Changes

Summary

1. fix: imv smooth mode bug. (details)
2. fix: imv smooth mode bug. (details)
3. fix: steering check for truck. (details)
4. fix: imv start_pt.heading in smooth mode. (details)
5. fix: crash issue. (details)
6. fix: imv crab mode for large curvature path. (details)
7. fix: imv heading bug. (details)

Commit f9f8b0947774848b1cea4ab1e02f9e7f019f6dea by 5081703.cr fix: imv smooth mode bug.
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	algorithm/wbca/imv_wbca_manager.cpp
Commit 85035b7f29d3e5aac69cc0d83213e2ec88bc6238 by 5081703.cr fix: imv smooth mode bug.
	algorithm/wbca/imv_wbca_manager.cpp
	data/boundary/road_boundary.cpp
Commit c7f282df45eed8505a373be0fbb0ee66e8cae3b6 by 5081703.cr fix: steering check for truck.
	data/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp
Commit b03b260ac578fa3b2a7509623728bdbbe6927c5a by 5081703.cr fix: imv start_pt.heading in smooth mode.
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	data/wbca/wbca_data.hpp
	data/plan/start_point_data.cpp
Commit 75fe4e3092cb4fff30085b0847052607568ba0d3 by 5081703.cr fix: crash issue.
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit ee960ad26d50e1a03fdfb35d047274434e129d9a by 5081703.cr fix: imv crab mode for large curvature path.
	algorithm/wbca/wbca_helper.cpp
	algorithm/wbca/imv_wbca_manager.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.hpp
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/wbca_manager.cpp
Commit f58578c9c13f31ce1b0ae7427ed9745e08ca1c8b by 5081703.cr fix: imv heading bug.
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	algorithm/wbca/imv_wbca_manager.cpp