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Changes

Summary

  1. feat: 添加<cstddef>头文件以支持大小类型 (details)
  2. 桥区重规划: 上桥切下桥触发重规划并重置搜索状态 (details)
  3. refactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTasks (details)
  4. 桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索 (details)
Commit bccfab1070eca23f4bdf9e497d6fdc7308234896 by wuyanjun110
feat: 添加<cstddef>头文件以支持大小类型
The file was modifiedmath/dubins_curve/dubins_curve.hpp
Commit d9e8f54ec02e69f09891c514b14050081e043aa8 by wuyanjun110
桥区重规划: 上桥切下桥触发重规划并重置搜索状态

- ReplanDecider 增加 JudgeBridgeSearchReplan: BRIDGE_JUNCTION 规划器下, 历史帧在上桥区、当前帧进入下桥区时触发 CONTINUOUS_NORMAL_INTERSECTION 重规划
- SsepReplanUpdate 早退门加入桥区, 使桥区不再被直接清空 replan 状态
- BridgeJunctionSearchDecider::SubProcessReuse 响应该重规划类型, 重置搜索元素与回退计数
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.hpp
The file was modifiedtasks/deciders/search_decider/bridge_junction_search_decider.cpp
Commit 5b8f7852ab29bc70f34ef965a5d8cebfa9a8ffc6 by wuyanjun110
refactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTasks

任务失败后重置后继任务的循环在 18 个 stage 中重复, 统一抽到基类;
其中 MOTION_FSM_TASK/CONSTRAIN_DECIDER 不做 Reset 而继续 RunTask 执行,
以维持状态机与约束输出, 该行为随基类函数推广到所有场景 stage
The file was modifiedscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cpp
The file was modifiedscenarios/lane_change_scenario/lane_change_stage.cpp
The file was modifiedscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
The file was modifiedscenarios/parking_scenario/parking_prepare_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_move_backward_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_preapre_stage.cpp
The file was modifiedscenarios/parking_scenario/parking_move_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
The file was modifiedscenarios/parking_scenario/parking_lane_change_stage.cpp
The file was modifiedscenarios/ex_lane_change_scenario/ex_lane_change_stage.cpp
The file was modifiedscenarios/stage.cpp
The file was modifiedscenarios/lane_change_scenario/lane_change_prepare_stage.cpp
The file was modifiedscenarios/lane_change_scenario/lane_change_cancel_stage.cpp
The file was modifiedscenarios/stage.hpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cpp
The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
The file was modifiedscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_lane_change_stage.cpp
Commit dd7b211bac761d953c6c4fc932dd80486927d13a by wuyanjun110
桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索

ConstructDefaultStartPosture 中 last_path_ 不可用原先直接 return false,
改为用自车 x/y/yaw(挂角有效时含挂角)构造起点位姿并置 is_search_from_ego_,
日志同步改为 search from ego pose
The file was modifieddata/ssep/bridge_junction_ec.cpp