit fee0a142cee2e9bc58d155f103526654d5ee36c9 by wuyanjun110
fix:sweep路径的bug

The file was modifieddata/boundary/road_boundary.cpp
Commit 5fa2b4b9292d9c8736745bdca98065bebb9ef644 by wuyanjun110
feat:界面添加障碍物类别的显示

The file was modifieddata/obstacle/obstacle_decider_attr.cpp
Commit 55efcfe69492843785f1cfb463f495e01a9c9cff by wuyanjun110
feat:优化云端障碍物的赋值

The file was modifieddata/vehicle/cloud_pnc_config.cpp
The file was modifieddata/scenario/scenario_planner_condition.cpp
Commit 0fe33d19af8430c9535e2a0fc53b1923f66e3aa4 by tangwenqing
fix: 修复威海car bulkout场景进错的问题

The file was modifieddata/ssep/ssep_ec.cpp
Commit 1ad796cb7325c6f833a94d40ad1420aee052323e by tangwenqing
fix: typo

The file was modifieddata/ssep/ssep_ec.cpp
Commit febb4db7323ea923978ec02c813302fdffafbb79 by tangwenqing
fix: SSEP: 修复最后一段有碰撞时可能优化失败的问题。

The file was addedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
Commit d2a0524d74afdbc74ef7ec668d79bbbdb15a0ef0 by 5081703.cr
fix: sc unloading for remote ctrl.

The file was modifieddata/app/reaction/app_reaction.hpp
The file was modifieddata/other/flow_control.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
The file was modifieddata/app/reaction/app_reaction.cpp
The file was modifieddata/vehicle/vehicle_status.hpp