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Changes

Summary

  1. feat: SSEP: 多段倒车支持无pass point模式。解决到达pass point后重规划会继续往前的问题，解决停车角度歪的问题 (details)
  2. fix: SSEP: 解决进堆场路径车挂与车头可能夹角过大的问题 (details)
  3. fix: unexpected route inverval (details)
  4. fix: SSEP: 集卡单段倒车裁剪不必要的短轨迹 (details)
  5. chore: Keb: 优化imv避障效果（回退sdf loss） (details)
  6. chore: SSEP: 集卡多段倒车增加30厘米碰撞软约束 (details)
Commit f354f26aed1119909f4b5eee277a8dfb1c7fe9bd by tangwenqing
feat: SSEP: 多段倒车支持无pass point模式。解决到达pass point后重规划会继续往前的问题，解决停车角度歪的问题

The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/tractor_trailer_single_segment_parking_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/planner_utils.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/planner_utils.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
Commit c3897b9bdb5c83252532e20914509c7d65661fe7 by tangwenqing
fix: SSEP: 解决进堆场路径车挂与车头可能夹角过大的问题

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit d39fe1e9a542c1ba66306f5a0dc7c51e22c8cbf3 by chenran
fix: unexpected route inverval
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
Commit 469a052c0e3a1b6d6c23b5bfad6b5090dbebaf93 by tangwenqing
fix: SSEP: 集卡单段倒车裁剪不必要的短轨迹

The file was modifiedssep/scenarios/tractor_trailer_single_segment_parking_planner.h
Commit a22277a45eff23c403063d58134dbdbd99da90ca by tangwenqing
chore: Keb: 优化imv避障效果（回退sdf loss）

The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
Commit 3dd0f964b8c77d1b46a674becce1734c72e06054 by tangwenqing
chore: SSEP: 集卡多段倒车增加30厘米碰撞软约束

The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h