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Changes

Summary

  1. fix: lock historical cloud point in replayer. (details)
  2. fix: add FORWARD_BEFORE_BACKWARD (details)
  3. fix: ssep replan for  reversing truck. (details)
  4. fix: refine deviation_stop params. (details)
  5. fix: path disapearing issue. (details)
  6. fix: trailer_path_ego match issue. (details)
  7. refact: straighten then reverse. (details)
  8. fix: using map lane width for single line lane detection (details)
  9. feat: stop for localization switching. (details)
  10. fix: log msf localization switching status. (details)
  11. fix: road segment splitting bug. (details)
  12. refact: GetRoadSegmentFirstSplitPos (details)
  13. chore: keb task 增加最大转向角余量 (details)
  14. feat: 优化overlap s重计算，增加起始和结束点的有效性检查 (details)
  15. feat: keb-task 输出的轨迹保持固定长度，解决轨迹越来越短导致到达不了终点的问题 (details)
  16. fix: keb task ssep_end_s_ 赋值错误 (details)
  17. feat: 添加状态机切换时间参数并优化相关逻辑 (details)
  18. feat: 添加根据堆场内的车道名称扩展安全阈值 (details)
  19. chore: keb实时优化 将转向角余量 提取为配置参数 (details)
  20. chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹 (details)
  21. feat: 对多个范围更新函数添加排序逻辑，确保范围按顺序排列 (details)
  22. feat: 优化 JudgeInStraightLane 方法，重构逻辑以提高可读性和维护性，添加辅助函数以简化任务状态和区域状态的计算 (details)
  23. feat: 优化 转场场桥的判断， 以及 场桥是否进行判断碰撞检测的逻辑 (details)
  24. fix: 解决西联IMV进停车位搜索过慢的问题 (details)
  25. fix: 集卡搜索时滤除起点和终点车挂内部的og点 (details)
  26. fix: 修正堆垛机特殊区域的横向扩展长度参数加载路径 (details)
  27. fix: 解决西联IMV进停车位搜索过慢的问题 (details)
  28. feat: align move 状态下，假如挂的角度大于一定值，不倒车。 倒车的时候限制速度 (details)
  29. feat: 杨浦 B003 B004适配 (details)
  30. feat: 普通卡车多段倒车入库时适配拉直点逻辑 (details)
  31. fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。 (details)
Commit 035e2cf830ba61ee63048e0e129dea20231d8af5 by chenran
fix: lock historical cloud point in replayer.

The file was modifieddata/config/cfg_hmi.hpp
The file was modifiedhmi/replayer_hmi.cpp
The file was modifiedreplayer/logic.cpp
The file was modifieddata/config/cfg_hmi.cpp
Commit dbd2812127d276e7ad1f968f358529e0ae53a5a1 by chenran
fix: add FORWARD_BEFORE_BACKWARD
The file was modified.gitignore
The file was modifiedtasks/deciders/search_decider/forward_search_decider.cpp
The file was modifieddata/decide/decide_reaction.hpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedCMakeLists.txt
Commit 448aee47e245f190381c830773c7a318c6b12374 by chenran
fix: ssep replan for  reversing truck.
The file was modifiedtasks/deciders/other_decider/replan_decider.hpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit 76b3a0eb6a03df0be0286a166616b28bfc5ccf5a by chenran
fix: refine deviation_stop params.
The file was modifieddata/config/cfg_env_const.cpp
Commit be714f29c973f94c63c32603e269273a23c7bfdd by chenran
fix: path disapearing issue.
The file was modifieddata/vehicle/request_routing_data.cpp
Commit ad4d815f1b2950b84c190c02d925b7debb42e282 by chenran
fix: trailer_path_ego match issue.
The file was modifiedplan/prepare/prepare_status.cpp
Commit 05cba2ab21ded99ccdfcb7f96508ea2873e8ccbd by chenran
refact: straighten then reverse.
The file was modifieddata/config/cfg_env_const.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit a106c054091a39f8e38cabb78e45cec62f98e14d by chenran
fix: using map lane width for single line lane detection
The file was modifieddata/vehicle/lane_detection.cpp
Commit 974f2e41451a6a980c4c8c2a9045fe75f2fc0490 by chenran
feat: stop for localization switching.
The file was modifieddata/vehicle/vehicle_state.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.hpp
The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/plan/start_point_data.cpp
Commit 66668fce0521286d4f78c74c849dadea94895432 by chenran
fix: log msf localization switching status.
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 7c94361ecd0a6331ad51d2fd135e9408b5638289 by chenran
fix: road segment splitting bug.
The file was modifieddata/map/pnc_map/pnc_map.cpp
Commit 94045a905e6e7064aa83d3535b9a67e6f06bb3b3 by chenran
refact: GetRoadSegmentFirstSplitPos
The file was modifieddata/map/pnc_map/pnc_map.cpp
Commit 848e7e9667e7e592c8ed63ddffe0a6fe77666f13 by wuyanjun110
chore: keb task 增加最大转向角余量

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit e728ba79f6b5a2662364a9ec29e3b0d0f1cb99e2 by wuyanjun110
feat: 优化overlap s重计算，增加起始和结束点的有效性检查
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
Commit 4d8e13ea46ae52a342d5c9c904776950f10f37c3 by tangwenqing
feat: keb-task 输出的轨迹保持固定长度，解决轨迹越来越短导致到达不了终点的问题

The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 84511bc52b02c727f9da034c0684d9bdc6f35ac0 by tangwenqing
fix: keb task ssep_end_s_ 赋值错误

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit bb8ff43e7286899e0c671a7550fb06a6b551c13d by wuyanjun110
feat: 添加状态机切换时间参数并优化相关逻辑
The file was modifieddata/vehicle/spreader_protect.cpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/config/cfg_safe_const.hpp
Commit 9276281ddd0799eed3e58febe0b78a605e0fc179 by wuyanjun110
feat: 添加根据堆场内的车道名称扩展安全阈值
The file was modifiedsink/ros_sink_pnc_status.cpp
Commit b47fe07fc71e78f3f8434b8744c9dc847d63eba1 by wuyanjun110
chore: keb实时优化 将转向角余量 提取为配置参数

The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
Commit a02846152de185a088c757d3986eb904e1a4e17a by wuyanjun110
chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit bd3a0cd23b9935933c797ca80fb7e28c8dbabe97 by wuyanjun110
feat: 对多个范围更新函数添加排序逻辑，确保范围按顺序排列
The file was modifieddata/constrain/block_data.cpp
Commit 489a31b19ece7734f23e580bd9daf4025f81ad72 by wuyanjun110
feat: 优化 JudgeInStraightLane 方法，重构逻辑以提高可读性和维护性，添加辅助函数以简化任务状态和区域状态的计算
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifiedplan/prepare/prepare_status.hpp
Commit e47c3c07b6831723cd6fcec51d822e6a93b9c686 by wuyanjun110
feat: 优化 转场场桥的判断， 以及 场桥是否进行判断碰撞检测的逻辑
The file was modifiedplan/prepare/prepare_objs.cpp
The file was modifieddata/obstacle/obstacle.cpp
Commit b1675dfe8c52a2bf186d6788cc254920710cd40d by wuyanjun110
fix: 解决西联IMV进停车位搜索过慢的问题

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/imv_enter_station_planner.h
Commit c3c9fddb6caedd6c3f73c42b6fc14e9e6bb61998 by wuyanjun110
fix: 集卡搜索时滤除起点和终点车挂内部的og点

The file was modifiedssep/maps/ogm_builder.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/maps/ogm_builder.cc
Commit 57789ddab86ba54d6cfba72af2518081b6b5d509 by wuyanjun110
fix: 修正堆垛机特殊区域的横向扩展长度参数加载路径
The file was modifieddata/config/cfg_safe_const.cpp
Commit 67094e46383a0b33d5c95997caedc423eace3014 by wuyanjun110
fix: 解决西联IMV进停车位搜索过慢的问题

The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
Commit bc071e41f2a92b8798ca568a10d6d7ebe6a4cb02 by wuyanjun110
feat: align move 状态下，假如挂的角度大于一定值，不倒车。 倒车的时候限制速度
The file was modifieddata/plan/path_direction_data.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 9da2dbb539fbd9991221ecec7ed1b5ab5dcf5756 by wuyanjun110
feat: 杨浦 B003 B004适配
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit bce64a9fb9bed66c594b0a207511d989c4039b9f by tangwenqing
feat: 普通卡车多段倒车入库时适配拉直点逻辑
The file was modifiedssep/scenarios/planner_utils.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/planner_utils.cc
Commit 88fe599342bb3d5e99b4f73b388d3a36f9f7d320 by wuyanjun110
fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。

The file was modifiedssep/common/utils/path_utils.cc