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Changes

Summary

  1. feat: SSEP: 增加末端微调采样，解决杨浦进堆场曲率跳变问题。 (details)
  2. chore: SSEP: 刚性卡车多段路径倒车时候更加原理后方障碍物 (details)
  3. fix: SSEP: 解决高贝位进堆场轨迹异常的问题 (details)
  4. fix: SSEP: 修复集卡普通搜索启发项错误的问题 (details)
  5. fix: SSEP: 过滤明显存在碰撞的集卡进堆场轨迹 (details)
  6. fix: SSEP: 回退集卡普通进堆场“超近道”的问题 (details)
  7. feat: SSEP: 变道搜索时使用standby_guide_line当做引导线。 (details)
  8. fix: SSEP: 修复集卡搜索轨迹不合理导致优化画龙的问题 (details)
  9. feat: SSEP: 非低贝位进堆场使用拉直点逻辑 (details)
  10. feat: SSEP 集卡在NORMAL,INYARD,OUTYARD,SEASIDE,BRIDGE场景强制使用参考线。 (details)
  11. fix: SSEP: 集卡普通搜索使用更严格的车挂判断标准。防止后续优化不收敛。 (details)
  12. fix: SSEP: 修复动态搜索使用standby guideline作为参考线轨迹异常的问题 (details)
  13. fix: 优化友谊关倒车路径，更符合pass point (details)
  14. fix: SSEP: 优化集卡非低贝位进堆场路径。全路径开启keb优化+终点扰动。恢复上个版本可以“小角度斜着进堆场”的特性。 (details)
  15. fix: SSEP: fix typo (details)
  16. fix: SSEP: 提升远距离绕桥腿成功率 (details)
  17. feat: SSEP: 增加 is_blocked_by_shore_crane 和 use_hard_constraint 参数 (details)
  18. chore: mionr update (details)
  19. feat: SSEP: 增加场景编辑工具 (details)
  20. chore: SSEP: update scene editor server (details)
  21. fix: SSEP: 改进多段倒车场景的启发项，解决威海更换pass point后搜索成功率低的问题。 (details)
  22. feat: SSEP: 多段倒车忽略终点附近障碍物。提升威海倒车成功率 (details)
  23. chore: SSEP: Fix mult-segment searching params. (details)
  24. feat: SSEP: 使用多项式采样器生成变道路径 (details)
  25. fix: lattice wbca velocity reference bug. (details)
  26. fix: send 50m path to control in bulk state. (details)
  27. fix: refine deviation_stop params. (details)
  28. fix: delete submodules (details)
Commit 4beb3e4090867551b5d13ab0bb6c0a3ed9027586 by tangwenqing
feat: SSEP: 增加末端微调采样，解决杨浦进堆场曲率跳变问题。

The file was modifiedssep/coarse_search/utils.cc
The file was modifiedssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.h
The file was addedssep/coarse_search/motion_primitive_sampler/const_pinch_motion_primitive_sampler.cc
The file was addedssep/coarse_search/motion_primitive_sampler/const_pinch_motion_primitive_sampler.h
The file was modifiedssep/coarse_search/motion_primitive_sampler/motion_primitive_sampler.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/utils.h
Commit 23a9b7750ce8d5815c25a69e9a3f67bdcf09c040 by tangwenqing
chore: SSEP: 刚性卡车多段路径倒车时候更加原理后方障碍物

The file was modifiedssep/scenarios/truck_multi_seg_general_planner.h
Commit 28faf0e46a27f89edffd993629a9e96c8a566352 by tangwenqing
fix: SSEP: 解决高贝位进堆场轨迹异常的问题

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/common/utils/scene_frame_visualization.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/common/utils/scene_frame_visualization.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 55db8ebfd1664ea77bd73ce0649b50496714479d by tangwenqing
fix: SSEP: 修复集卡普通搜索启发项错误的问题

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit c490988a2ab457d070d3b6c1385529d5e95eead3 by tangwenqing
fix: SSEP: 过滤明显存在碰撞的集卡进堆场轨迹

The file was modifiedssep/common/utils/scene_frame_visualization.h
The file was modifiedssep/coarse_search/evaluator/cost_feature_computer.h
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 57ef4060115b74d7eca7475de7780b67ac839cd9 by tangwenqing
fix: SSEP: 回退集卡普通进堆场“超近道”的问题

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 5c0a18c7d48e53a7c751daf8cd7f5bf8dffe8ede by tangwenqing
feat: SSEP: 变道搜索时使用standby_guide_line当做引导线。

The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit c05c0246c9acfa37a1b0e97b10556a7e3b69f48e by tangwenqing
fix: SSEP: 修复集卡搜索轨迹不合理导致优化画龙的问题

The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
Commit 70170322e94d0f01081e7a8f38ff85dfb226c67e by tangwenqing
feat: SSEP: 非低贝位进堆场使用拉直点逻辑

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/common/utils/scene_frame_visualization.cc
Commit 83f67f6b625cc544144d929ab7864ba651dbf188 by tangwenqing
feat: SSEP 集卡在NORMAL,INYARD,OUTYARD,SEASIDE,BRIDGE场景强制使用参考线。

The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit e71cb207e035f0f300cabae8ad84ec99ffc500f9 by tangwenqing
fix: SSEP: 集卡普通搜索使用更严格的车挂判断标准。防止后续优化不收敛。

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit 6a2c58bbe7ccf1d5d550a77f0c9f6dbdcebaebed by tangwenqing
fix: SSEP: 修复动态搜索使用standby guideline作为参考线轨迹异常的问题

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/common/utils/path_utils.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/common/utils/path_utils.cc
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
Commit 90d8a0908b4191e8616f3a5b921f7b656a08bd15 by tangwenqing
fix: 优化友谊关倒车路径，更符合pass point

The file was modifiedssep/common/utils/scene_frame_visualization.cc
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit c56b4c5d8314992eac3334c7dcc08e29920b2af3 by tangwenqing
fix: SSEP: 优化集卡非低贝位进堆场路径。全路径开启keb优化+终点扰动。恢复上个版本可以“小角度斜着进堆场”的特性。

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/cost_features/state_constraint.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 5f6f4cf5d78da3995c5c8429456fa6784d3098bc by tangwenqing
fix: SSEP: fix typo

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit d2e71e8082e64a035cf1801d86c91adb1e84d756 by tangwenqing
fix: SSEP: 提升远距离绕桥腿成功率

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/common/utils/path_utils.cc
Commit 4f9f657a13d19cdd1e01505f4b33908006057079 by tangwenqing
feat: SSEP: 增加 is_blocked_by_shore_crane 和 use_hard_constraint 参数

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit a95555f93a6b230456e53e7d9b90ae6a33dcb8fb by tangwenqing
chore: mionr update

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 7be6e8a3557675f4c2d6d633cedadbb2aa178236 by tangwenqing
feat: SSEP: 增加场景编辑工具

The file was addedssep/offboard/servers/scene_editor_html_template.cc
The file was addedssep/offboard/servers/scene_editor_server.cc
The file was modifiedssep/offboard/servers/CMakeLists.txt
The file was addedssep/offboard/servers/scene_editor_html_template.h
Commit 14ae272916e84cc2b0c459eea328af1126f4037c by tangwenqing
chore: SSEP: update scene editor server

The file was modifiedssep/offboard/servers/scene_editor_server.cc
Commit 39d91da2688fad295f61b72e03343113f4b58bec by tangwenqing
fix: SSEP: 改进多段倒车场景的启发项，解决威海更换pass point后搜索成功率低的问题。

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit 202d8a3a5b87a2837990b959e7c9f6dc4ed91937 by tangwenqing
feat: SSEP: 多段倒车忽略终点附近障碍物。提升威海倒车成功率

The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/ssep_planner.h
Commit 9eb6a23d27a51b50abc4551e2f77e805f5f31c2d by tangwenqing
chore: SSEP: Fix mult-segment searching params.

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/param_loader/param.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit a4a70c8cc13449cc12587345ac23584c4cf64b50 by tangwenqing
feat: SSEP: 使用多项式采样器生成变道路径

The file was modifiedssep/protos/ssep_scenario_type.proto
The file was addedssep/test/quintic_polynomial_sampler_test.cc
The file was modifiedssep/coarse_search/search_graph.h
The file was addedssep/coarse_search/motion_primitive_sampler/quintic_polynomial_motion_primitive_sampler.cc
The file was modifiedssep/test/ssep_planner_test.cc
The file was addedssep/coarse_search/motion_primitive_sampler/quintic_polynomial_motion_primitive_sampler.h
The file was modifiedssep/coarse_search/stage_transition_controller.h
The file was addedssep/coarse_search/conditions/node_level_condition.h
The file was modifiedssep/coarse_search/conditions/search_condition_interface.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
The file was modifiedssep/coarse_search/motion_primitive_sampler/motion_primitive_sampler.h
The file was addedssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.h
The file was modifiedssep/test/CMakeLists.txt
The file was addedssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.cc
The file was addedssep/scenarios/tractor_trailer_lane_change_planner.h
The file was modifiedssep/common/utils/scene_frame_visualization.cc
The file was modifiedssep/coarse_search/multi_stage_hybrid_astar_search_engine.cc
Commit b0c6325f6d0b026048e8005b647e116b603228f9 by chenran
fix: lattice wbca velocity reference bug.
The file was modifieddata/lattice/trajectory_evaluator.cpp
Commit 0bb2f13f0f8393be8dec8c22fe9043dbf76308b9 by chenran
fix: send 50m path to control in bulk state.
The file was modifiedsink/ros_sink_path.cpp
The file was modifiedsink/ros_sink_path.hpp
Commit 362e7ab5a16abfd54060b069a667329f71af0aca by chenran
fix: refine deviation_stop params.
The file was modifieddata/config/cfg_env_const.cpp
Commit 73a8b7cd993688a69d273d5d1a5d3330800c8702 by chenran
fix: delete submodules
The file was removedsubmodule/ads_proto
The file was removed.gitmodules