[Jenkins]Jenkins

Changes

Summary

  1. fix: add gjk (details)
  2. fix: add DECELERATION. (details)
  3. fix: forward_simulation bug. (details)
  4. fix: lka_deviation using yard_name. (details)
  5. fix: hmi load map. (details)
  6. fix: deceleration state optimization. (details)
  7. fix: semantic_type in replayer. (details)
  8. fix: forward_simulator bug. (details)
  9. fix: decision logic. (details)
  10. fix: decision parameters. (details)
  11. fix: update lka_deviation_region. (details)
  12. fix: add deviation around stacker/dest. (details)
  13. fix: wbca path length (details)
  14. fix:add driving_corridor_ogm_dilate_size (details)
  15. fix: boundary shift in yard. (details)
  16. fix: add usef_func_after_destination_wbca_no_shift_mode. (details)
  17. fix: lattice error for lon_decision deceleration. (details)
  18. fix: shif out yard. (details)
  19. fix: shift into&out yard (details)
  20. fix: lattice error for lon_decision deceleration. (details)
  21. fix: lon_decision for car. (details)
  22. fix: using backward obstacle in lane changing lon_decision. (details)
  23. fix: lka deviation for out_yard region. (details)
  24. fix: using last_path when out_yard wbca failed. (details)
  25. fix: correct imv crab mode conditions. (details)
  26. fix: lka deviation through yard. (details)
  27. fix: disable wbca smooth mode for seaside buffer. (details)
  28. fix: extract lane_pts msg in replayer. (details)
  29. fix:修复崩溃的bug (details)
  30. fix: lane_pts deviation calculation. (details)
  31. feat: lane_pts debug  msg. (details)
  32. fix: add lateral acc cost. (details)
  33. fix: add wbca cost and time_consuming. (details)
  34. fix:修复连续普通路口搜索的bug (details)
  35. feat:park lock下 不校验地图 (details)
  36. feat:调整出堆场口的约束创建 (details)
  37. fix:修复因为距离阈值，带来场景识别错误的bug (details)
  38. fix:修复终点距离计算的bug (details)
  39. fix:修复海润进弯道后第一个停车位停不正的bug (details)
  40. fix:修复误触发open space的bug (details)
  41. refactor:优化动态搜索限速 (details)
  42. feat: lon_decision from SQ (details)
  43. fix: add min_safe_ttc (details)
  44. fix: v_min_coef = 9.9 wbca (details)
  45. fix: disable dynamic and steering speed constraints (details)
  46. feat:适配大港ssep (details)
  47. fix:堆场口禁停异常的bug (details)
  48. feat: add drving_corridor_ogm_dilate_size_in_yard (details)
  49. fix: start up boundary optimization. (details)
  50. fix: stacker crane wbca smooth mode thr. (details)
  51. feat: low bay operation smooth (details)
  52. fix: wbca smoth_mode route interval (details)
  53. fix: disable smooth mode in yard. (details)
  54. fix: using ssep speed_limit for deviation. (details)
  55. fix: SSEP: 修复优化器中额外前向碰撞距离计算存在误差的问题，解决前港距离前方障碍物太近的问题。 (details)
  56. fix:解决合并代码需要重新编译的问题 (details)
  57. fix:解决合并代码需要重新编译的问题 (details)
  58. fix: SSEP: 修复前杠倒车进料堆优化失败的问题。 (details)
  59. fix:修复拼接的bug (details)
  60. fix:修复拼接的bug (details)
  61. fix: wbca reversing bug. (details)
  62. refactor调整切换lock的阈值 (details)
  63. feat:锁站场景不膨胀尺寸 (details)
  64. refactor调整切换lock的阈值 (details)
  65. feat:锁站场景不膨胀尺寸 (details)
  66. fix:代码合并的bug (details)
  67. fix: minimize esdf_map (details)
  68. fix:修复崩溃的bug (details)
  69. fix:修复崩溃的bug (details)
  70. fix: dx_norm = path_1_tmp.norm (details)
  71. fix: merge wbca_v2. using soft_min collision cost for truck. (details)
  72. feat: SSEP: 集卡进堆场搜索的碰撞检测使用软约束。保证生成一条碰撞程度最低的路径。 (details)
  73. feat:进堆场边界优化 (details)
  74. fix:ssep搜索失败的bug (details)
  75. feat: SSEP: SSEP输入中加入"作业模式"参数（正向作业/反向作业/Undetermined），统一IMV路径搜索流程 (details)
  76. fix: wbca ignores ref_pts out of range. (details)
  77. fix:修复出停车位ssep路径方向的bug (details)
  78. fix:sweep路径的bug (details)
  79. feat:界面添加障碍物类别的显示 (details)
  80. feat:优化云端障碍物的赋值 (details)
  81. chore: SSEP: 提升集卡常规场景的规划的成功率，缓解末端路径画龙的问题 (details)
  82. feat: SSEP: Car模型多段倒车场景，途径点角度增加角度限制 (details)
  83. chore: SSEP: Car车型多段倒车参数调整 (details)
  84. fix:修复出停车位ssep路径方向的bug (details)
  85. fix:sweep路径的bug (details)
  86. feat:界面添加障碍物类别的显示 (details)
  87. feat:优化云端障碍物的赋值 (details)
  88. refeat:优化云端路径的赋值 (details)
  89. fix: 修复威海car bulkout场景进错的问题 (details)
  90. fix: typo (details)
  91. fix: SSEP: 修复最后一段有碰撞时可能优化失败的问题。 (details)
  92. feat:1.根据堆场的偏移信息确定堆场相对道路的为位置。2.根据堆场位置调整约束 (details)
  93. feat:动态搜索考虑不可形式区域 (details)
  94. feat: SSEP: 完成offline自动回归测试工具。目前支持5种场景的回归测试。其他场景会在后续陆续添加。 (details)
  95. feat: SSEP: 可视化增加地图元素显示 (details)
  96. feat: add repowiki by qoder (details)
  97. fix:终点在堆场出口，边界的bug (details)
  98. chore: SSEP: minor updates (details)
  99. fix: no_shift region around destination. (details)
  100. feat:调整 hfsm status中cur lane id的逻辑 (details)
  101. fix: deviation speed limit bug. (details)
  102. feat: SSEP: IMV - either goal direction 更改为 either start direction，大大简化逻辑，并且全场景支持了IMV作业模式未确定的场景。 (details)
  103. Refactor: SSEP: 用aabox替换vector<double>表示search bounds (details)
  104. fix: truck wbca replayer debug. (details)
  105. fix: truck wbca replayer debug. (details)
  106. feat:优化cur laneid的赋值 (details)
  107. chore: SSEP: Improve bidirectional search (details)
  108. fix: fix compile errors (details)
  109. fix: using wbca failed_count to deactivate history. (details)
  110. fix: merge bug. (details)
  111. fix:搜索起点太远的问题 (details)
  112. fix: SSEP: 解决集卡常规场景轨迹异常的问题 (details)
  113. fix: cfg_static bug (details)
  114. fix: replayer bug (details)
  115. fix: SSEP: 修复IMV出停车位路径异常的问题 (details)
  116. fix:imv进停车位双向搜索的bug (details)
  117. fix:切换到idle保持状态的bug (details)
  118. feat:苏溪,西联,董分 双向搜索的bug (details)
  119. chore:添加gitgnore (details)
  120. fix:驾驶走廊图构建的bug (details)
  121. chore:删除多余的log (details)
  122. feat:调整 float to half (details)
  123. feat:适配新的region (details)
  124. feat:终点距离的判断使用map distance (details)
  125. feat:终点距离的判断使用map distance (details)
  126. fix:imv进停车位双向搜索的bug (details)
  127. fix:切换到idle保持状态的bug (details)
  128. feat:苏溪,西联,董分 双向搜索的bug (details)
  129. chore:添加gitgnore (details)
  130. fix:驾驶走廊图构建的bug (details)
  131. chore:删除多余的log (details)
  132. feat:调整 float to half (details)
  133. fix:修复动态上下面过程中，提前切换到bulk场景的bug (details)
  134. fix:修复动态上下面过程中，提前切换到bulk场景的bug (details)
  135. fix: ogm.height/width (details)
  136. fix: ogm.height/width (details)
  137. feat: SSEP: 初步跑通GPU加速版本的进堆场搜索 (details)
  138. chore: SSEP-GPU: 通过所有测试用例 (details)
  139. chore: SSEP: gpu search 性能优化 (details)
  140. chore: SSEP: 同步ssep的imv进充电桩的更新 (details)
  141. feat: SSEP: 前港倒车进货堆场景添加 fallback searcher。倒车不能到达的情况会使用通用搜索器搜索（现在可以支持向前到达货堆）。 (details)
  142. fix: SSEP: 修复回归测试失败的场景 (details)
  143. fix: SSEP: 解决集卡普通搜索画龙的问题 (details)
  144. fix:修复变道过程中，更新laneid的bug (details)
  145. refactor:出堆场的起始点从参考线上选取 (details)
  146. feat: 添加lowbag 判断函数 (details)
  147. fix: clear path_optimization_task esdf his. (details)
  148. feat: SSEP: 增加万能参数接口 (details)
  149. feat: SSEP: 集卡进堆场支持通过extra_params获取车头拉直位置与车挂最大夹角并规划符合要求的路径。 (details)
  150. chore: SSEP: 改进自卸车多段倒车 (details)
  151. feat: 太阳纸业使用pncc_port_related参数配置SSEP场景 (details)
  152. feat:添加clangd的配置文件 (details)
  153. fix: SSEP: 修复集卡普通搜索路口有可能超近道的问题 (details)
  154. feat:调整低贝位判断的逻辑，低贝位判断统一FlowController里面进行 (details)
  155. fix: smooth logic (details)
  156. fix: SSEP: 解决进堆场画龙 (details)
  157. fix:调整大谢进堆场路径 (details)
  158. feat:规划路径和ssep路径不一致的问题分析 (details)
  159. feat:适配clang (details)
  160. chore: SSEP: 大榭只优化一次 (details)
  161. refactor:适配clang编译 (details)
  162. feat:赋值的bug (details)
  163. fix:适配clang的bug (details)
  164. fix:修复甩正点的bug (details)
  165. feat:适配clang (details)
  166. feat:甩正点距离适配 (details)
  167. fix:修复甩正点的bug (details)
  168. fix:修复路径跳变的bug (details)
  169. fix: using LD v1 (details)
  170. feat:适配大谢右转进堆场 (details)
  171. feat:适配大谢右转进堆场 (details)
  172. feat: ssep 威海多段倒车支持按键拉直功能 (details)
  173. feat:添加忽略死锁标志位的反馈 (details)
  174. feat:适配缩小根据距离 (details)
  175. feat:调整counter和进堆场障碍物考虑的条件 (details)
  176. feat:单车道区分左右边界 (details)
  177. fix:大谢单车道，低贝位判断的bug (details)
  178. fix: del omp.h (details)
  179. feat:搜索尺寸参数赋值 (details)
  180. fix:车辆参数赋值错误的bug (details)
  181. fix: smooth mode in yard. (details)
  182. fix: smooth mode in yard. (details)
  183. feat:调整counter和进堆场障碍物考虑的条件 (details)
  184. feat:适配缩小根据距离 (details)
  185. feat:单车道区分左右边界 (details)
  186. fix:大谢单车道，低贝位判断的bug (details)
  187. feat: SSEP: 大榭、杨浦的SSEP场景从配置文件传入。支持添加参数切换到gpu搜索。 (details)
  188. fix: SSEP: fix GPU search bug (details)
  189. feat:优化进堆场的约束 (details)
  190. feat:into 都使用双向搜索 (details)
  191. feat:龙门吊位置计算的bug (details)
  192. feat:into 都使用双向搜索 (details)
  193. feat:龙门吊位置计算的bug (details)
  194. feat:优化进堆场的约束 (details)
  195. fix: SSEP: 修复大榭进堆场车体距离边界太近的问题 (details)
  196. feat:适配 utrun掉头 (details)
  197. chore:修复.gitignore (details)
  198. feat: SSEP: 大榭、杨浦的SSEP场景从配置文件传入。支持添加参数切换到gpu搜索。 (details)
  199. fix: SSEP: fix GPU search bug (details)
  200. fix: SSEP: 修复大榭进堆场车体距离边界太近的问题 (details)
  201. feat:添加通过lane id 配置不绕行区域的功能 (details)
  202. feat:大谢进堆场配置甩正的位置 (details)
  203. feat:适配 utrun掉头 (details)
  204. feat:添加通过lane id 配置不绕行区域的功能 (details)
  205. feat:适配大谢右转进堆场 (details)
  206. feat:适配缩小根据距离 (details)
  207. feat:调整counter和进堆场障碍物考虑的条件 (details)
  208. feat:单车道区分左右边界 (details)
  209. fix:大谢单车道，低贝位判断的bug (details)
  210. feat:优化进堆场的约束 (details)
  211. feat:龙门吊位置计算的bug (details)
  212. Auto stash before cherrypick of "feat:龙门吊位置计算的bug" (details)
  213. chore:修复.gitignore (details)
  214. feat:大谢进堆场配置甩正的位置 (details)
  215. fix: SSEP: 解决gpu编译问题 (details)
  216. fix: SSEP: gpu compile error (details)
  217. fix:修复编译报错 (details)
  218. fix:修复编译报错 (details)
  219. feat:修复编译的warning (details)
  220. fix: SSEP: 修复“最后一段不检测碰撞”功能遗漏的提交 (details)
  221. chore: SSEP: update unit tests (details)
  222. fix: SSEP: 修复地图元素"is_closed"标志位转换错误的问题 (details)
  223. feat:编译warnig (details)
  224. feat:锁站限速过滤 (details)
  225. fix: using smooth mode when opt failed. (details)
  226. fix: SSEP: 修复路径距离参考线太远的问题。 (details)
  227. fix: SSEP: 修复集卡多段倒车搜索的参数配置错误 (details)
  228. feat:添加忽略文件 (details)
  229. fix: SSEP: 修复车道线被处理为闭合多边形的bug（太阳纸业搜索失败），修复imv 进停车位因为终点约束导致路径异常的问题。 (details)
  230. feat:align过程中,拒绝直线步进 (details)
  231. fix:程序启动直接搜索带来的崩溃问题 (details)
  232. chore: SSEP: 改进集卡多段倒车拉直轨迹 (details)
  233. chore: SSEP: 提升GPU进堆场搜索成功率 (details)
  234. feat:修复搜索失败报警的等级 (details)
  235. feat:编译包warning的bug (details)
  236. feat:进堆场约束调整，并且调整low bay type (details)
  237. fix:修复虚拟场桥低贝判断的bug (details)
  238. feat:添加忽略文件 (details)
  239. feat:align过程中,拒绝直线步进 (details)
  240. fix:程序启动直接搜索带来的崩溃问题 (details)
  241. feat:修复搜索失败报警的等级 (details)
  242. feat:编译包warning的bug (details)
  243. feat:进堆场约束调整，并且调整low bay type (details)
  244. fix:修复虚拟场桥低贝判断的bug (details)
  245. chore: ssep: 高贝位进堆场时，只在终点的道路边界侧添加约束。 (details)
  246. fix:修复编译报错的bug (details)
  247. fix: SSEP: 固定编译时的依赖顺序 (details)
  248. fix: SSEP: 固定编译时的依赖顺序 (details)
  249. fix: SSEP: 固定编译时的依赖顺序 (details)
  250. chore: SSEP: 改进多段倒车拉直轨迹 (details)
  251. feat:缩短跟车距离的优化 (details)
  252. refactor:优化起始点的选择 (details)
  253. feat:优化杨浦进单侧堆场的边界 (details)
  254. feat:打开预测消息的发送 (details)
  255. feat:参考线不实时刷新的bug (details)
  256. feat:云端预测轨迹s赋值的bug (details)
  257. fix:修复崩溃的bug (details)
  258. fix:调整debug 字段 (details)
  259. feat:添加进堆场的超视距障碍物 (details)
  260. fix:修复起始点车辆有转角，路径异常的bug (details)
  261. feat: SSEP: 增加头部不参与优化的区域设置接口。 (details)
  262. fix: SSEP: 修复集卡普通搜索路径起点位于极窄的通道时路径可能画龙的问题 (details)
  263. fix: using maximum speed (details)
  264. fix:修复openspace 误重规划的bug (details)
  265. feat: Add truck multi seg planner (details)
  266. feat: SSEP: 刚性卡车搜索终点匹配从车道匹配改为参考线匹配 (details)
  267. fix:极限变道 replan的bug (details)
  268. refactor:删除多余的日志打印 (details)
  269. feat:merge (details)
  270. fix: smooth mode bug (details)
  271. fix:优化动态下码头面搜索终点选取的问题 (details)
  272. refactor:优化杨浦低贝位约束 (details)
  273. feat: SSEP: 增加末端微调采样，解决杨浦进堆场曲率跳变问题。 (details)
  274. chore: SSEP: 刚性卡车多段路径倒车时候更加原理后方障碍物 (details)
  275. feat:添加 Yard Name的显示 (details)
  276. feat:终点低贝位 缩小挂甩正的角度 (details)
  277. feat:变道搜索搜索失败不停车 (details)
  278. feat:大谢右转进堆场添加参数，适配仿真场景 (details)
  279. feat:更改reuse的次数 (details)
  280. fix: SSEP: 解决高贝位进堆场轨迹异常的问题 (details)
  281. feat:右转进低贝位拉值角度调整 (details)
  282. feat:卡车 车辆方向修改为路径方向 (details)
  283. fix: SSEP: 修复集卡普通搜索启发项错误的问题 (details)
  284. fix: SSEP: 过滤明显存在碰撞的集卡进堆场轨迹 (details)
  285. fix: SSEP: 回退集卡普通进堆场“超近道”的问题 (details)
  286. feat:进堆场偏离参考线过多，不触发禁停的bug (details)
  287. feat:进堆场口的限速参数独立出来 (details)
  288. feat:区分堆场的偏移和场桥的偏移 (details)
  289. feat: SSEP: 变道搜索时使用standby_guide_line当做引导线。 (details)
  290. feat:添加junctionid的显示 (details)
  291. feat:没有岸桥碰撞的时候也打开岸桥搜索。 然后根据是否碰撞切换进入场景的距离 (details)
  292. fix: SSEP: 修复集卡搜索轨迹不合理导致优化画龙的问题 (details)
  293. feat: SSEP: 非低贝位进堆场使用拉直点逻辑 (details)
  294. feat:龙须点碰撞检测添加开关 (details)
  295. refactor:1.调整进堆场的限速  2. 调整低贝位的距离 (details)
  296. feat: SSEP 集卡在NORMAL,INYARD,OUTYARD,SEASIDE,BRIDGE场景强制使用参考线。 (details)
  297. fix:无法三次对准的bug (details)
  298. feat:修改云端轨迹heading和theta的赋值 (details)
  299. fix:修复编译崩溃的bug (details)
  300. 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)
  301. feat:优化og点的碰撞检测 (details)
  302. 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)
  303. fix: 优化友谊关倒车路径，更符合pass point (details)
  304. feat:1. ogm精细碰撞检测添加开关2. ogm高度 分层 添加更多层3.进堆场过程中，xx重新规划，扩展边界，解决pjpo求解失败的问题4.添加进堆场虚拟停止线附近的限速 (details)
  305. feat:bulk场景判断的距离阈值调整成255米 (details)
  306. feat:单侧堆场默认左侧放箱子 (details)
  307. feat:进堆场 不是低贝位i的时候取消外侧的约束 (details)
  308. fix: 优化友谊关倒车路径，更符合pass point (details)
  309. 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)
  310. fix: SSEP: fix typo (details)
  311. feat:优化og的处理 (details)
  312. fix:修复绘制的bug (details)
  313. fix: SSEP: 提升远距离绕桥腿成功率 (details)
  314. feat:杨浦适配B场 (details)
  315. feat: 1. 绕跷腿搜索标志位 2.右转进堆场的强制用约束的标志位 (details)
  316. feat: SSEP: 增加 is_blocked_by_shore_crane 和 use_hard_constraint 参数 (details)
  317. chore: mionr update (details)
  318. fix:杨浦 动态搜索 + 进堆场场景 路径拼接的bug (details)
  319. fix:3 4 阶段对准时,不能切换creep的bug (details)
  320. feat:og碰撞的优化 (details)
  321. feat:进堆场的优化 (details)
  322. feat:关闭debug信息 (details)
  323. feat: SSEP: 增加场景编辑工具 (details)
  324. feat:junction弯道区间计算的bug (details)
  325. feat:纵一路边上的转场临停修改判断阈值 (details)
  326. fix:修复误变道的问题 (details)
  327. chore: SSEP: update scene editor server (details)
  328. 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)
  329. 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)
  330. feat:搜索的时候是否考虑静态障碍物添加开开关 (details)
  331. chore: SSEP: Fix mult-segment searching params. (details)
  332. fix:龙须点处理的bug (details)
  333. fix:修复龙须点处理的bug (details)
  334. feat:调整单车道堆场的约束 (details)
  335. fix:没有路径，并且在弯道前，ssep无法搜索的bug (details)
  336. feat:优化场桥防护 (details)
  337. feat:修改对准数据的打印 (details)
  338. feat: SSEP: 使用多项式采样器生成变道路径 (details)
  339. fix: lattice wbca velocity reference bug. (details)
  340. fix: lattice wbca velocity reference bug. (details)
  341. fix:杨浦堆场入口重搜索的bug (details)
  342. refactor:优化打印日志 (details)
  343. fix: send 50m path to control in bulk state. (details)
  344. fix: delete submodules (details)
  345. feat: 添加更多忽略文件到.gitignore (details)
  346. chore: SSEP: 1. 变道场景使用更严格的车挂碰撞判断。2. 过滤超过曲率上限的路径。 (details)
  347. fix: 修复边界约束逻辑并优化障碍物处理代码 (details)
  348. chore: SSEP: merge 集卡进堆场的新改动 (details)
  349. fix: 优化障碍物处理逻辑，过滤不必要的障碍物类型 (details)
  350. fix: 优化OgmPoints序列化，过滤无效点并调整序列化方法 (details)
  351. fix: 杨浦 调整虚拟车道与第一排箱体的距离和左侧后退延伸长度 (details)
  352. fix: 优化SubProcessIdle逻辑，增加对引导线信息可用性的检查，防止没有识别低贝位就进行搜索的bug (details)
  353. fix: serailize params for wbca (details)
  354. fix: SSEP: 修复反向路径拖挂角度错误的问题 (details)
  355. feat: 1.添加OgmCollisionPos绘制功能，增强碰撞检测可视化 2.replayer 添加og碰撞检测的回放功能 (details)
  356. fix: wbca params serialization bug (details)
  357. fix: 注释掉日志记录代码以减少输出干扰 (details)
  358. feat: SSEP: 完善网页可视化。现在在网页上可以可视化所有元素并任意调整分辨率。 (details)
  359. fix: build bug (details)
  360. fix: Trajectory MatchByt bug. (details)
  361. fix: Trajectory MatchByt bug. (details)
  362. fix: build bug (details)
  363. chore: SSEP: 搜索使用障碍物软约束，提升自卸车进出堆场极限场景的搜索成功率。 (details)
  364. chore: SSEP: 过滤无效的采样轨迹，提高进堆场搜索成功率 (details)
  365. chore: SSEP: 处理掉头场景终点在standby_guideline上的情况 (details)
  366. feat: 添加镜子配置和绘制功能 (details)
  367. feat: 优化JudgeFinishAlign函数，简化FSM接口调用，增强对齐完成判断逻辑 (details)
  368. feat: 优化低贝激活判断逻辑，简化条件判断，提高代码可读性 (details)
  369. fix: 移除不必要的日志警告，优化代码逻辑 (details)
  370. chore: SSEP: 掉头进堆场时增加参考线权重 (details)
  371. refactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bug (details)
  372. fix: 更新YANGPU虚拟车道到第一排箱子的阈值，修正为0.0 (details)
  373. fix: 修正右侧车道拉直点阈值为2.0度 (details)
  374. fix:进堆场终点距离计算的bug (details)
  375. feat: 增加keb optimize task (baseline version)，仿真可以运行。剩余工作：1. 多线程运行 2. 无SSEP轨迹时fallback为pjpo task。 (details)
  376. fix: 优化地图包围体和在线区域轮廓创建逻辑,修复潜在的空指针和多边形合并问题 (details)
  377. fix: 修正OgmCollisionPos函数中的颜色定义注释，确保颜色代码清晰 (details)
  378. feat:添加挂车的上层纵向参数 (details)
  379. fix: 简化UpdateCurLaneData函数中的当前和目标车道索引更新逻辑 (details)
  380. fix: 优化ConstructStartAndEndContour和ConstructEndStraightPosture函数中的逻辑，增加双车道距离补偿 (details)
  381. fix: 调整GetExtendPoint函数中的扩展点计算逻辑，增加扩展距离；优化在线区域轮廓创建逻辑，增加多边形连接性检查和简化处理 (details)
  382. feat: Keb optimizer task 单线程功能完成 (details)
  383. feat: Keb path optimize task 支持异步（多线程）模式。 (details)
  384. feat: 添加核心对象库并优化可执行文件链接逻辑 (details)
  385. feat: 添加PncGraphicsView类以支持图像显示和交互功能；更新相关文件以替换DragImage (details)
  386. fix: 调整ConstructEndPosture函数中的扩展距离逻辑，将TT类型的扩展距离从20.0增加到25.0 (details)
  387. fix: 取消CalRefPtsKappa函数中的注释，启用航向角计算逻辑 (details)
  388. feat: 添加测量功能，支持在PncGraphicsView中显示测量线和文本；更新鼠标事件处理逻辑以支持控制键测量 (details)
  389. fix: 注释掉DrawTargetPath函数中的轮廓生成和绘制逻辑 (details)
  390. fix: 修复EgoExpanding类中VertexExpanding函数的除零错误；更新KinematicBicycleModel类中TrailerPtFromTractorPt函数的代码格式 (details)
  391. fix: 在CreateTrajInfo函数中添加continue语句以优化逻辑 (details)
  392. fix: wbca path fluctuation problem. (details)
  393. fix: 在InterpPtByLinearS函数中添加对s值的有效性检查，避免无效输入导致错误 (details)
  394. chore: Finetune Keb-Path-0ptimize-Task and add warm-start stretagy. (details)
  395. fix: add wbca min_start_velocity (details)
  396. feat: 添加获取弯道前车道ID的功能，并在SwitchData中更新相关逻辑, 解决变道时，参考线跳变的问题 (details)
  397. fix: SSEP: 修复IMV进充电桩方向与现场任务不一致的问题。 (details)
  398. chore: Keb-Path-Opt-Task 调优，缩放道路边界，调整多边形障碍物参数等。 (details)
  399. refactor:优化包略框的合并 ，以及优化耗时 (details)
  400. feat: 在CreateContour中添加时间记录，优化轮廓构建过程 (details)
  401. feat: 更新参数设置，调整前向和侧向扩展长度以优化空间计算 (details)
  402. feat: 添加核心对象库并优化可执行文件链接逻辑 (details)
  403. fix: SSEP: 修复IMV进充电桩方向与现场任务不一致的问题。 (details)
  404. fix: wbca path fluctuation problem. (details)
  405. fix: add wbca min_start_velocity (details)
  406. feat: 增强在线区域轮廓创建失败时的回退逻辑，确保使用基础多边形作为后备 (details)
  407. fix: wbca crab mode condition opt. (details)
  408. chore: SSEP: 集卡上下码头面可以在standby_guide_line上任意匹配终点 (details)
  409. fix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。 (details)
  410. fix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。 (details)
  411. feat: 添加IsAvailable方法以验证轨迹数据的有效性 (details)
  412. fix: 修复StitchSsepReferenceLine方法中的路径段验证逻辑 (details)
  413. fix:进充电桩场景切换的bug (details)
  414. fix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。 (details)
  415. fix:进充电桩场景切换的bug (details)
  416. feat: 添加IsAvailable方法以验证轨迹数据的有效性 (details)
  417. fix: 修复StitchSsepReferenceLine方法中的路径段验证逻辑 (details)
  418. feat: 添加角度显示功能，增强PncGraphicsView的交互性 (details)
  419. fix:修复误进入openspace的bug (details)
  420. fix:修复误进入openspace的bug (details)
  421. fix: 调整最大速度阈值以优化后向Ogm忽略逻辑 (details)
  422. feat: add smooth_mode_wbca_params (details)
  423. fix: smooth_mode_wbca_params bug (details)
  424. fix: 修复车辆行进过程中，误进routing 方向的更新逻辑的bug (details)
  425. fix: Keb Path Optimize Task解决方向盘抖动的问题（启用warm start）。改善低贝位挂车拉不直的问题。 (details)
  426. fix: 调整RefMatch匹配条件的范围以增强灵活性 (details)
  427. fix: 修复车辆行进过程中，误进routing 方向的更新逻辑的bug (details)
  428. fix: 调整RefMatch匹配条件的范围以增强灵活性 (details)
  429. fix: 添加禁停区逻辑以避免在倒车路径区域创建禁停区 (details)
  430. fix: 添加禁停区逻辑以避免在倒车路径区域创建禁停区 (details)
  431. fix: SSEP: 解决西联IMV进停车位搜索失败的问题 (details)
  432. fix: SSEP: 解决西联IMV进停车位搜索失败的问题 (details)
  433. fix: imv wbca end velocity bug. (details)
  434. fix: l_bfgs optimization. (details)
  435. feat: 添加获取shared_msgs的commit id和分支名称功能，并更新版本信息输出 (details)
  436. feat: 添加Keb路径优化任务的执行和重置功能，并更新场景接口 (details)
  437. feat: 实现OutYardJunctionFirstStage类中的ExecuteTaskOnReferenceLine方法，增强任务执行逻辑 (details)
  438. fix: keb-path-optimize-task 优化低贝位挂车不直的问题 (details)
  439. fix: 调整ReferenceRoadSection和ReferenceSegment中的位置判断条件，优化边界处理逻辑 (details)
  440. fix: 调整ReferenceRoadSection和ReferenceSegment中的位置判断条件，优化边界处理逻辑 (details)
  441. feat: 添加获取shared_msgs的commit id和分支名称功能，并更新版本信息输出 (details)
  442. chore: keb-path-optimize-task finetune. (details)
  443. feat: 添加ClearAreaOverlap类及相关逻辑，优化清晰区域处理和绘制功能 (details)
  444. chore: 优化keb-path-optimize-task进堆场效果 (details)
  445. feat: 添加CmdReduceSafeDistance类及相关逻辑，优化安全距离处理功能 (details)
  446. chore: keb param adjust (details)
  447. feat: 优化障碍物处理逻辑，简化多边形构建和碰撞判断 (details)
  448. feat: 优化障碍物处理逻辑，简化多边形构建和碰撞判断 (details)
  449. fix: keb task finetune (details)
  450. chore: keb task 关键参数提取 (details)
  451. fix: l_bfgs optimization. (details)
  452. fix: SSEP: 进堆场优化用终点硬约束 (details)
  453. chore: keb-task 使用终点约束 (details)
  454. feat: 更新MapEnvelops类，增强路径转换功能，支持备用地图包络处理 (details)
  455. feat:调整指令的类别 (details)
  456. feat:暂时关闭参考线拼接 theta重新计算的逻辑 (details)
  457. feat: add shift_type_ignoring_no_shift_region (details)
  458. feat: keb task: 1. 实时优化增加拉直点功能。2. 滤除偏离参考线太远的轨迹 (details)
  459. fix: 修复集卡优化器终点可能超过拖挂角度限制的问题 (details)
  460. feat: 添加ClearAreaOverlap类及相关逻辑，优化清晰区域处理和绘制功能 (details)
  461. feat: 添加CmdReduceSafeDistance类及相关逻辑，优化安全距离处理功能 (details)
  462. feat: 更新MapEnvelops类，增强路径转换功能，支持备用地图包络处理 (details)
  463. fix:修复guidelien 中 overlap计算的bug (details)
  464. fix: imv smooth_mode bug (details)
  465. fix: imv start_pt bug (details)
  466. fix:修复拼接ssep结果后，junction overlap 生成的bug (details)
  467. feat: 添加 实时的终点边界约束和拉值约束， 然后 终点约束使用使用实时约束 (details)
  468. refactor: 注释掉低贝位作业相关的代码逻辑 (details)
  469. refactor: 注释掉低贝位作业相关的代码逻辑 (details)
  470. fix: 更新镜子相关参数的命名空间前缀为/pnc_node (details)
  471. fix:修复崩溃的bug (details)
  472. feat: 添加自动获取大谢终点约束的功能 (details)
  473. feat: 添加搜索起点框的功能并优化车辆框生成逻辑 (details)
  474. fix: 更新GetLatPoint函数以考虑LKA控制模式 (details)
  475. fix:虚拟停止线构建的bug (details)
  476. fix: 修正DrawUpperHead函数中镜子高度计算错误 (details)
  477. fix: 调整自动构建结束直线姿态和终点扩展长度的计算逻辑 (details)
  478. feat: SSEP: 进堆场添加用专家经验生成的路径，拼接替换原始参考线。 (details)
  479. feat: SSEP: 进堆场跑通无搜索规划 (details)
  480. fix: keb task 修复路径被og点阻挡时轨迹异常的问题 (details)
  481. fix: 修复keb task碰撞检测使用路径长度过长的问题 (details)
  482. fix: road segment splitting bug. (details)
  483. refact: GetRoadSegmentFirstSplitPos (details)
  484. fix: SSEP: 修复无搜索模式可能崩溃的问题 (details)
  485. feat: SSEP: 进堆场添加用专家经验生成的路径，拼接替换原始参考线。 (details)
  486. feat: SSEP: 进堆场跑通无搜索规划 (details)
  487. fix: keb task 修复路径被og点阻挡时轨迹异常的问题 (details)
  488. fix: 修复keb task碰撞检测使用路径长度过长的问题 (details)
  489. fix: SSEP: 修复无搜索模式可能崩溃的问题 (details)
  490. fix: SSEP: 提升新版进堆场搜索的成功率 (details)
  491. fix: SSEP: 提升新版进堆场搜索的成功率 (details)
  492. feat: lka deviation after crane (details)
  493. fix: SSEP: 修复变道路径可能有碰撞的问题 (details)
  494. fix: SSEP: 修复变道路径可能有碰撞的问题 (details)
  495. chore: keb task 增加最大转向角余量 (details)
  496. chore: keb task 增加最大转向角余量 (details)
  497. feat: 优化overlap s重计算，增加起始和结束点的有效性检查 (details)
  498. 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)
  499. fix: keb task ssep_end_s_ 赋值错误 (details)
  500. feat: 添加状态机切换时间参数并优化相关逻辑 (details)
  501. feat: 添加根据堆场内的车道名称扩展安全阈值 (details)
  502. chore: keb实时优化 将转向角余量 提取为配置参数 (details)
  503. chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹 (details)
  504. 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)
  505. 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)
  506. 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)
  507. fix: 解决西联IMV进停车位搜索过慢的问题 (details)
  508. fix: 集卡搜索时滤除起点和终点车挂内部的og点 (details)
  509. 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)
  510. 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)
  511. fix: 修正堆垛机特殊区域的横向扩展长度参数加载路径 (details)
  512. fix: 修正堆垛机特殊区域的横向扩展长度参数加载路径 (details)
  513. 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)
  514. 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)
  515. fix: 集卡搜索时滤除起点和终点车挂内部的og点 (details)
  516. chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹 (details)
  517. fix: keb task 修复路径被og点阻挡时轨迹异常的问题 (details)
  518. feat: 杨浦 B003 B004适配 (details)
  519. feat: yard name verification. (details)
  520. fix: 调整对拖车姿态有效性的角度判断阈值 (details)
  521. fix: 调整对拖车姿态有效性的角度判断阈值 (details)
  522. feat: 增加对车道有效性的检查，确保车道ID在实际车道ID列表中 (details)
  523. chore: SSEP: 自卸车进出散货堆场搜索使用软约束 (details)
  524. fix: SSEP: 修复集卡进堆场S弯轨迹不合理，及自适应拉直距离失效的问题 (details)
  525. fix: 调整路径重叠的起始和结束点设置，确保不超出有效范围 (details)
  526. feat:杨浦低贝位适配 (details)
  527. feat:合并ssep更改 (details)
  528. feat: 添加车辆姿态设置功能并更新测量和角度显示逻辑 (details)
  529. fix: SSEP: 修复普通卡车搜索拉直段失效的问题 (details)
  530. feat:适配友谊关进停车的拉正距离 (details)
  531. fix: disable default LKA deviation. (details)
  532. fix: lka deviation bug (details)
  533. feat: add lbfgs prevous version. (details)
  534. feat: 苏溪调箱门场景适配 (details)
  535. feat: 添加无效侧通行点检查和虚拟障碍物生成逻辑 (details)
  536. refactor:优化 停止线所属junction的判断逻辑 (details)
  537. feat:合并ssep更改 (details)
  538. fix:终点低贝位时， 然后场桥低贝位不重新搜索的bug (details)
  539. fix: filter wbca path by cost (details)
  540. fix: add switch for lbfgs to lbfgs_new (details)
  541. fix: using new l_bfgs (details)
  542. fix: cost filter for imv and truck (details)
  543. fix: activate wbca smooth mode in align fsm. (details)
  544. feat:直道地图包络构建的优化 (details)
  545. feat: （动态搜索的box框),优化生成平行框的距离计算逻辑 (details)
  546. fix: 更新DrawObject函数中的颜色值注释 (details)
  547. fix: filter wbca cost without collision cost. (details)
  548. fix: LKA deviation for out_yard (details)
  549. feat:调整换向缩小安全距离的阈值 (details)
  550. fix:修复变道的约束 (details)
  551. fix:修复变道的约束 (details)
  552. feat: 增加ALIGN命令相关错误类型并更新状态处理逻辑 (details)
  553. fix: cloud areas avoidence. (details)
  554. refactor:朝海侧，右转横二路，边界优化 (details)
  555. refactor:极限变道约束优化 (details)
  556. refactor:朝海侧，右转横二路，边界优化 (details)
  557. refactor:极限变道约束优化 (details)
  558. feat: 添加地图限速膨胀系数并更新速度限制计算 (details)
  559. refactor: openspace中的参考线为pnc引导线 (details)
  560. fix:imv下码头搜索失败的bug (details)
  561. fix: 修复imv普通搜索参考线错误的问题 (details)
  562. fix:修复反向出停车位的bug (details)
  563. fix:修复停止线绑定juntion的bug (details)
  564. refactor:优化场桥转场判断 (details)
  565. refctor:优化转场场桥box的使用 (details)
  566. fix: pnc_map splitting error. (details)
  567. chore: SSEP: 集卡多段倒车场景，Replan时加入最后一段拉直逻辑 (details)
  568. chore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度 (details)
  569. fix: SSEP: 提升太阳纸业自卸车出堆场成功率 (details)
  570. fix:极限变道不replan的bug (details)
  571. fix:极限变道不replan的bug (details)
  572. fix: 优化SmoothTask执行逻辑，增加对特定条件的处理 (details)
  573. chore: SSEP: 解决集卡多段倒车可能绕圈的问题 (details)
  574. refactor:优化小地图绘制时间过长的问题 (details)
  575. feat: 添加点云底图加载功能，支持异步加载和清除操作 (details)
  576. feat: 添加虚拟障碍物长度限制，优化创建虚拟障碍物的性能 (details)
  577. fix: fiter cost_beta (details)
  578. feat: trust-region solver based WBCA (details)
  579. fix: max_ref_len 60 (details)
  580. feat:fsm interface 里面添加 开始对准是终点距离的接口 (details)
  581. fix:align done 情况下还可以继续走的bug (details)
  582. fix:停车原因赋值错误的bug (details)
  583. feat: 添加对值阈值和条件，优化对准决策逻辑 (details)
  584. fix: 添加路径点数量检查，确保至少有两个点以创建路径 (details)
Commit 906615c00669d598322f728428d96e27547aae36 by 5081703.cr
fix: add gjk

The file was modifiedalgorithm/plan/trajectories_collistion_detection.cpp
The file was addedthirdparty/gjk/gjk.hpp
The file was modifiedalgorithm/plan/trajectories_collistion_detection.hpp
Commit d1cb7d28b0f4cca6686dbb81440ecf160d547fa6 by 5081703.cr
fix: add DECELERATION.

The file was modifiedalgorithm/decision/longitudinal_decision_3.cpp
The file was modifiedalgorithm/decision/simulator/forward_simulation.cpp
The file was modifieddata/semantic/semantic.hpp
The file was modifiedalgorithm/decision/risk_aware_contingency_planning.cpp
The file was modifieddata/semantic/semantic.cpp
The file was modifieddata/semantic/semantic_description.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/semantic/semantic_description.hpp
The file was modifiedalgorithm/decision/longitudinal_decision_3.hpp
The file was modifiedalgorithm/decision/simulator/forward_simulation.hpp
The file was modifieddecision/process/proc_longitudinal_decision.cpp
Commit 5c41119f452db3df32b83bb24b8da00cfee962b0 by 5081703.cr
fix: forward_simulation bug.

The file was modifiedalgorithm/decision/simulator/forward_simulation.cpp
Commit eb4c354eb675fd306649afc8863381a85a7a7ca2 by 5081703.cr
fix: lka_deviation using yard_name.

The file was modifieddata/ctrl/lka_start_up.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/config/cfg_env_const.cpp
Commit 6a7c0c1f1256ea297554c19656be5cd3a1844cbb by 5081703.cr
fix: hmi load map.

The file was modifiedreplayer/logic.cpp
The file was modifiedreplayer/replayer_data_process/load_snap_data.cpp
Commit cf1450cc4fae462e78c7d8ffd210d3dbc23aa72b by 5081703.cr
fix: deceleration state optimization.

The file was modifiedalgorithm/decision/risk_aware_contingency_planning.hpp
The file was modifieddata/config/cfg_decision.cpp
The file was modifieddata/semantic/semantic.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/config/cfg_decision.hpp
The file was modifiedalgorithm/decision/simulator/forward_simulation.cpp
The file was modifiedalgorithm/decision/simulator/forward_simulation.hpp
The file was modifiedalgorithm/decision/longitudinal_decision_3.cpp
The file was modifiedalgorithm/decision/risk_aware_contingency_planning.cpp
The file was modifieddata/semantic/semantic.hpp
The file was modifieddata/semantic/semantic_description.cpp
The file was modifiedhmi/draw/draw_constrain.cpp
Commit 9b614619623e61604b223095ee616f6881cb8d5d by 5081703.cr
fix: semantic_type in replayer.

The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit 7335dd82a9f8cec27b80b348e07b9e632fd40c89 by 5081703.cr
fix: forward_simulator bug.

The file was modifiedalgorithm/decision/simulator/forward_simulation.cpp
Commit 33f26be45f337fcd60163d8b4077b94fad8974b9 by 5081703.cr
fix: decision logic.

The file was modifiedalgorithm/decision/longitudinal_decision_3.cpp
The file was modifieddata/semantic/semantic.cpp
The file was modifiedalgorithm/decision/longitudinal_decision_3.hpp
The file was modifieddata/semantic/semantic_description.cpp
Commit ab6b561634e63417e09c5b7b6e05f3962a20824c by 5081703.cr
fix: decision parameters.

The file was modifieddata/config/cfg_decision.cpp
Commit 3e34a1c48e49de268af5b961ed6c9d481a327ada by 5081703.cr
fix: update lka_deviation_region.

The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/ctrl/lka_start_up.cpp
The file was modifieddata/config/cfg_env_const.cpp
Commit 04ee538f5352762a8e72d69633cade008e4cf8f1 by 5081703.cr
fix: add deviation around stacker/dest.

The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifiedsink/ros_sink_ctrl_reference.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/ctrl/lka_start_up.cpp
The file was modifiedsink/ros_sink_ctrl_reference.hpp
The file was modifieddata/config/cfg_lat_plan.hpp
Commit 9df7fb4796ddb76ef2b019e37718c6e820fcbae8 by 5081703.cr
fix: wbca path length

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 176e42c70295df499e53fd91774d2e7c0ba57d66 by 5081703.cr
fix:add driving_corridor_ogm_dilate_size

The file was modifieddata/boundary/driving_corridor.cpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/config/cfg_safe_const.hpp
Commit 3f20ff28a95ebaea5c3a33385daad999133ee23c by 5081703.cr
fix: boundary shift in yard.

The file was modifieddata/boundary/road_boundary.hpp
The file was modifieddata/boundary/road_boundary.cpp
Commit ac185a48aaa9e8111c6671c977db017290246cac by 5081703.cr
fix: add usef_func_after_destination_wbca_no_shift_mode.

The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/ctrl/lka_start_up.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/boundary/road_boundary.cpp
Commit de2de9daf9efceea02e1ca3509cd9cadf3da065d by 5081703.cr
fix: lattice error for lon_decision deceleration.

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 53fd5799210ff8c1c0bdc87f184e4ef79afda950 by 5081703.cr
fix: shif out yard.

The file was modifieddata/boundary/road_boundary.cpp
Commit 24ce590c5c078608bba7bf169f2633a8cb992d83 by 5081703.cr
fix: shift into&out yard

The file was modifieddata/boundary/road_boundary.cpp
Commit d6cba6af1e38625419cfb1ebacd9a9735a977938 by 5081703.cr
fix: lattice error for lon_decision deceleration.

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit cc91c797895b505945d59db91064e7fe03c2c0c0 by 5081703.cr
fix: lon_decision for car.

The file was modifiedalgorithm/decision/semantic_set_transformation_2.cpp
Commit 63e19eeb671e7422192ef300b8d2d48d377392d2 by 5081703.cr
fix: using backward obstacle in lane changing lon_decision.

The file was modifiedalgorithm/decision/path_collision_detection.cpp
Commit f317e042fe7f82d3226fd35c0e52899cf182f304 by 5081703.cr
fix: lka deviation for out_yard region.

The file was modifieddata/ctrl/lka_start_up.cpp
Commit 0403dd6ea8ece72f86e2b340b1c2a947d41db31f by 5081703.cr
fix: using last_path when out_yard wbca failed.

The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
Commit 71acb7fdd90e867aef98a367b5570f773932b953 by 5081703.cr
fix: correct imv crab mode conditions.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 6c835957075226cf70e6ec7cd282ff4e5cff7d35 by 5081703.cr
fix: lka deviation through yard.

The file was modifieddata/ctrl/lka_start_up.cpp
Commit 9f36a4098e80a2d4bb0dd6607210c977d62424c4 by 5081703.cr
fix: disable wbca smooth mode for seaside buffer.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 41e1611183895b21ba9b361cf660aa26be30876f by 5081703.cr
fix: extract lane_pts msg in replayer.

The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was modifieddata/vehicle/lane_detection.hpp
The file was modifieddata/vehicle/lane_detection.cpp
Commit b5b15d2395450622819183e92e46b261af48aed7 by wuyanjun110
fix:修复崩溃的bug

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit ff40eb3cfd659cebcd4cb39d803ead4d883e7fde by 5081703.cr
fix: lane_pts deviation calculation.
The file was modifieddata/vehicle/lane_detection.cpp
The file was modifieddata/vehicle/lane_detection.hpp
Commit dc6cb921131c2f38a5916568211a3abbc14d1857 by 5081703.cr
feat: lane_pts debug  msg.

The file was modifiedplan/prepare/prepare_lane_constrain.hpp
The file was modifiedplan/prepare/prepare_lane_constrain.cpp
The file was modifieddata/vehicle/lane_detection.cpp
Commit 4ab3db2e9d48be5657090e0a0dd586ae81c83607 by 5081703.cr
fix: add lateral acc cost.

The file was modifiedalgorithm/wbca/path_optimization/car_path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/truck_path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit d00c94af2933638c8784fe5d5c844e8cf06af561 by 5081703.cr
fix: add wbca cost and time_consuming.
The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
Commit 41f63bb85f70821a416316f2deeee080a82bc422 by wuyanjun110
fix:修复连续普通路口搜索的bug

The file was modifieddata/decide/decide_reaction.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.hpp
The file was modifieddata/scenario/scenario_manager.cpp
The file was modifieddata/scenario/scenario_manager.hpp
The file was modifiedtasks/deciders/search_decider/normal_junction_search_decider.cpp
Commit dec0413981b3ec63e201c15eefb6441fe6ea2c0a by wuyanjun110
feat:park lock下 不校验地图

The file was modifieddata/vehicle/request_routing_data.cpp
Commit 30c9ab2346df388fb00035aac7f1740f709407a4 by wuyanjun110
feat:调整出堆场口的约束创建

The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit 544b9dc994076be0386adbcb3b95b8622df06579 by wuyanjun110
fix:修复因为距离阈值，带来场景识别错误的bug

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 06bfc6322b63aaf658ee8bb0828a873833bba909 by wuyanjun110
fix:修复终点距离计算的bug
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 5c80f07840fa07c76ae26c093ee585cb0d1aa9a3 by wuyanjun110
fix:修复海润进弯道后第一个停车位停不正的bug
The file was modifieddata/plan/switch_data.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit e4b53590f63add07d6ac719a8faa70eafb610f6c by wuyanjun110
fix:修复误触发open space的bug

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 96a8d6212cb59118851ff31273dabc6fc64a63fe by wuyanjun110
refactor:优化动态搜索限速

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/plan/guide_line.cpp
Commit 4e81a167aca0f81d3e5e8b0e924c8b7419efebd5 by 5081703.cr
feat: lon_decision from SQ

The file was modifiedalgorithm/decision/longitudinal_decision_3.cpp
The file was modifieddata/config/cfg_decision.hpp
The file was modifiedalgorithm/decision/rule_base_behavior.cpp
The file was modifieddata/semantic/semantic.cpp
The file was modifiedalgorithm/decision/semantic_set_transformation_2.cpp
The file was modifieddata/semantic/semantic.hpp
The file was modifiedalgorithm/decision/simulator/forward_simulation.cpp
The file was modifieddata/semantic/semantic_description.cpp
The file was modifieddata/config/cfg_decision.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedalgorithm/decision/simulator/forward_simulation.hpp
Commit 147d9f3b1fe5be1fb37588d6bcca491a816b522a by 5081703.cr
fix: add min_safe_ttc

The file was modifieddata/lattice/path_time_graph.cpp
The file was modifieddata/config/cfg_long_plan.hpp
The file was modifieddata/config/cfg_long_plan.cpp
Commit f074a761a574f268fb8e14617d5518c45908112a by 5081703.cr
fix: v_min_coef = 9.9 wbca

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit 29f933aad008ad55073d42d39716f22995f151bc by 5081703.cr
fix: disable dynamic and steering speed constraints

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 9c4082246969ff4baf4cbfb06d11709c34cdf927 by wuyanjun110
feat:适配大港ssep

The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/config/cfg_region.cpp
The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifieddata/config/cfg_region.hpp
Commit dce023d8157f0b2a2ae0a7b324c8c5250b4a7f6a by wuyanjun110
fix:堆场口禁停异常的bug

The file was modifieddata/constrain/block_data.cpp
Commit d8b47444dc2bc732093b9d318f9ebd0f03cb62f9 by 5081703.cr
feat: add drving_corridor_ogm_dilate_size_in_yard

The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/boundary/driving_corridor.cpp
Commit 6509f8cb5699501238d848477a07328f737e6555 by 5081703.cr
fix: start up boundary optimization.

The file was modifieddata/boundary/road_boundary.cpp
Commit 552ccecd73faa3385226f0e39bf1367abeaa75c2 by 5081703.cr
fix: stacker crane wbca smooth mode thr.

The file was modifieddata/boundary/road_boundary.cpp
Commit 793bab2770b6ae3b1ecc8197703f35a96bbba5cd by 5081703.cr
feat: low bay operation smooth

The file was modifieddata/boundary/road_boundary.cpp
Commit 3b08bf2c422b284cb3131c7392d288b38e55e8cc by 5081703.cr
fix: wbca smoth_mode route interval

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 29feecb4938c3e649b1d38e873b43426fb3c57df by 5081703.cr
fix: disable smooth mode in yard.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 5b5d630f69b1c95a3930102b2c514dc606c08945 by 5081703.cr
fix: using ssep speed_limit for deviation.

The file was modifiedplan/prepare/prepare_status.cpp
Commit 2a10cc33142c59327c146a1440b4038eade1eb30 by tangwenqing
fix: SSEP: 修复优化器中额外前向碰撞距离计算存在误差的问题，解决前港距离前方障碍物太近的问题。

The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
Commit c3ca0ecec2f21836d8a82b98fbd515172f0ad9f8 by wuyanjun110
fix:解决合并代码需要重新编译的问题

The file was modified.gitignore
The file was modifiedCMakeLists.txt
Commit 86232c3bad191b66a196af34c219074e20e141fc by 5081703.cr
fix:解决合并代码需要重新编译的问题

The file was modifiedCMakeLists.txt
The file was modified.gitignore
Commit 660eedd899aaee86c94f019dcbad3cbcc78cc860 by tangwenqing
fix: SSEP: 修复前杠倒车进料堆优化失败的问题。

The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
Commit e31d4506fcf83a014b2a55451d1e47c8e78241e5 by wuyanjun110
fix:修复拼接的bug

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
The file was modifieddata/plan/path_direction_data.cpp
The file was modifieddata/plan/start_point_data.cpp
Commit 238e46cb1d29effee165726bafd5180b0ba8d0ed by 5081703.cr
fix:修复拼接的bug

The file was modifieddata/plan/path_direction_data.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
The file was modifieddata/plan/start_point_data.cpp
The file was modifieddata/boundary/road_boundary.cpp
Commit ce1f133cbc198256362e293b470d0155c9c6ee9d by 5081703.cr
fix: wbca reversing bug.

The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit bee8010e840a688c0151b8eced3e32d26505f915 by wuyanjun110
refactor调整切换lock的阈值

The file was modifieddata/config/cfg_safe_const.cpp
Commit 51f4f51b3c5fe810b8039a8c390f7d1005b6febf by wuyanjun110
feat:锁站场景不膨胀尺寸

The file was modifiedhmi/draw/draw_constrain.cpp
The file was modifiedalgorithm/plan/ego_expanding.cpp
Commit 624bf556a93cf138bb8a5c9f349a4f6eb19131a5 by wuyanjun110
refactor调整切换lock的阈值

The file was modifieddata/config/cfg_safe_const.cpp
Commit 6a70b86fc6f3acbe2006fdde64d0c3762a4c10d8 by wuyanjun110
feat:锁站场景不膨胀尺寸

The file was modifiedhmi/draw/draw_constrain.cpp
The file was modifiedalgorithm/plan/ego_expanding.cpp
Commit 65c2a4dae1673308a37a3eb889f1fd6ddb95fe89 by wuyanjun110
fix:代码合并的bug

The file was modifieddata/plan/switch_data.cpp
Commit a84d66ec49368c268e2f31310f8970a01041447e by 5081703.cr
fix: minimize esdf_map

The file was modifiedalgorithm/wbca/occupancy_grid_map/data_render.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedsink/ros_sink_plan_debug.cpp
Commit 0d50bb7d411c0e5be060789f82719196031e378e by wuyanjun110
fix:修复崩溃的bug

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit 0780e0351e0a19eaf0f567247d6223db032e5f04 by wuyanjun110
fix:修复崩溃的bug

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit 4cf096ac8adc8aa7a90088714dae8da4c1875f46 by 5081703.cr
fix: dx_norm = path_1_tmp.norm

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit 3e4dc285c3f92a8bf37472dbb8966c9b22656d05 by 5081703.cr
fix: merge wbca_v2. using soft_min collision cost for truck.

The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.hpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedalgorithm/wbca/wbca_manager.hpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.hpp
The file was modifiedalgorithm/wbca/path_optimization/truck_path_optimization.hpp
The file was modifiedalgorithm/wbca/path_optimization/truck_path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifieddata/wbca/wbca_data.cpp
Commit 4d2867fdbeaef8b50be33bd358b2b171d49686b3 by tangwenqing
feat: SSEP: 集卡进堆场搜索的碰撞检测使用软约束。保证生成一条碰撞程度最低的路径。

The file was modifiedssep/coarse_search/evaluator/collision_cost_computer.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/evaluator/trailer_collision_cost_computer.h
The file was modifiedssep/coarse_search/evaluator/cost_feature_computer.h
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was addedssep/coarse_search/evaluator/collision_constraint_type.h
The file was modifiedssep/coarse_search/evaluator/evaluator.h
Commit 09e9a02563d1847ca03a767e851cec4af0dc1dfc by wuyanjun110
feat:进堆场边界优化

The file was modifieddata/boundary/road_boundary.cpp
The file was modifiedhmi/draw/draw_ego.cpp
The file was modifiedtasks/deciders/lat_decider/path_bounds_decider.cpp
Commit f4bb4ade11c45fccb04b6d9c7530892d4b0e870d by wuyanjun110
fix:ssep搜索失败的bug

The file was modifiedssep/coarse_search/evaluator/evaluator.h
Commit f53030a5ae83cab7ae5cbedbf88eaa8ca2b42d2b by tangwenqing
feat: SSEP: SSEP输入中加入"作业模式"参数（正向作业/反向作业/Undetermined），统一IMV路径搜索流程

The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/data_structures/ssep_input.cc
The file was addedssep/data_structures/operation_mode.hpp
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/data_structures/ssep_input.hpp
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/protos/scene.proto
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/scenarios/imv_enter_station_planner.h
Commit 92cd7fbed1c667aee820c6e4e6a4d3b49ad8316d by 5081703.cr
fix: wbca ignores ref_pts out of range.

The file was modifieddata/wbca/grid_map/esdf_map.cpp
The file was modifieddata/wbca/grid_map/esdf_map.hpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 59c45b01c93c3aa14c3a77ce4be98d22cc677f9c by wuyanjun110
fix:修复出停车位ssep路径方向的bug

The file was modifieddata/plan/ssep_data.cpp
Commit 1c08eaaf11f7e6a1bb74e2d9779177a77c0056f6 by wuyanjun110
fix:sweep路径的bug

The file was modifieddata/boundary/road_boundary.cpp
Commit 015fdd4ab92b0b367f523791922646df7fdb155d by wuyanjun110
feat:界面添加障碍物类别的显示

The file was modifieddata/obstacle/obstacle_decider_attr.cpp
Commit 9dccc2d83f43c187d39389d5df20bb529703ee5a by wuyanjun110
feat:优化云端障碍物的赋值

The file was modifieddata/vehicle/cloud_pnc_config.cpp
The file was modifieddata/scenario/scenario_planner_condition.cpp
Commit f546b267e4e9660516d4ed47f2a1bda76afa52c9 by tangwenqing
chore: SSEP: 提升集卡常规场景的规划的成功率，缓解末端路径画龙的问题

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/keb_optimizer/cost_features/state_constraint.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/coarse_search/evaluator/trailer_collision_cost_computer.h
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
Commit 1767b681baa5a6e2f9e0eb8960a03adf70f50097 by tangwenqing
feat: SSEP: Car模型多段倒车场景，途径点角度增加角度限制

The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 67eca496cd33a1fb02ae55d339b9ccf72b0aafd7 by tangwenqing
chore: SSEP: Car车型多段倒车参数调整

The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/scenarios/truck_general_planner.h
Commit cae158b3fb5fff3be9563caaae55148935200e16 by wuyanjun110
fix:修复出停车位ssep路径方向的bug

The file was modifieddata/plan/ssep_data.cpp
Commit fee0a142cee2e9bc58d155f103526654d5ee36c9 by wuyanjun110
fix:sweep路径的bug

The file was modifieddata/boundary/road_boundary.cpp
Commit 5fa2b4b9292d9c8736745bdca98065bebb9ef644 by wuyanjun110
feat:界面添加障碍物类别的显示

The file was modifieddata/obstacle/obstacle_decider_attr.cpp
Commit 55efcfe69492843785f1cfb463f495e01a9c9cff by wuyanjun110
feat:优化云端障碍物的赋值

The file was modifieddata/vehicle/cloud_pnc_config.cpp
The file was modifieddata/scenario/scenario_planner_condition.cpp
Commit c5fe56441cd4975be5cee5f679866cf8c242571e by wuyanjun110
refeat:优化云端路径的赋值

The file was modifieddata/plan/cloud_trajectory.cpp
The file was modifieddata/plan/cloud_trajectory.hpp
Commit 0fe33d19af8430c9535e2a0fc53b1923f66e3aa4 by tangwenqing
fix: 修复威海car bulkout场景进错的问题

The file was modifieddata/ssep/ssep_ec.cpp
Commit 1ad796cb7325c6f833a94d40ad1420aee052323e by tangwenqing
fix: typo

The file was modifieddata/ssep/ssep_ec.cpp
Commit febb4db7323ea923978ec02c813302fdffafbb79 by tangwenqing
fix: SSEP: 修复最后一段有碰撞时可能优化失败的问题。

The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was addedssep/scenarios/truck_accurate_reversing_planner.cc
Commit 2f81e37caa136fb2279265f28c8b604c587b7a94 by wuyanjun110
feat:1.根据堆场的偏移信息确定堆场相对道路的为位置。2.根据堆场位置调整约束

The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp
The file was modifieddata/plan/guide_line_base.hpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/boundary/road_boundary.hpp
The file was modifieddata/ctrl/lka_start_up.cpp
The file was modifieddata/boundary/road_boundary.cpp
Commit 53fce25be88b2b4069f31d2bc6e69d90a6ae4bdc by wuyanjun110
feat:动态搜索考虑不可形式区域

The file was modifieddata/ssep/open_space_ec.hpp
The file was modifieddata/ssep/open_space_ec.cpp
Commit 57a69114a40c051917efbe70873cd118cf8e8d54 by tangwenqing
feat: SSEP: 完成offline自动回归测试工具。目前支持5种场景的回归测试。其他场景会在后续陆续添加。

The file was modifiedssep/offboard/scene_replay/replay_ssep_input_cli.cc
The file was addedssep/common/utils/path_utils.cc
The file was modifiedssep/offboard/scene_replay/replay_scene_frame_cli.cc
The file was addedssep/test/CMakeLists.txt
The file was addedssep/common/utils/path_utils.h
The file was addedssep/test/ssep_planner_test.cc
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was modifiedssep/offboard/scene_frame_provider.cc
The file was modifiedssep/common/utils/proto_io.h
The file was modifiedssep/offboard/ssep_planner_wrapper.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
Commit 68e5c670dc8f4b8852611d6dfea9745a4bcb4468 by tangwenqing
feat: SSEP: 可视化增加地图元素显示

The file was modifiedssep/offboard/servers/scene_vis_html_template.cc
The file was modifiedssep/test/ssep_planner_test.cc
The file was modifiedssep/common/utils/scene_frame_visualization.cc
Commit 122508031b8e5752da73c47360865aca40f4699c by liuhongshuo
feat: add repowiki by qoder
The file was added.qoder/repowiki/en/content/Decision System/Decision Architecture/Decision Data Flow.md
The file was added.qoder/repowiki/en/content/Decision System/Decision Architecture/Module Instantiation and Lifecycle.md
The file was added.qoder/repowiki/en/content/ROS Integration/ROS Integration.md
The file was added.qoder/repowiki/en/content/Configuration Guide/Scenario Configuration.md
The file was added".qoder/repowiki/zh/content/\346\225\260\345\255\246\347\256\227\346\263\225\345\272\223/\350\275\246\350\276\206\346\250\241\345\236\213\347\256\227\346\263\225/\345\225\206\347\224\250\350\275\246\346\250\241\345\236\213.md"
The file was added.qoder/repowiki/en/content/Planning System/Trajectory Generation/Lattice Planning.md
The file was added".qoder/repowiki/zh/content/\351\205\215\347\275\256\347\256\241\347\220\206/\351\205\215\347\275\256\346\226\207\344\273\266\350\257\246\350\247\243/\350\275\246\350\276\206\351\205\215\347\275\256/\345\212\250\345\212\233\345\255\246\345\217\202\346\225\260.md"
The file was added".qoder/repowiki/zh/content/\345\234\272\346\231\257\347\256\241\347\220\206/\345\234\272\346\231\257\347\261\273\345\236\213/\346\263\212\350\275\246\345\234\272\346\231\257.md"
The file was added".qoder/repowiki/zh/content/\351\205\215\347\275\256\347\256\241\347\220\206/\345\212\240\350\275\275\346\234\272\345\210\266/\345\212\240\350\275\275\346\234\272\345\210\266.md"
The file was added.qoder/repowiki/en/content/Planning System/Trajectory Generation/Trajectory Combination.md
The file was added".qoder/repowiki/zh/content/\345\234\272\346\231\257\347\256\241\347\220\206/\345\234\272\346\231\257\347\256\241\347\220\206.md"
The file was added.qoder/repowiki/en/content/HMI (Human-Machine Interface)/Visualization Components/Map Visualization.md
The file was added.qoder/repowiki/en/content/SSEP (Specialized Scenario Execution Planning)/SSEP Architecture/Input_Output Handling/Output Handling.md
The file was added.qoder/repowiki/en/content/Scenario Management/Parking Scenarios.md
The file was added.qoder/repowiki/en/content/HMI (Human-Machine Interface)/Visualization Components/Visualization Components.md
The file was added.qoder/repowiki/en/content/SSEP (Specialized Scenario Execution Planning)/SSEP Architecture/SSEP Architecture.md
The file was added".qoder/repowiki/zh/content/\347\263\273\347\273\237\346\236\266\346\236\204/\346\250\241\345\235\227\351\200\232\344\277\241\346\234\272\345\210\266/\346\216\245\345\217\243\350\247\204\350\214\203.md"
The file was added.qoder/repowiki/en/content/Task System/Task Architecture.md
The file was added".qoder/repowiki/zh/content/\351\205\215\347\275\256\347\256\241\347\220\206/\345\217\202\346\225\260\350\257\264\346\230\216/\350\275\246\350\276\206\345\217\202\346\225\260.md"
The file was added".qoder/repowiki/zh/content/\351\205\215\347\275\256\347\256\241\347\220\206/\345\212\240\350\275\275\346\234\272\345\210\266/\347\272\277\347\250\213\345\256\211\345\205\250\346\234\272\345\210\266/\346\200\247\350\203\275\344\274\230\345\214\226.md"
The file was added.qoder/repowiki/en/content/Planning System/Path Planning/Path Data Handling.md
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The file was added".qoder/repowiki/zh/content/\345\234\272\346\231\257\347\256\241\347\220\206/\345\234\272\346\231\257\347\261\273\345\236\213/\345\234\272\346\231\257\347\261\273\345\236\213.md"
The file was added".qoder/repowiki/zh/content/\344\272\272\346\234\272\344\272\244\344\272\222\347\225\214\351\235\242/\344\272\272\346\234\272\344\272\244\344\272\222\347\225\214\351\235\242.md"
The file was added.qoder/repowiki/en/content/Mathematical Foundations/Mathematical Utilities.md
The file was added.qoder/repowiki/en/content/Planning System/Planning System.md
The file was added.qoder/repowiki/en/content/Scenario Management/Scenario Architecture.md
The file was added".qoder/repowiki/zh/content/\351\205\215\347\275\256\347\256\241\347\220\206/\345\212\240\350\275\275\346\234\272\345\210\266/\347\272\277\347\250\213\345\256\211\345\205\250\346\234\272\345\210\266/\345\216\237\345\255\220\346\223\215\344\275\234.md"
The file was added.qoder/repowiki/en/content/Task System/Task Deciders/Search Deciders.md
The file was added".qoder/repowiki/zh/content/\346\225\260\346\215\256\347\273\223\346\236\204\350\256\276\350\256\241/\350\267\257\345\276\204\346\225\260\346\215\256\347\273\223\346\236\204/\350\267\257\345\276\204\345\256\271\345\231\250\344\270\216\346\223\215\344\275\234.md"
The file was added.qoder/repowiki/en/content/Data Management/Data Management.md
The file was added.qoder/repowiki/en/content/Mathematical Foundations/Curve Mathematics/1D Curves.md
The file was added.qoder/repowiki/en/content/Configuration Guide/Configuration Guide.md
The file was added".qoder/repowiki/zh/content/\351\205\215\347\275\256\347\256\241\347\220\206/\345\217\202\346\225\260\350\257\264\346\230\216/\350\247\204\345\210\222\345\217\202\346\225\260/\346\250\252\345\220\221\350\247\204\345\210\222\345\217\202\346\225\260.md"
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The file was added".qoder/repowiki/zh/content/\351\205\215\347\275\256\347\256\241\347\220\206/\351\205\215\347\275\256\346\226\207\344\273\266\350\257\246\350\247\243/\350\275\246\350\276\206\351\205\215\347\275\256/\350\275\246\350\276\206\351\205\215\347\275\256.md"
The file was added.qoder/repowiki/en/content/HMI (Human-Machine Interface)/HMI Architecture.md
The file was added.qoder/repowiki/en/content/Planning System/Path Smoothing/Smoothing Strategies/AllSmooth Strategy.md
The file was added".qoder/repowiki/zh/content/\347\263\273\347\273\237\346\236\266\346\236\204/\346\225\260\346\215\256\346\265\201\346\236\266\346\236\204/\346\225\260\346\215\256\345\244\204\347\220\206/\350\247\204\345\210\222\346\225\260\346\215\256\345\244\204\347\220\206/\350\247\204\345\210\222\346\225\260\346\215\256\345\244\204\347\220\206.md"
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The file was added".qoder/repowiki/zh/content/\346\225\260\345\255\246\347\256\227\346\263\225\345\272\223/\346\233\262\347\272\277\347\256\227\346\263\225/\345\207\240\344\275\225\346\233\262\347\272\277/\345\234\206\345\274\247\346\233\262\347\272\277.md"
The file was added".qoder/repowiki/zh/content/\347\263\273\347\273\237\346\236\266\346\236\204/\346\211\247\350\241\214\346\241\206\346\236\266/\345\220\257\345\212\250\346\265\201\347\250\213/\345\220\257\345\212\250\346\265\201\347\250\213.md"
The file was added.qoder/repowiki/en/content/Configuration Guide/System Configuration.md
The file was added.qoder/repowiki/en/content/SSEP (Specialized Scenario Execution Planning)/Coarse Search Algorithms/Topology Analysis.md
The file was added".qoder/repowiki/zh/content/\351\205\215\347\275\256\347\256\241\347\220\206/\351\205\215\347\275\256\347\256\241\347\220\206.md"
The file was added.qoder/repowiki/en/content/Scenario Management/Scenario Management.md
The file was added.qoder/repowiki/en/content/Developer Guide/Coding Standards and Practices.md
The file was added.qoder/repowiki/en/content/Testing and Validation/Simulation Tools.md
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The file was added.qoder/repowiki/en/content/SSEP (Specialized Scenario Execution Planning)/SSEP Architecture/Offboard Tools and Utilities/Scene Generation and Data Processing Utilities.md
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The file was added.qoder/repowiki/en/content/Planning System/Obstacle Risk Evaluation.md
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The file was added.qoder/repowiki/en/content/SSEP (Specialized Scenario Execution Planning)/Scenario-Specific Planners/IMV General Planners.md
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Commit 69ce5b9b7f598fe8746dd73da02093fb97586351 by wuyanjun110
fix:终点在堆场出口，边界的bug

The file was modifiedhmi/draw/draw_path_boundary.cpp
The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
The file was modifieddata/boundary/road_boundary.cpp
Commit 37779680e5ac819b4505714c2ac945f2ca441b41 by tangwenqing
chore: SSEP: minor updates

The file was modified.gitignore
The file was modifiedssep/common/utils/scene_frame_visualization.cc
The file was modifiedssep/test/ssep_planner_test.cc
Commit ca1f3b58fdd492fc72510a52dd82cc24925cf553 by 5081703.cr
fix: no_shift region around destination.
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
Commit 73dab7e618cce031f74f2c2f2d825e1759d1690f by wuyanjun110
feat:调整 hfsm status中cur lane id的逻辑

The file was modifiedsink/ros_sink_ads_hfsm_state.cpp
Commit 16212bcd753e077eb20fb2cd7ab9bceccbfdd50b by 5081703.cr
fix: deviation speed limit bug.

The file was modifiedplan/prepare/prepare_status.cpp
Commit 3d977e95e3b2bb6819b4cb271148c7433110c722 by tangwenqing
feat: SSEP: IMV - either goal direction 更改为 either start direction，大大简化逻辑，并且全场景支持了IMV作业模式未确定的场景。

The file was modifiedssep/maps/sl_projection_map.cc
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_exit_parking_spot_planner.h
The file was modifiedssep/coarse_search/preprocessed_curves/tt_curve_manager.cc
The file was modifiedssep/coarse_search/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/test/ssep_planner_test.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/maps/sl_projection_map.h
The file was modifiedssep/coarse_search/preprocessed_curves/trajectories_reader.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
Commit 62b8bbef96257f4cef348be22831f2c4e5cd96b1 by tangwenqing
Refactor: SSEP: 用aabox替换vector<double>表示search bounds

The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/data_structures/ssep_input.cc
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/maps/sl_projection_map.h
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/data_structures/search_boundary.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/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/data_structures/ssep_input.hpp
The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/scenarios/truck_u_turn_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
The file was modifiedssep/offboard/ssep_visualizer.h
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/scenarios/legacy_planner.h
The file was modifiedssep/maps/sl_projection_map.cc
The file was modifiedssep/offboard/ssep_visualizer.cc
The file was modifiedssep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/evaluator/ref_line_cost_computer.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.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/scenarios/imv_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/coarse_search/legacy_searcher_adaptor.h
The file was modifiedssep/offboard/main_test/main_test_park.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/coarse_search/evaluator/ref_line_heuristic_computer.h
The file was modifiedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.h
Commit 9c5de2358932fe346127431b3b34c11780b36ea8 by 5081703.cr
fix: truck wbca replayer debug.

The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit de7a29c1045959bc03c018a2ec95723a1533f3e6 by 5081703.cr
fix: truck wbca replayer debug.

The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit 3af3fd40567eb7498ea82f53778673fde97e7d29 by wuyanjun110
feat:优化cur laneid的赋值

The file was modifiedsink/ros_sink_ads_hfsm_state.cpp
Commit 32d915572bd8073abb9138cf8292ea4072f9afab by tangwenqing
chore: SSEP: Improve bidirectional search

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/test/ssep_planner_test.cc
The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/coarse_search/state_hasher.h
Commit af737dee0680b4bc1a1a604c8c6551bd24e25ee8 by tangwenqing
fix: fix compile errors

The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/common/math/aabox2d.h
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/common/math/aabox2d.cc
Commit a809f8ef4b34a72e66dc57b275fb286bc939c8b4 by 5081703.cr
fix: using wbca failed_count to deactivate history.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifiedhmi/widget/diagnose.cpp
The file was modifieddata/wbca/wbca_data.hpp
Commit 4cdb4fb2cc902a14914585d82c77683745a3a6f7 by 5081703.cr
fix: merge bug.

The file was modifieddata/config/cfg_lat_plan.cpp
Commit dd1d6087331353ce8f78e51aab64ad25c0eb5ff2 by wuyanjun110
fix:搜索起点太远的问题

The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 26f743ab9bf88bfdc913f2288ab9cb469b78d943 by tangwenqing
fix: SSEP: 解决集卡常规场景轨迹异常的问题
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 51528e18a048ddfc069cd8d53cdd2de73409ecbb by 5081703.cr
fix: cfg_static bug

The file was modifieddata/config/cfg_static.cpp
Commit 0e4e7087f3b5f223891292c1b3a221381c5e3f3e by 5081703.cr
fix: replayer bug

The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit 070dd8b89aec0c95b5d92ae45d4f9bfd2a3b3419 by tangwenqing
fix: SSEP: 修复IMV出停车位路径异常的问题

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
Commit bb337fe93d17188b99fe5938008fff3bfa3738ca by wuyanjun110
fix:imv进停车位双向搜索的bug
The file was modifiedssep/scenarios/imv_enter_station_planner.h
Commit b3f8c44df625b8e97664deaa650bc71ee3a31569 by wuyanjun110
fix:切换到idle保持状态的bug
The file was modifiedplan/prepare/prepare_status.cpp
Commit 448a8a054bfcbd28cc1200bfeaf08e433ac1beda by wuyanjun110
feat:苏溪,西联,董分 双向搜索的bug
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/plan/ssep_data.cpp
Commit ea31f947164cf7c8059c3588cee812bdb7057ce8 by wuyanjun110
chore:添加gitgnore
The file was modified.gitignore
Commit 7f5680cb0303cdfc8b0e763111f473b218d798a6 by wuyanjun110
fix:驾驶走廊图构建的bug
The file was modifieddata/obstacle/ogm.hpp
The file was modifieddata/boundary/driving_corridor.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit 24650afb3e953652318cc636969af68ea33cf019 by wuyanjun110
chore:删除多余的log
The file was modifieddata/plan/start_point_data.cpp
Commit 3581b0b6b94cdd8bd418da6fc81b5ed917c27182 by wuyanjun110
feat:调整 float to half
The file was modifiedmath/util/math_utils.cc
Commit 9a74820c3b2f57fab0c7d2fca89776444bd9759a by wuyanjun110
feat:适配新的region
The file was modifieddata/plan/guide_line.cpp
The file was modifieddata/vehicle/vehicle_status.hpp
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/plan/guide_line.hpp
The file was modifieddata/plan/guide_line_base.hpp
The file was modifieddata/map/pnc_map/path_overlap.hpp
Commit 541dc093eafcf9cf973f6ec7aff62f3bb0e158fa by wuyanjun110
feat:终点距离的判断使用map distance
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit 12661d1c1c3938f93ef64569387f2a9f4bcad979 by wuyanjun110
feat:终点距离的判断使用map distance
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit 3cdfcf8a76e49522846b3d07d372e73a229cc0ec by wuyanjun110
fix:imv进停车位双向搜索的bug
The file was modifiedssep/scenarios/imv_enter_station_planner.h
Commit 033962050bafe981ff3742a1bb1135461c465d98 by wuyanjun110
fix:切换到idle保持状态的bug
The file was modifiedplan/prepare/prepare_status.cpp
Commit cc9ca3fc4ea4958a3e4e77e5c032d47311fe432c by wuyanjun110
feat:苏溪,西联,董分 双向搜索的bug
The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/ssep/ssep_ec.cpp
Commit cc86d71dd4dbf9821c41ba026045b2511eac99d8 by wuyanjun110
chore:添加gitgnore
The file was modified.gitignore
Commit aa5d7f1729393528b055b3f5a3de209b56e14804 by wuyanjun110
fix:驾驶走廊图构建的bug
The file was modifieddata/obstacle/ogm.hpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/boundary/driving_corridor.cpp
Commit 21d8d124b7c0802dce940f45ef0eb8b4f1bacd90 by wuyanjun110
chore:删除多余的log
The file was modifieddata/plan/start_point_data.cpp
Commit e8000704e0ab0a118938d53c0fa0cfef4cfa4bcd by wuyanjun110
feat:调整 float to half
The file was modifiedmath/util/math_utils.cc
Commit a066d3e1dc4e63ac30b6626ace5f51ef6c61cc2f by wuyanjun110
fix:修复动态上下面过程中，提前切换到bulk场景的bug
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
Commit 27ee5212cc6c7abbbbb7ad6be07780f7ac09c34a by wuyanjun110
fix:修复动态上下面过程中，提前切换到bulk场景的bug
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
Commit df4487255e05eb20a9f2ecbdeceff66dddd3ab14 by 5081703.cr
fix: ogm.height/width

The file was modifiedplan/prepare/prepare_ogm.cpp
Commit 5ead8be7cbd4b2b97a9c7cbbca2520f3ad7096f4 by wuyanjun110
fix: ogm.height/width

The file was modifiedplan/prepare/prepare_ogm.cpp
Commit e8ec60fb9586797b8fa729ac049464ac8f89811d by tangwenqing
feat: SSEP: 初步跑通GPU加速版本的进堆场搜索
The file was addedssep/gpu/memory_pool.cu
The file was addedssep/test/gpu_collision_test.cc
The file was addedssep/gpu/batch_expander_bridge.cu
The file was modifiedssep/CMakeLists.txt
The file was addedssep/gpu/collision/collision_checker.cuh
The file was addedssep/gpu/device_utils.cuh
The file was addedssep/test/gpu_heuristic_test.cc
The file was addedssep/test/gpu_collision_test_kernel.cuh
The file was addedssep/test/gpu_sampler_test.cc
The file was addedssep/gpu/batch_expander_bridge.h
The file was addedssep/test/gpu_sampler_test_kernel.cuh
The file was addedssep/gpu/heuristics/heuristic_computer.cuh
The file was addedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/ssep_planner.cc
The file was addedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.h
The file was addedssep/gpu/kernels/batch_expand_kernel.h
The file was addedssep/coarse_search/gpu_batch_expander.h
The file was addedssep/gpu/heur_table_loader.cc
The file was addedssep/test/gpu_heuristic_test_kernel.cuh
The file was addedssep/test/gpu_sampler_test_kernel.cu
The file was addedssep/test/gpu_collision_test_kernel.cu
The file was addedssep/gpu/device_map_data.h
The file was addedssep/gpu/device_map_data.cuh
The file was addedssep/gpu/heur_table_loader.cu
The file was addedssep/test/gpu_data_convert_test.cc
The file was addedssep/gpu/memory_pool.h
The file was addedssep/gpu/samplers/sampler_params.h
The file was addedssep/test/gpu_heuristic_test_kernel.cu
The file was addedssep/gpu/device_map_data.cu
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was addedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.cc
The file was addedssep/test/gpu_cost_test.cc
The file was addedssep/gpu/cost/path_length_cost.cuh
The file was modifiedssep/test/CMakeLists.txt
The file was addedssep/gpu/kernels/batch_expand_kernel.cu
The file was addedssep/gpu/samplers/multi_curvature_sampler.cuh
The file was addedssep/coarse_search/gpu_batch_expander.cc
The file was addedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was addedssep/gpu/heur_table_loader.h
The file was addedssep/gpu/device_types.h
Commit 4c7f0eea0f20d2774a07379f9c04cc1777d498e6 by tangwenqing
chore: SSEP-GPU: 通过所有测试用例

The file was modifiedssep/offboard/scene_replay/CMakeLists.txt
The file was modifiedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/test/ssep_planner_test.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/gpu/heuristics/heuristic_computer.cuh
Commit 9660290466fc492978cdd2066bb3cdd5adb70f8a by tangwenqing
chore: SSEP: gpu search 性能优化

The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/test/CMakeLists.txt
The file was addedssep/test/gpu_ref_line_cost_test_kernel.cuh
The file was modifiedssep/coarse_search/state_hasher.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/gpu/device_map_data.cu
The file was addedssep/test/gpu_ref_line_cost_test_kernel.cu
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/motion_primitive.h
The file was modifiedssep/gpu/device_types.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/gpu/kernels/batch_expand_kernel.cu
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/disk_collision_checker.h
The file was addedssep/gpu/cost/curvature_cost.cuh
The file was modifiedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/gpu/heuristics/heuristic_computer.cuh
The file was modifiedssep/maps/sl_projection_map.h
The file was addedssep/gpu/cost/ref_line_cost.cuh
The file was modifiedssep/common/utils/scene_frame_visualization.h
The file was addedssep/coarse_search/batched_priority_queue.h
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/gpu/samplers/multi_curvature_sampler.cuh
The file was modifiedssep/gpu/cost/path_length_cost.cuh
The file was addedssep/test/gpu_ref_line_cost_test.cc
The file was modifiedssep/gpu/device_map_data.h
Commit 161d316820ad30f5da6c3257ca76140440dfac1e by tangwenqing
chore: SSEP: 同步ssep的imv进充电桩的更新

The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 952ea5b4e8ebcf5e552e070ee9b8aa3bd6a05508 by tangwenqing
feat: SSEP: 前港倒车进货堆场景添加 fallback searcher。倒车不能到达的情况会使用通用搜索器搜索（现在可以支持向前到达货堆）。

The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
Commit a5822c9b8c4f9e13049046ff40223e37ab9e762b by tangwenqing
fix: SSEP: 修复回归测试失败的场景

The file was modifiedssep/offboard/scene_frame_provider.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
Commit 1104a98f0c4fdf7218dac43989265d7292420779 by tangwenqing
fix: SSEP: 解决集卡普通搜索画龙的问题

The file was modifiedssep/keb_optimizer/cost_features/state_constraint.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit 0b110cab355d94612ba1176dbce47dcfedf6f834 by wuyanjun110
fix:修复变道过程中，更新laneid的bug
The file was modifieddata/plan/switch_data.cpp
Commit 610b436978cbc18d1a9a5cd80571252a9d4336ca by wuyanjun110
refactor:出堆场的起始点从参考线上选取

The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit d4d61862539f1a3100be295e5f7fb22961fed908 by wuyanjun110
feat: 添加lowbag 判断函数

The file was modifieddata/plan/guide_line.hpp
The file was modifieddata/plan/guide_line.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/ssep_common.hpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/other/flow_control.hpp
The file was modifieddata/ssep/ssep_ec.hpp
Commit 3ff24dd7981ebec1880deb8a64977317b60a826d by 5081703.cr
fix: clear path_optimization_task esdf his.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 357aab4612e9084c385829c22a8619713e261308 by tangwenqing
feat: SSEP: 增加万能参数接口

The file was modifiedssep/ssep_planner.h
The file was modifiedssep/data_structures/ssep_input.cc
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/data_structures/ssep_input.hpp
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/protos/scene.proto
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
Commit 34f52511f17d0b822c4c935449caf3f79be9bd49 by tangwenqing
feat: SSEP: 集卡进堆场支持通过extra_params获取车头拉直位置与车挂最大夹角并规划符合要求的路径。

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 734b8645572f46693901e90cb6e34d6a40e8cc2c by tangwenqing
chore: SSEP: 改进自卸车多段倒车

The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
Commit 560bb1ec503c6500ce8a61eaa20bd23200725438 by tangwenqing
feat: 太阳纸业使用pncc_port_related参数配置SSEP场景

The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedtasks/deciders/search_decider/normal_junction_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/bridge_junction_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/into_yard_junction_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/open_space_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/seaside_junction_search_decider.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedtasks/deciders/search_decider/out_yard_junction_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/reverse_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/ex_lane_change_search_decider.cpp
Commit 07727c1b099922dea2aa6be0057ce0b9937bc626 by wuyanjun110
feat:添加clangd的配置文件

The file was added.clangd
Commit 2feed69ce35e1e753676a4a778ca8bb3651017d6 by tangwenqing
fix: SSEP: 修复集卡普通搜索路口有可能超近道的问题

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit 43ba3e517a1b192720cd2d4f8de6e869813f0abd by wuyanjun110
feat:调整低贝位判断的逻辑，低贝位判断统一FlowController里面进行

The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifieddata/obstacle/obstacle.hpp
The file was modifieddata/plan_frame.hpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifieddata/ssep/ex_lane_change_ec.cpp
The file was modifieddata/scenario/scenario_region_bt.cpp
The file was modifieddata/ssep/ssep_common.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.hpp
The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was addedcommon/util/flag_register.hpp
The file was modifieddata/scenario/scenario_region_condition.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/obstacle/obstacle.cpp
The file was modifieddata/other/flow_control.hpp
The file was modifieddata/ssep/field_junction_ec.hpp
The file was modifieddata/ssep/into_yard_junction_ec.hpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit 72bfbb733ca41b31b2d4311d2d6de8f8ebacf496 by 5081703.cr
fix: smooth logic

The file was modifieddata/boundary/road_boundary.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 246e5c7ef1721d0332bdb8ff09332e94b2045145 by tangwenqing
fix: SSEP: 解决进堆场画龙

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit d503b7959a4acfea521167289c46d543fb43d79e by wuyanjun110
fix:调整大谢进堆场路径

The file was modifiedhmi/draw/draw_ssep.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/map/reference/reference_segment.cpp
Commit 070b69196b129681eef460f1620b33462974a6af by wuyanjun110
feat:规划路径和ssep路径不一致的问题分析

The file was modifieddata/map/reference/reference_segment.cpp
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifiedhmi/draw/draw_ssep.cpp
The file was modifieddata/ssep/into_yard_junction_ec.hpp
The file was modifieddata/ssep/base_stop_line_filter.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/ssep/ssep_scenario_config_loader.cpp
The file was modifieddata/ssep/ssep_scenario_config.hpp
The file was modifieddata/ssep/ssep_scenario_config_loader.hpp
Commit 4be06fa6f13fb7a0a2593c20819438c6853d7feb by wuyanjun110
feat:适配clang

The file was modifiedssep/common/log/log_config.cc
The file was modifiedCMakeLists.txt
The file was modifiedssep/offboard/CMakeLists.txt
The file was modifiedcommon/log/log_config.cpp
The file was modifiedssep/offboard/scene_replay/CMakeLists.txt
The file was modifiedssep/offboard/servers/CMakeLists.txt
The file was modifiedssep/offboard/generate_scene_data/CMakeLists.txt
Commit a6d0caa75ba5399aacbb68c03414f7052497d4a7 by tangwenqing
chore: SSEP: 大榭只优化一次

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit a76d736dff7835ae49f0f17053d51a06c3130a8a by wuyanjun110
refactor:适配clang编译

The file was modifieddata/vehicle/request_routing_data.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifiedsink/ros_sink_snapshot.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.hpp
The file was modifiedcommon/util/hdmap_wrapper.cpp
The file was modifieddata/map/pnc_map/pnc_map.cpp
The file was modifiedreplayer/replayer_data_process/load_snap_data.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/plan/guide_line_base.cpp
The file was modifieddata/app/cmd/cmd_set_target.cpp
The file was modifiedcommon/util/hdmap_wrapper.hpp
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifieddata/ssep/region_builder.cpp
The file was modifiedsink/ros_sink_ads_hfsm_state.cpp
The file was modifiedCMakeLists.txt
The file was modifieddata/map/reference/center_line.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifieddata/constrain/pnc_junction.cpp
The file was modifieddata/map/reference/reference_road_section.cpp
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_help.cpp
The file was modifiedhmi/draw/draw_map.cpp
The file was modifieddata/constrain/longitude_constrain.hpp
The file was modifieddata/map/envelop/map_envelop.cpp
The file was modifieddata/map/pnc_map/road_segments.cpp
The file was modifieddata/ctrl/lka_start_up.cpp
Commit 08551b2332f90e122c2f1fcf97c2b1de3141ba85 by wuyanjun110
feat:赋值的bug

The file was modifiedssep/common/utils/common.hpp
Commit 5b929402a71df4cfd6ab95014b80ac47aa8cf160 by wuyanjun110
fix:适配clang的bug
The file was modifiedssep/common/utils/map_element_utils.hpp
Commit 9afcc5f9c45f5a770adcad060f637d12836d3a2d by wuyanjun110
fix:修复甩正点的bug
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
Commit 719043875afe09c441bf6cc5d0f20760b326f07c by wuyanjun110
feat:适配clang
The file was modifieddata/plan/guide_line_info.hpp
Commit ed942ed5c3e3da22522efc8bf6f42f96d906a4c7 by wuyanjun110
feat:甩正点距离适配
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit 4ba94c3523bead83b3c8474daeb637a970cf413a by tangwenqing
fix:修复甩正点的bug
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.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 21afd222d152fd648eb869a481d014955f6354fe by wuyanjun110
fix:修复路径跳变的bug

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 2caa8631399569f1c5d327fdfc6b587c23d3f5e6 by 5081703.cr
fix: using LD v1

The file was modifiedalgorithm/decision/longitudinal_decision_3.cpp
The file was modifiedalgorithm/decision/risk_aware_contingency_planning.hpp
The file was modifiedalgorithm/decision/longitudinal_decision_3.hpp
The file was modifieddata/semantic/semantic.cpp
The file was modifieddata/semantic/semantic_description.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddecision/process/proc_longitudinal_decision.cpp
The file was modifiedalgorithm/decision/simulator/forward_simulation.cpp
The file was modifieddata/semantic/semantic_description.hpp
The file was modifiedalgorithm/decision/path_collision_detection.cpp
The file was modifieddata/semantic/semantic.hpp
The file was modifiedhmi/draw/draw_constrain.cpp
The file was modifieddata/config/cfg_decision.hpp
The file was modifieddata/config/cfg_decision.cpp
The file was modifiedalgorithm/decision/rule_base_behavior.cpp
The file was modifiedalgorithm/decision/simulator/forward_simulation.hpp
The file was modifiedalgorithm/decision/risk_aware_contingency_planning.cpp
The file was modifiedalgorithm/decision/semantic_set_transformation_2.cpp
Commit ea547e2c2f9770dd15786b6c2b5ea2c73e14d8bc by wuyanjun110
feat:适配大谢右转进堆场
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 784947ed0f728824865680174e8e22c9370fe74c by wuyanjun110
feat:适配大谢右转进堆场
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 778e39df9d5633bc8a08483e0e46719b8e5c234b by tangwenqing
feat: ssep 威海多段倒车支持按键拉直功能

The file was modifieddata/ssep/forward_ec.hpp
The file was addedssep/scenarios/tractor_trailer_single_segment_parking_planner.h
The file was modifieddata/plan/guide_line.cpp
The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/protos/ssep_scenario_type.proto
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/scenarios/scenario_planner_factory.h
Commit ae2c245997ab2cd20bb588d1c5d940c97882286e by wuyanjun110
feat:添加忽略死锁标志位的反馈

The file was modifiedsink/ros_sink_cloud_trajectory.cpp
Commit b8e9cb38a01dbffa996c2dcfd50193f8981466a5 by wuyanjun110
feat:适配缩小根据距离
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/config/cfg_long_plan.hpp
Commit 69a3f62b7e082cc088f5c611c52af7be70ca6dbf by wuyanjun110
feat:调整counter和进堆场障碍物考虑的条件
The file was modifieddata/ssep/out_yard_junction_ec.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 17faf7af8cf2e711f6573e55c046a82c8f662cac by wuyanjun110
feat:单车道区分左右边界
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modified.gitignore
The file was modifieddata/boundary/road_boundary.hpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
Commit e5e51f24c2a40acd10acaf124c3b47bd7b1bf091 by wuyanjun110
fix:大谢单车道，低贝位判断的bug
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit c277b698576ee96535fc9b570bdc19149e381b9a by 5081703.cr
fix: del omp.h

The file was modifiedssep/coarse_search/motion_primitive_sampler/dubins_path.h
The file was modifiedssep/coarse_search/legacy_searchers/reeds_shepp_path.h
The file was modifiedssep/coarse_search/legacy_searchers/dubin_path.h
Commit 3a8d1adfc7e724c32174d160b34780e24b429f39 by wuyanjun110
feat:搜索尺寸参数赋值

The file was modifieddata/ssep/ssep_activation.hpp
The file was modifiedtasks/plan/ssep_task.cpp
The file was modifieddata/ssep/ssep_activation.cpp
Commit 1cffa4bc11b05fb982ff0e3acff2bb37bf8d0f76 by wuyanjun110
fix:车辆参数赋值错误的bug

The file was modifieddata/ssep/ssep_activation.cpp
Commit 5829ba77d099cf753fd2273878b8d9ced6b8dc0a by 5081703.cr
fix: smooth mode in yard.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 6dc839429f73faaba88aa15ae2984d1bc6087782 by wuyanjun110
fix: smooth mode in yard.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 01ed49e3a1d9c26061f22cce93fef69876d1aa21 by wuyanjun110
feat:调整counter和进堆场障碍物考虑的条件
The file was modifieddata/ssep/out_yard_junction_ec.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 598683d36f71ad4f7d35b8485a3b068b4bd718b2 by wuyanjun110
feat:适配缩小根据距离
The file was modifieddata/config/cfg_long_plan.hpp
The file was modifieddata/config/cfg_long_plan.cpp
Commit cf6c87b43e975690d82afcbd9a0fc904ed475f19 by wuyanjun110
feat:单车道区分左右边界
The file was modified.gitignore
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/boundary/road_boundary.hpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifieddata/boundary/road_boundary.cpp
Commit b3a245602d54adb5a669b15f94340edc3afe702c by wuyanjun110
fix:大谢单车道，低贝位判断的bug
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit f476a6002ce2d91832331f00374741e3301853ce by tangwenqing
feat: SSEP: 大榭、杨浦的SSEP场景从配置文件传入。支持添加参数切换到gpu搜索。

The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.h
The file was modifieddata/ssep/ssep_common.hpp
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/CMakeLists.txt
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 1fa72800e97f70e7a4c67967c01ded79f57b5d46 by tangwenqing
fix: SSEP: fix GPU search bug

The file was modifiedssep/coarse_search/batched_priority_queue.h
Commit f10526944c6e43dfac95d52a8d5319fd4de052f8 by wuyanjun110
feat:优化进堆场的约束
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 47181462b33b701b0a15fc9a6b6ea3eb8ec3678e by wuyanjun110
feat:into 都使用双向搜索
The file was modifieddata/ssep/ssep_ec.cpp
Commit e1fa7f1ad37ac5c0aab5b554ff59b76128c68f6f by wuyanjun110
feat:龙门吊位置计算的bug
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 1b760c513a0c5603ad2435fc24fa96e8ace8d6b9 by wuyanjun110
feat:into 都使用双向搜索
The file was modifieddata/ssep/ssep_ec.cpp
Commit 4b5bcfcaac8558e19ecc2d0738c8606e14e4727a by wuyanjun110
feat:龙门吊位置计算的bug
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 573de177610e2a61d4dbbbde539bfc2c9e302761 by wuyanjun110
feat:优化进堆场的约束
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit e81a86160acda52f09e62d9cec5c57698f38261c by tangwenqing
fix: SSEP: 修复大榭进堆场车体距离边界太近的问题

The file was modifiedssep/keb_optimizer/cost_features/curvature_cost.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 0918edea4764dc1622e26b61c27bf4d746ed1e1d by wuyanjun110
feat:适配 utrun掉头
The file was modifieddata/plan/ssep_data.cpp
The file was modifiedplan/prepare/prepare_state.cpp
The file was modifieddata/ssep/open_space_ec.hpp
The file was modifieddata/ssep/ssep_common.hpp
The file was modifiedssep/ssep_planner.cc
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/plan/ssep_data.hpp
The file was modifieddata/ssep/online_region_contour_creator.cpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/vehicle/vehicle_destination.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/plan/path_direction_data.cpp
The file was modifieddata/plan/guide_line.cpp
Commit f115c897aad1807c8d75e9765aba8550a0050773 by wuyanjun110
chore:修复.gitignore
The file was modified.gitignore
Commit f268a74b18ba6176f74160a2995062ac0991a9a8 by tangwenqing
feat: SSEP: 大榭、杨浦的SSEP场景从配置文件传入。支持添加参数切换到gpu搜索。
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifieddata/ssep/ssep_common.hpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/ssep_planner.cc
Commit 0cbb908c171063afdab58b9d76ed9a2ee537b5cf by tangwenqing
fix: SSEP: fix GPU search bug

The file was modifiedssep/coarse_search/batched_priority_queue.h
Commit cf00827bc84a946f8280069b1350cc86ba37eab1 by tangwenqing
fix: SSEP: 修复大榭进堆场车体距离边界太近的问题

The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/cost_features/curvature_cost.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 679116086a91458a6ecb776740848834fcaaab23 by wuyanjun110
feat:添加通过lane id 配置不绕行区域的功能
The file was modifieddata/common/guide_path.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/common/guide_path.hpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/config/cfg_env_const.hpp
Commit 37835a26e4b5c069b732959899c414254c0751f3 by wuyanjun110
feat:大谢进堆场配置甩正的位置
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 2becdec1645e83113380b66e4a91cc0fd05f0d76 by wuyanjun110
feat:适配 utrun掉头
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/ssep/ssep_common.hpp
The file was modifieddata/ssep/open_space_ec.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifiedplan/prepare/prepare_state.cpp
The file was modifieddata/vehicle/vehicle_destination.cpp
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifiedssep/ssep_planner.cc
The file was modifieddata/plan/guide_line.cpp
The file was modifieddata/plan/ssep_data.hpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/plan/path_direction_data.cpp
The file was modifieddata/ssep/online_region_contour_creator.cpp
Commit c2ca73e3e18779fb30af04b3d90756a1544e93e4 by wuyanjun110
feat:添加通过lane id 配置不绕行区域的功能
The file was modifieddata/common/guide_path.cpp
The file was modifieddata/common/guide_path.hpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/config/cfg_env_const.cpp
Commit 4eb0b998056f1cb9be48d1e97830cfcc9bea27c6 by wuyanjun110
feat:适配大谢右转进堆场
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 6b54177535b572f5a57da6728ddb1c03f88855c4 by wuyanjun110
feat:适配缩小根据距离
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/config/cfg_long_plan.hpp
Commit 46cb4d2b2c18e4ff6a626eb5eec9e79a28cb98fa by wuyanjun110
feat:调整counter和进堆场障碍物考虑的条件
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit 6bdf3e1319d42e2e43356edc1ce7422971306bda by wuyanjun110
feat:单车道区分左右边界
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifieddata/boundary/road_boundary.hpp
The file was modified.gitignore
The file was modifieddata/boundary/road_boundary.cpp
Commit e96ae14dff51ef049a1dfa957263fcea6b99c6eb by wuyanjun110
fix:大谢单车道，低贝位判断的bug
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 73728442cc85684ba68b9d2405dd6764fe5ef5f8 by wuyanjun110
feat:优化进堆场的约束
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit d7b6974dfd439341297fef1f7057284055ded10e by wuyanjun110
feat:龙门吊位置计算的bug
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 302964080da5748bc50baf1dcf8c2112163300a6 by wuyanjun110
Auto stash before cherrypick of "feat:龙门吊位置计算的bug"
The file was modifieddata/ssep/ssep_ec.cpp
Commit 60dbde4290ae73ce3e689e9e217c70d24c81be7c by wuyanjun110
chore:修复.gitignore
The file was modified.gitignore
Commit 96880d9171d734fd7d456be80ddfa9253f7ce4cf by wuyanjun110
feat:大谢进堆场配置甩正的位置
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 1b18ef6b5728a991dc7999a0acbf6d3fa382b99f by tangwenqing
fix: SSEP: 解决gpu编译问题

The file was modifiedssep/CMakeLists.txt
The file was modifiedCMakeLists.txt
The file was modifiedssep/offboard/scene_replay/CMakeLists.txt
Commit b9b3bd6e9b4435826d6e8fccc957058de29d152a by tangwenqing
fix: SSEP: gpu compile error

The file was modifiedCMakeLists.txt
Commit 6460e7ff9ec2cb3de2e848f11a261d000f3fe60c by wuyanjun110
fix:修复编译报错

The file was modifiedssep/offboard/servers/CMakeLists.txt
The file was modifiedssep/offboard/generate_scene_data/CMakeLists.txt
The file was modifiedCMakeLists.txt
The file was modifiedssep/offboard/CMakeLists.txt
Commit 95ec02275057819dc75132f6c4243563271e48bc by wuyanjun110
fix:修复编译报错

The file was modifiedCMakeLists.txt
The file was modifiedssep/offboard/generate_scene_data/CMakeLists.txt
The file was modifiedssep/offboard/CMakeLists.txt
The file was modifiedssep/offboard/servers/CMakeLists.txt
Commit 9248ef43aac2717f6f5df4e1b107f6c88f584e11 by wuyanjun110
feat:修复编译的warning
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_car.cc
The file was modifieddata/app/cmd/cmd_cancel_safe.hpp
The file was modifiedhmi/node_hmi.hpp
The file was modifiedalgorithm/plan/plot_st_graph.cpp
The file was modifieddata/app/cmd/cmd_dead_lock.hpp
The file was modifiedsource/ros_source_ads_command.cpp
The file was modifieddata/plan/reference_line_info.hpp
The file was modifieddata/vehicle/related_offset.cpp
The file was modifieddata/app/cmd/cmd_remote.cpp
The file was modifieddata/config/iconfig.hpp
The file was modifieddata/app/cmd/cmd_traffic_light.hpp
The file was modifieddata/obstacle/occupy_grid.hpp
The file was modifieddata/app/cmd/cmd_fsm/ifsm.hpp
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_imv.cc
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifieddata/app/fsm/task_command_type.cpp
The file was modifieddata/app/cmd/cmd_nstop.hpp
The file was modifieddata/app/app_data.cpp
The file was modifieddata/app/cmd/cmd_set_target.hpp
The file was modifieddata/app/cmd/cmd_set_target.cpp
The file was modifiedhmi/draw/draw_perception.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was modifieddata/ssep/reverse_ec.cpp
The file was modifieddata/app/cmd/cmd_cancel_expand.hpp
The file was modifieddata/app/cmd/cmd_fsm/fsm_base.hpp
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_tt.cc
The file was modifieddata/snapshot_data.hpp
The file was modifiedsource/ros_source_ads_target.cpp
The file was modifiedmath/curve2d/curve2d.hpp
The file was modifiedmath/curve2d/icurve.hpp
The file was modifiedhmi/common/status_sign.hpp
The file was modifiedreplayer/logic.cpp
The file was modifieddata/app/cmd/cmd_align.cpp
The file was modifieddata/app/cmd/cmd_cancel_lock.hpp
The file was modifiedreplayer/replayer_data_process/load_snap_data.cpp
The file was modifiedcommon/behaviour_tree/bt_composite.hpp
The file was modifiedmath/smoothing/fem_pos_deviation_interface.h
Commit 65d6c2cce2d8aff5b0e73f4892a819ac9e5e0f33 by tangwenqing
fix: SSEP: 修复“最后一段不检测碰撞”功能遗漏的提交

The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/ssep_planner.cc
Commit 31851ec9d69d2ed7443eb19fdff3d3d6425cc657 by tangwenqing
chore: SSEP: update unit tests

The file was modifiedssep/test/CMakeLists.txt
The file was modifiedssep/test/ssep_planner_test.cc
Commit a09c14f8c55f3b7508e314a72e37b2f5cf6e1d44 by tangwenqing
fix: SSEP: 修复地图元素"is_closed"标志位转换错误的问题

The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifiedssep/data_structures/map_element_polyline.cc
Commit fbde8c264fca5973e84f32572931fc56ca9d01a5 by wuyanjun110
feat:编译warnig
The file was modifieddata/ssep/forward_ec.cpp
Commit 907c83937e0f2d2f9c02e688e5ad81278acc83d8 by wuyanjun110
feat:锁站限速过滤
The file was modifieddata/vehicle/lock_station_data.cpp
The file was modifieddata/scenario/scenario_manager.hpp
The file was modifieddata/scenario/scenario_manager.cpp
Commit c6b6ccf20c7d513449b81457bb07ebd12f6e611b by 5081703.cr
fix: using smooth mode when opt failed.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 23ab2c599764008ba346ff82c9f3cc1dc44a3bcd by tangwenqing
fix: SSEP: 修复路径距离参考线太远的问题。

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
Commit 7e76fe3459080b1a580cbcc56f37f7b8a7e5ab8d by tangwenqing
fix: SSEP: 修复集卡多段倒车搜索的参数配置错误

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 d3b7c4de30890c7e42d6dcbb0294c553a8be1f1b by wuyanjun110
feat:添加忽略文件
The file was modified.gitignore
Commit 3f79843062a68caac24ce465ab10b9e9eedc8a29 by tangwenqing
fix: SSEP: 修复车道线被处理为闭合多边形的bug（太阳纸业搜索失败），修复imv 进停车位因为终点约束导致路径异常的问题。

The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/scenarios/truck_u_turn_planner.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/coarse_search/topology_analysis/candidate_goals_generator.cc
The file was modifiedssep/data_structures/polyline.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
Commit 69cbabd709b7a5abca45565cac111b29a97a8a1b by wuyanjun110
feat:align过程中,拒绝直线步进
The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
The file was modifieddata/app/cmd/cmd_align.cpp
Commit 0e5019f451e9849431de16056aa7c992bb0f92d4 by wuyanjun110
fix:程序启动直接搜索带来的崩溃问题
The file was modifiedssep/coarse_search/evaluator/shortest_path_heur_table.h
Commit e9d377907b25f7250122a63b2a85af7c594a6327 by tangwenqing
chore: SSEP: 改进集卡多段倒车拉直轨迹

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.h
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 421421ce7a739015db91605151bd469bf4c6ad60 by tangwenqing
chore: SSEP: 提升GPU进堆场搜索成功率

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/offboard/servers/CMakeLists.txt
The file was modifiedssep/test/gpu_ref_line_cost_test.cc
Commit c8a3b1118c057ddd6d41173a7ba464c6f16097ae by wuyanjun110
feat:修复搜索失败报警的等级
The file was modifieddata/config/cfg_error.cpp
Commit c08184033470325d01ae5320719d887cf85777a7 by wuyanjun110
feat:编译包warning的bug
The file was modifieddata/ssep/forward_ec.cpp
Commit cfeb0de536c35738ce6c8edd26d137f19662abe8 by wuyanjun110
feat:进堆场约束调整，并且调整low bay type
The file was modifiedplan/prepare/prepare_objs.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/other/flow_control.hpp
The file was modifiedhmi/widget/distance.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/ssep/ssep_common.hpp
Commit 54f5492c7e8131e77a3f2d06ece6b26adbd01bf8 by wuyanjun110
fix:修复虚拟场桥低贝判断的bug
The file was modifieddata/other/flow_control.cpp
Commit e66185efe00f95aa664a175af89a424fd21150fe by wuyanjun110
feat:添加忽略文件
The file was modified.gitignore
Commit d4cea6dfddd7fad5447e8cee911680335ef33c69 by wuyanjun110
feat:align过程中,拒绝直线步进
The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
The file was modifieddata/app/cmd/cmd_align.cpp
Commit 00bed67b47d871229e82d530f79ce5031491454e by wuyanjun110
fix:程序启动直接搜索带来的崩溃问题
The file was modifiedssep/coarse_search/evaluator/shortest_path_heur_table.h
Commit 8a13951775d29f50947f92f1377db0ec05b53cbf by wuyanjun110
feat:修复搜索失败报警的等级
The file was modifieddata/config/cfg_error.cpp
Commit 602f87374ffec1027240349d5e298039407a29cb by wuyanjun110
feat:编译包warning的bug
The file was modifieddata/ssep/forward_ec.cpp
Commit fdcc507633b1d13142454f7e892c0f2a14befd34 by wuyanjun110
feat:进堆场约束调整，并且调整low bay type
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifiedplan/prepare/prepare_objs.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/other/flow_control.hpp
The file was modifiedhmi/widget/distance.cpp
The file was modifieddata/ssep/ssep_common.hpp
Commit 0525883764c99198faf1072afbb9bf0e37506573 by wuyanjun110
fix:修复虚拟场桥低贝判断的bug
The file was modifieddata/other/flow_control.cpp
Commit 8a7ba9429fe2948c931f876dfae085ca239b7e15 by tangwenqing
chore: ssep: 高贝位进堆场时，只在终点的道路边界侧添加约束。

The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 699fb3610ca31093d6fc4c645064c4d708fccbfd by wuyanjun110
fix:修复编译报错的bug
The file was modifiedssep/CMakeLists.txt
Commit db2de58f5d88539320fc5ba0293b01053b55af87 by tangwenqing
fix: SSEP: 固定编译时的依赖顺序

The file was modifiedssep/CMakeLists.txt
Commit b2fd552e9172869904153cbf112a700c2d7659d4 by wuyanjun110
fix: SSEP: 固定编译时的依赖顺序

The file was modifiedssep/CMakeLists.txt
Commit 74dbb4238f4c9d365dea2b77353f46ee301e0af4 by wuyanjun110
fix: SSEP: 固定编译时的依赖顺序

The file was modifiedssep/CMakeLists.txt
Commit a7e74c6f20550d5d7f485624861f9b7bbbc504cc by tangwenqing
chore: SSEP: 改进多段倒车拉直轨迹

The file was modifiedssep/coarse_search/evaluator/cost_feature_computer.h
The file was addedssep/coarse_search/evaluator/heading_cost_computer.h
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 43e3450d4cf462098cf5609e6229f39e596ac70b by wuyanjun110
feat:缩短跟车距离的优化
The file was modifieddata/other/flow_control.hpp
The file was modifieddata/constrain/longitude_constrain.cpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/other/flow_control.cpp
Commit c96fd20b600b26ddf45181307fd025601eec8075 by wuyanjun110
refactor:优化起始点的选择
The file was modifieddata/plan/start_point_data.cpp
Commit 5660118379cb5dd128be3da074f954022479ba28 by wuyanjun110
feat:优化杨浦进单侧堆场的边界
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 6a1a6f4e4dc8058301dbdce5cdf9fc4dd2b43d86 by wuyanjun110
feat:打开预测消息的发送
The file was modifiedplan/scenarios/prepare_scenario.cpp
Commit ab377116e2f3758660230012d01f46f666c6cf33 by wuyanjun110
feat:参考线不实时刷新的bug
The file was modifieddata/map/reference/reference_road_section.cpp
The file was modifieddata/map/pnc_map/pnc_map.cpp
The file was modifiedtasks/other_tasks/create_reference_line.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
Commit b9ee5346de12ba6ba48c5c2fadee0b9401c775ee by wuyanjun110
feat:云端预测轨迹s赋值的bug
The file was modifieddata/common/trajectory.cpp
Commit 9f8e48ebc18181bd6443f3da343ac480b725fe7f by wuyanjun110
fix:修复崩溃的bug
The file was modifiedplan/prepare/prepare_status.cpp
Commit c2271d9001bbab76396a02877527ebdadee674a8 by wuyanjun110
fix:调整debug 字段
The file was modifieddata/obstacle/obstacle_decider_attr.cpp
Commit cdf17fd0a3f625f744540c12c030122367033912 by wuyanjun110
feat:添加进堆场的超视距障碍物
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 66091bc87bfd1318cde77a5784e796ddfb627b61 by wuyanjun110
fix:修复起始点车辆有转角，路径异常的bug
The file was modifieddata/plan/start_point_data.cpp
Commit 44562be43322b4b8bea759c5b4ddd93d785de2ec by tangwenqing
feat: SSEP: 增加头部不参与优化的区域设置接口。

The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/scenarios/legacy_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
The file was modifiedssep/scenarios/tractor_trailer_single_segment_parking_planner.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/scenarios/truck_u_turn_planner.h
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/stitching_replanner.h
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
Commit 2b28bfd8125f8a123cbdb468d6689b88dcecfa80 by tangwenqing
fix: SSEP: 修复集卡普通搜索路径起点位于极窄的通道时路径可能画龙的问题

The file was modifiedssep/common/utils/path_utils.h
The file was modifiedssep/common/utils/path_utils.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit 52cfb71599b3964f8378166541f7c3591d125c81 by 5081703.cr
fix: using maximum speed

The file was modifieddata/plan/start_point_data.cpp
Commit 0387e8d718a652ebdcb94ffa9548e8df264f9f9f by wuyanjun110
fix:修复openspace 误重规划的bug
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit 93fb175d45c935489a685eaa8606a9f6b2d8dba1 by tangwenqing
feat: Add truck multi seg planner

The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/protos/ssep_scenario_type.proto
The file was modifiedssep/ssep_planner.cc
The file was addedssep/scenarios/truck_multi_seg_general_planner.h
Commit 1f69d29f8bebce0dfaa001fedcf268c83893327d by tangwenqing
feat: SSEP: 刚性卡车搜索终点匹配从车道匹配改为参考线匹配

The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/scenarios/truck_multi_seg_general_planner.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/scenarios/truck_u_turn_planner.h
Commit 8272b12044b6e461b6cc08346f43b60d67ee2c5b by wuyanjun110
fix:极限变道 replan的bug
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit ee9261999da7545182602565a8c994a4c449e3e9 by wuyanjun110
refactor:删除多余的日志打印
The file was modifieddata/plan/switch_data.cpp
Commit aab4a1bf245a53d537d67e15908e5537e6712090 by wuyanjun110
feat:merge

The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
The file was modified.gitignore
The file was modifieddata/snapshot_data.hpp
The file was modifieddata/app/cmd/cmd_fsm/ifsm.hpp
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifieddata/config/iconfig.hpp
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifieddata/obstacle/occupy_grid.hpp
The file was modifiedCMakeLists.txt
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedmath/curve2d/curve2d.hpp
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/ssep_planner.cc
The file was modifieddata/scenario/scenario_manager.cpp
The file was modifieddata/map/reference/reference_road_section.cpp
The file was modifieddata/vehicle/related_offset.cpp
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifieddata/app/cmd/cmd_dead_lock.hpp
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was modifiedssep/test/ssep_planner_test.cc
The file was modifieddata/app/cmd/cmd_fsm/fsm_base.hpp
The file was modifiedssep/scenarios/truck_u_turn_planner.h
The file was modifiedssep/data_structures/map_element_polyline.cc
The file was modifiedssep/offboard/servers/CMakeLists.txt
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/test/gpu_ref_line_cost_test.cc
The file was modifiedalgorithm/plan/plot_st_graph.cpp
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_imv.cc
The file was modifieddata/config/cfg_env_const.cpp
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifieddata/app/cmd/cmd_cancel_expand.hpp
The file was modifiedhmi/draw/draw_perception.cpp
The file was modifieddata/vehicle/lock_station_data.cpp
The file was modifiedssep/coarse_search/evaluator/shortest_path_heur_table.h
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_tt.cc
The file was modifiedsource/ros_source_ads_target.cpp
The file was modifiedssep/data_structures/polyline.h
The file was modifieddata/app/cmd/cmd_cancel_safe.hpp
The file was modifieddata/app/fsm/task_command_type.cpp
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifieddata/app/cmd/cmd_align.cpp
The file was modifiedreplayer/logic.cpp
The file was modifiedssep/offboard/generate_scene_data/CMakeLists.txt
The file was modifiedssep/scenarios/stitching_replanner.h
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was addedssep/coarse_search/evaluator/heading_cost_computer.h
The file was modifiedssep/common/utils/path_utils.h
The file was modifieddata/app/cmd/cmd_set_target.hpp
The file was modifieddata/scenario/scenario_manager.hpp
The file was modifiedssep/offboard/scene_replay/CMakeLists.txt
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.cc
The file was modifiedcommon/behaviour_tree/bt_composite.hpp
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifieddata/boundary/road_boundary.cpp
The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifiedreplayer/replayer_data_process/load_snap_data.cpp
The file was modifiedssep/scenarios/tractor_trailer_single_segment_parking_planner.h
The file was modifiedmath/curve2d/icurve.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedhmi/node_hmi.hpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedmath/smoothing/fem_pos_deviation_interface.h
The file was modifiedssep/coarse_search/topology_analysis/candidate_goals_generator.cc
The file was modifieddata/plan/start_point_data.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/app/cmd/cmd_traffic_light.hpp
The file was modifieddata/app/cmd/cmd_remote.cpp
The file was modifieddata/constrain/longitude_constrain.cpp
The file was modifieddata/plan/switch_data.cpp
The file was modifieddata/map/pnc_map/pnc_map.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/other/flow_control.hpp
The file was modifieddata/plan/reference_line_info.hpp
The file was modifieddata/common/guide_path.hpp
The file was modifiedhmi/widget/distance.cpp
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
The file was modifieddata/app/cmd/cmd_cancel_lock.hpp
The file was modifieddata/common/guide_path.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/common/utils/path_utils.cc
The file was modifiedssep/coarse_search/evaluator/cost_feature_computer.h
The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
The file was modifieddata/config/cfg_error.cpp
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedhmi/common/status_sign.hpp
The file was modifiedssep/CMakeLists.txt
The file was modifieddata/app/cmd/cmd_nstop.hpp
The file was modifiedtasks/other_tasks/create_reference_line.cpp
The file was modifieddata/ssep/ssep_common.hpp
The file was modifiedssep/scenarios/legacy_planner.h
The file was modifieddata/ssep/reverse_ec.cpp
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifieddata/app/app_data.cpp
The file was modifiedplan/prepare/prepare_objs.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedssep/offboard/CMakeLists.txt
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifieddata/app/cmd/cmd_set_target.cpp
The file was modifiedsource/ros_source_ads_command.cpp
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/obstacle/obstacle_decider_attr.cpp
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_car.cc
The file was modifiedssep/test/CMakeLists.txt
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
Commit 54da7db6f6027ba1ed62c7b4c049c50fafdf95d7 by 5081703.cr
fix: smooth mode bug

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 3d2d072507031e0d1190dda96869b0609881db11 by wuyanjun110
fix:优化动态下码头面搜索终点选取的问题
The file was modifieddata/ssep/open_space_ec.cpp
Commit 50860293d0c03245290f1017bbf6ddaf7526a1a0 by wuyanjun110
refactor:优化杨浦低贝位约束
The file was modifieddata/ssep/into_yard_junction_ec.cpp
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/bidirectional_hybrid_astar_search_engine.cc
The file was addedssep/coarse_search/motion_primitive_sampler/const_pinch_motion_primitive_sampler.h
The file was addedssep/coarse_search/motion_primitive_sampler/const_pinch_motion_primitive_sampler.cc
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/coarse_search/motion_primitive_sampler/motion_primitive_sampler.h
The file was modifiedssep/coarse_search/utils.h
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/utils.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.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 850c6d7dada591e3c1bde66a7a6ea107009706ea by wuyanjun110
feat:添加 Yard Name的显示
The file was modifiedhmi/draw/draw_map.cpp
Commit e4c491704d2e5213a94eff93372bf28e09c52c94 by wuyanjun110
feat:终点低贝位 缩小挂甩正的角度
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit ae833840646171727e7f8756c68934f150b7b8f7 by wuyanjun110
feat:变道搜索搜索失败不停车
The file was modifieddata/constrain/block_data.cpp
Commit 581793fb16574bef458980f896fc150b53ce15ec by wuyanjun110
feat:大谢右转进堆场添加参数，适配仿真场景
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 39f90d3211b9e1ac6ae7487705ab2aa17a29e6d3 by wuyanjun110
feat:更改reuse的次数
The file was modifieddata/config/cfg_long_plan.cpp
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/common/utils/scene_frame_visualization.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/common/utils/scene_frame_visualization.h
Commit ccf2604271a7710151fb198158eb54fb7d9b6e35 by wuyanjun110
feat:右转进低贝位拉值角度调整
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit f99d37ec4259cdc0487efdc797b2774275301cdb by wuyanjun110
feat:卡车 车辆方向修改为路径方向
The file was modifiedsink/ros_sink_pnc_status.cpp
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/coarse_search/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.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
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/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
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 df3375073a8e2d0b379162e44ad90c65215f262d by wuyanjun110
feat:进堆场偏离参考线过多，不触发禁停的bug
The file was modifiedcommon/util/crash_helper.cpp
The file was modifiedcommon/util/crash_helper.hpp
The file was modifieddata/constrain/block_data.cpp
Commit 9f533572119d55b459c5200933e9da33856ddffa by wuyanjun110
feat:进堆场口的限速参数独立出来
The file was modifieddata/config/cfg_long_plan.hpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 85ff9bf05545965b5094ab1eccf1273ff89e8618 by wuyanjun110
feat:区分堆场的偏移和场桥的偏移
The file was modifieddata/boundary/road_boundary.hpp
The file was modifieddata/boundary/road_boundary.cpp
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 7605f8bcffe6424a67247339451fb3a81f030eda by wuyanjun110
feat:添加junctionid的显示
The file was modifiedhmi/draw/draw_map.cpp
Commit 1467942a6b41145325043dddb9cbb004110416c3 by wuyanjun110
feat:没有岸桥碰撞的时候也打开岸桥搜索。 然后根据是否碰撞切换进入场景的距离
The file was modifieddata/scenario/scenario_planner_condition.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/scenario/scenario_region_bt.cpp
The file was modifieddata/scenario/scenario_region_condition.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/scenario/scenario_planner_action.cpp
The file was modifiedcommon/util/crash_helper.cpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/other/flow_control.hpp
The file was modifieddata/ssep/seaside_junction_ec.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.hpp
The file was modifieddata/map/reference/reference_segment.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.hpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/map/reference/reference_segment.cpp
The file was modifiedcommon/util/crash_helper.hpp
The file was modifieddata/scenario/scenario_region_condition.hpp
The file was modifieddata/other/flow_control.cpp
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/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/common/utils/scene_frame_visualization.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 1af9c15803d381eef87be1fc0c9bb680ca4e8aff by wuyanjun110
feat:龙须点碰撞检测添加开关
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/config/cfg_func_sw.cpp
Commit 5949bdd339c630f033970431252106e78308b8d9 by wuyanjun110
refactor:1.调整进堆场的限速  2. 调整低贝位的距离
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/other/flow_control.cpp
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/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit 50290228fcb6d8b16bc6ea8dfd4cd2ba9eba4c50 by wuyanjun110
fix:无法三次对准的bug
The file was modifieddata/vehicle/related_offset.cpp
Commit ab46030d67017aca4e24455acacfae894279573e by wuyanjun110
feat:修改云端轨迹heading和theta的赋值
The file was modifieddata/plan/cloud_trajectory.cpp
The file was modifieddata/plan/cloud_trajectory.hpp
Commit 3180b9168c3846ab175fc5900a26ae85dcbf1e5d by wuyanjun110
fix:修复编译崩溃的bug
The file was modifiedsink/ros_sink_cloud_trajectory.cpp
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 50dd6319a291dfa0072c8a87433a5011fb8cf22c by wuyanjun110
feat:优化og点的碰撞检测
The file was modifieddata/lattice/ogm_crash_data.cpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifieddata/plan/predict_path.cpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifiedcommon/util/crash_helper.cpp
The file was modifieddata/lattice/ogm_crash_data.hpp
The file was modifiedcommon/util/crash_helper.hpp
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/common/utils/path_utils.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/common/utils/path_utils.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
Commit ae60eafbf0679245ce50399758da8a70ac5c2b29 by tangwenqing
fix: 优化友谊关倒车路径，更符合pass point

The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/common/utils/scene_frame_visualization.cc
Commit 2d87fc5706d92e7ae63f3761d8423e86ad71bbf4 by wuyanjun110
feat:1. ogm精细碰撞检测添加开关2. ogm高度 分层 添加更多层3.进堆场过程中，xx重新规划，扩展边界，解决pjpo求解失败的问题4.添加进堆场虚拟停止线附近的限速
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/config/cfg_long_plan.hpp
The file was modifieddata/lattice/ogm_crash_data.hpp
The file was modifiedhmi/draw/draw_pose_predict.cpp
The file was modifiedplan/prepare/prepare_ogm.hpp
The file was modifiedtasks/deciders/lat_decider/path_bounds_decider.hpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedhmi/draw/draw_contour.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifiedhmi/draw/draw_contour.hpp
The file was modifieddata/plan/predict_path.cpp
The file was modifiedtasks/deciders/lat_decider/path_bounds_decider.cpp
The file was modifieddata/plan/guide_line_base.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/lattice/ogm_crash_data.cpp
The file was modifieddata/plan/guide_line_base.cpp
Commit bf9ff1c63bdd91efb6646dcbaf85e34b6368e16c by wuyanjun110
feat:bulk场景判断的距离阈值调整成255米
The file was modifieddata/other/flow_control.cpp
Commit 46cc3298e48d212c403a0a347a0761530fdda22f by wuyanjun110
feat:单侧堆场默认左侧放箱子
The file was modifieddata/boundary/road_boundary.cpp
Commit a7de2818a86e434970526f4481852df7ed298ea0 by wuyanjun110
feat:进堆场 不是低贝位i的时候取消外侧的约束
The file was modifieddata/ssep/into_yard_junction_ec.cpp
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/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/keb_optimizer/cost_features/state_constraint.h
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
Commit 5f6f4cf5d78da3995c5c8429456fa6784d3098bc by tangwenqing
fix: SSEP: fix typo

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 5efaa43dc52bdd4b739598dcc0ac5827fcd7100f by wuyanjun110
feat:优化og的处理
The file was modifieddata/other/flow_control.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifiedhmi/draw/draw_perception.cpp
Commit 6f5f4c682ec3bc37d019989920d3bdf64e1b5e18 by wuyanjun110
fix:修复绘制的bug
The file was modifiedhmi/draw/draw_perception.cpp
Commit d2e71e8082e64a035cf1801d86c91adb1e84d756 by tangwenqing
fix: SSEP: 提升远距离绕桥腿成功率

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/common/utils/path_utils.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
Commit 9deba718267a35d12d01a970f688b7e9264e00d2 by wuyanjun110
feat:杨浦适配B场
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/ssep/field_junction_ec.hpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/boundary/road_boundary.hpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/config/cfg_env_const.hpp
Commit 8d3bea64b182d97c7efe05e6589f0720fbe2c72a by wuyanjun110
feat: 1. 绕跷腿搜索标志位 2.右转进堆场的强制用约束的标志位
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/seaside_junction_ec.cpp
Commit 4f9f657a13d19cdd1e01505f4b33908006057079 by tangwenqing
feat: SSEP: 增加 is_blocked_by_shore_crane 和 use_hard_constraint 参数

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

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 1e66b1189f9ade7bd0f368109950eef1aa8ba17b by wuyanjun110
fix:杨浦 动态搜索 + 进堆场场景 路径拼接的bug
The file was modifiedtasks/other_tasks/stitch_path_to_reference_line.cpp
Commit 6249df04821ba4a8a7b513776a1e2470fd40f979 by wuyanjun110
fix:3 4 阶段对准时,不能切换creep的bug
The file was modifieddata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp
Commit 28293224708d8e0d7b4e2999471cb83d63d21c20 by wuyanjun110
feat:og碰撞的优化
The file was modifieddata/obstacle/ogm.hpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifiedplan/prepare/prepare_ogm.hpp
The file was modifiedcommon/util/crash_helper.cpp
The file was modifieddata/other/flow_control.cpp
Commit 6fa7889e24cc21d00f6c5db01ba7db1b5c47bb98 by wuyanjun110
feat:进堆场的优化
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 46e57e398fd2e66ec7453b47a284d8ba023af0e8 by wuyanjun110
feat:关闭debug信息
The file was modifieddata/other/flow_control.cpp
Commit 7be6e8a3557675f4c2d6d633cedadbb2aa178236 by tangwenqing
feat: SSEP: 增加场景编辑工具

The file was addedssep/offboard/servers/scene_editor_server.cc
The file was addedssep/offboard/servers/scene_editor_html_template.h
The file was modifiedssep/offboard/servers/CMakeLists.txt
The file was addedssep/offboard/servers/scene_editor_html_template.cc
Commit 62ef79f26bc881eacc6e12a9314fa37eba0f42da by wuyanjun110
feat:junction弯道区间计算的bug
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
Commit 4d500dad766b8e536de631881d75ae027809c52f by wuyanjun110
feat:纵一路边上的转场临停修改判断阈值
The file was modifiedplan/prepare/prepare_objs.hpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifiedplan/prepare/prepare_objs.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_long_plan.hpp
The file was modifieddata/config/cfg_long_plan.cpp
Commit b502d4fc0d1b166087b270f5b8a99baf5a9950ac by wuyanjun110
fix:修复误变道的问题
The file was modifieddata/map/reference/center_line.cpp
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/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
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/ssep_planner.h
The file was modifiedssep/coarse_search/evaluator/evaluator.h
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/searcher_builders/back_insertion_maneuver_searcher_builder.cc
Commit 4bb05a4344ab158f060f928548a850417e929f00 by wuyanjun110
feat:搜索的时候是否考虑静态障碍物添加开开关
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/ssep/normal_junction_ec.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/ssep/bridge_junction_ec.cpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp
The file was modifieddata/ssep/open_space_ec.cpp
Commit 9eb6a23d27a51b50abc4551e2f77e805f5f31c2d by tangwenqing
chore: SSEP: Fix mult-segment searching params.

The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/param_loader/param.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 21cb765d2970f4bd4b36ed21519fc5d7b7d3ce78 by wuyanjun110
fix:龙须点处理的bug
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit 5e1d4f6f3bcdf540595ab88c76e49434b694d538 by wuyanjun110
fix:修复龙须点处理的bug
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit 9fa2aeecf1ef0ef5baf401e12d21bfb49880b27f by wuyanjun110
feat:调整单车道堆场的约束
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 43cbb45932adb9d7d510b89e3281def3b227d5a9 by wuyanjun110
fix:没有路径，并且在弯道前，ssep无法搜索的bug
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 6664bad30a1e69a7ff7f4685fe158bac39cb0da5 by wuyanjun110
feat:优化场桥防护
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/map/reference/reference_road_section.hpp
The file was modifiedplan/prepare/prepare_objs.cpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifiedplan/prepare/prepare_objs.hpp
The file was modifieddata/map/reference/reference_road_section.cpp
Commit c4de19b7d9d140ad782aef87dc88d7bd43c07a89 by wuyanjun110
feat:修改对准数据的打印
The file was modifiedsource/ros_source_offset.cpp
The file was modifiedcommon/util/express.cpp
Commit a4a70c8cc13449cc12587345ac23584c4cf64b50 by tangwenqing
feat: SSEP: 使用多项式采样器生成变道路径

The file was addedssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.h
The file was modifiedssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
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/test/ssep_planner_test.cc
The file was modifiedssep/test/CMakeLists.txt
The file was addedssep/test/quintic_polynomial_sampler_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 modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/coarse_search/conditions/search_condition_interface.h
The file was addedssep/coarse_search/conditions/node_level_condition.h
The file was modifiedssep/protos/ssep_scenario_type.proto
The file was modifiedssep/coarse_search/motion_primitive_sampler/motion_primitive_sampler.h
The file was modifiedssep/coarse_search/search_graph.h
The file was modifiedssep/coarse_search/multi_stage_hybrid_astar_search_engine.cc
The file was addedssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.cc
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was addedssep/coarse_search/motion_primitive_sampler/quintic_polynomial_motion_primitive_sampler.cc
Commit e20a48ccf907c172cd258badb80770444a39bdc5 by 5081703.cr
fix: lattice wbca velocity reference bug.
The file was modifieddata/lattice/trajectory_evaluator.cpp
Commit c0b8686b88f5be57e5a3926c88c7dd1d8ece0a6d by chenran
fix: lattice wbca velocity reference bug.
The file was modifieddata/lattice/trajectory_evaluator.cpp
Commit f08fc47daa4732107487be5e95cff6c7519c5e76 by wuyanjun110
fix:杨浦堆场入口重搜索的bug
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/other/flow_control.cpp
Commit 346b3313849cd4c2a92ff2eae1281fefa17c6bdf by wuyanjun110
refactor:优化打印日志
The file was modifieddata/lattice/trajectory_evaluator.cpp
The file was modifiedtasks/deciders/lat_decider/path_bounds_decider.cpp
Commit 69059fafedde839874b5b77734462e62795eb3b3 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 c69346089151b42332c257711f6a985c957b691f by chenran
fix: delete submodules
The file was removedsubmodule/ads_proto
The file was removed.gitmodules
Commit efb4b5efff5051ea0cb101f63308b3cf96b24f90 by wuyanjun110
feat: 添加更多忽略文件到.gitignore
The file was modified.gitignore
Commit 680d711465338cdb7b63d2fbb55ac8231aa0522b by tangwenqing
chore: SSEP: 1. 变道场景使用更严格的车挂碰撞判断。2. 过滤超过曲率上限的路径。

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.cc
The file was modifiedssep/coarse_search/evaluator/curvature_cost_computer.h
The file was modifiedssep/scenarios/tractor_trailer_lane_change_planner.h
The file was modifiedssep/coarse_search/evaluator/evaluator.h
Commit 07eddc3b7ec1ad94417e2dc1bfac5d2a8b76c46d by wuyanjun110
fix: 修复边界约束逻辑并优化障碍物处理代码
The file was modifieddata/ssep/out_yard_junction_ec.cpp
The file was modifieddata/ssep/field_junction_ec.cpp
Commit 5b23bc622f63cdeb7f9546641b51d620b2b35d22 by tangwenqing
chore: SSEP: merge 集卡进堆场的新改动

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 54a568d284cc21044add53f825e13ffea0c16be0 by wuyanjun110
fix: 优化障碍物处理逻辑，过滤不必要的障碍物类型
The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit d868d505a77a1ca04d496f97347e1060ead1641f by wuyanjun110
fix: 优化OgmPoints序列化，过滤无效点并调整序列化方法
The file was modifieddata/obstacle/ogm.hpp
Commit 3374681c6ddc84be7755c8ebf8e6854e61159f98 by wuyanjun110
fix: 杨浦 调整虚拟车道与第一排箱体的距离和左侧后退延伸长度
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit e347247ce0d00a200574cc5bb25112621e193570 by wuyanjun110
fix: 优化SubProcessIdle逻辑，增加对引导线信息可用性的检查，防止没有识别低贝位就进行搜索的bug
The file was modifiedtasks/deciders/search_decider/into_yard_junction_search_decider.cpp
Commit cabde13e015314bc0c7c78c1d54eb77e56c3f663 by chenran
fix: serailize params for wbca
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifieddata/wbca/wbca_data.hpp
Commit 66056d9ff0da904e2072d9011666631d41cea52a by tangwenqing
fix: SSEP: 修复反向路径拖挂角度错误的问题

The file was modifiedssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
Commit 29291b95199687e97991d9489d85fad645045654 by wuyanjun110
feat: 1.添加OgmCollisionPos绘制功能，增强碰撞检测可视化 2.replayer 添加og碰撞检测的回放功能
The file was modifiedhmi/draw/draw_collision_detection.cpp
The file was modifiedhmi/draw/draw_collision_detection.hpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.hpp
Commit 8f03756a11e0ed43a8f0d357bc91df4162926fcf by chenran
fix: wbca params serialization bug
The file was modifieddata/config/cfg_lat_plan.hpp
Commit c72005d662d95de7153c7a15d40b4505c7b69771 by wuyanjun110
fix: 注释掉日志记录代码以减少输出干扰
The file was modifiedtasks/deciders/lat_decider/side_pass_decider.cpp
Commit b9e7010a6647b88f2d1b7ccbf0a107796c00420d by tangwenqing
feat: SSEP: 完善网页可视化。现在在网页上可以可视化所有元素并任意调整分辨率。

The file was modifiedssep/offboard/servers/scene_vis_server.cc
The file was modifiedssep/offboard/servers/scene_vis_html_template.h
The file was modifiedssep/offboard/servers/scene_vis_html_template.cc
Commit db6b2998c7b19ac262faae5ce406b6bb1c0300f6 by chenran
fix: build bug
The file was modifieddata/config/cfg_env_const.hpp
Commit 857f4abd0e008f86dea5d5880f2a4ab903f6110b by chenran
fix: Trajectory MatchByt bug.
The file was modifieddata/common/trajectory_point.cpp
Commit b100483d63c965125de328cb5a8bd9db1997db1c by chenran
fix: Trajectory MatchByt bug.
The file was modifieddata/common/trajectory_point.cpp
Commit 252892cc23ad130a218e251f61d127c1a18a3705 by chenran
fix: build bug
The file was modifieddata/config/cfg_env_const.hpp
Commit b3d8e7f1b8a0f4f404506eb060e6f56f37d35cae by tangwenqing
chore: SSEP: 搜索使用障碍物软约束，提升自卸车进出堆场极限场景的搜索成功率。

The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/common/utils/path_utils.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/common/utils/path_utils.cc
Commit dac7c89094f1f75b409fb7ea12870735e8c44f3e by tangwenqing
chore: SSEP: 过滤无效的采样轨迹，提高进堆场搜索成功率

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 3300e1a9daf69673daac19ea5fbe0039afcbc115 by tangwenqing
chore: SSEP: 处理掉头场景终点在standby_guideline上的情况

The file was modifiedssep/scenarios/scenario_planner_factory.h
Commit ec15472120f3d67d5bcf92713ca0ab7847c5809f by wuyanjun110
feat: 添加镜子配置和绘制功能
The file was modifiedhmi/draw/draw_ego.cpp
The file was modifieddata/config/cfg_static.hpp
The file was modifieddata/config/cfg_static.cpp
Commit 17c3f62191f31f60680819b599f7c257ba28af42 by wuyanjun110
feat: 优化JudgeFinishAlign函数，简化FSM接口调用，增强对齐完成判断逻辑
The file was modifiedplan/prepare/prepare_status.cpp
Commit 8baf0a211150128214102de2d4e3261838b09944 by wuyanjun110
feat: 优化低贝激活判断逻辑，简化条件判断，提高代码可读性
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedtasks/deciders/search_decider/into_yard_junction_search_decider.cpp
Commit 51180b0d25c6387ef489de1a8ff39f49bcb37f58 by wuyanjun110
fix: 移除不必要的日志警告，优化代码逻辑
The file was modifieddata/lattice/trajectory_combiner.cpp
Commit 828b79a882767843680f05395f4f8cc73f01d28e by tangwenqing
chore: SSEP: 掉头进堆场时增加参考线权重

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit b49664473025df194c4e99e8a592283933351183 by wuyanjun110
refactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bug
The file was modifiedsink/ros_sink_ctrl_reference.cpp
Commit 06f00af19d0f07a9c4ebfb1a14a0adf834e0725e by wuyanjun110
fix: 更新YANGPU虚拟车道到第一排箱子的阈值，修正为0.0
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 1ae44720a335293b49d9d198cd6dee924fa28138 by wuyanjun110
fix: 修正右侧车道拉直点阈值为2.0度
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 422d0cd121bf66362cb39f51b2a52a4de9002038 by wuyanjun110
fix:进堆场终点距离计算的bug
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 8949f783ad1beb73ef96d65dafc77bf62970853e by tangwenqing
feat: 增加keb optimize task (baseline version)，仿真可以运行。剩余工作：1. 多线程运行 2. 无SSEP轨迹时fallback为pjpo task。

The file was addedtasks/plan/keb_path_optimize_task.cpp
The file was addedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/data_structures/path.h
The file was modifieddata/config/cfg_stage.hpp
The file was modifiedtasks/task_factory.cpp
The file was modifieddata/config/cfg_stage.cpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
Commit c224b5b2ad8ef6113c9c822ea496bde7e9219ea3 by wuyanjun110
fix: 优化地图包围体和在线区域轮廓创建逻辑,修复潜在的空指针和多边形合并问题
The file was modifieddata/map/envelop/map_envelop.cpp
The file was modifieddata/ssep/online_region_contour_creator.cpp
Commit ed0b322e870556662db2c272f6cca28d3b2505cf by wuyanjun110
fix: 修正OgmCollisionPos函数中的颜色定义注释，确保颜色代码清晰
The file was modifiedhmi/draw/draw_collision_detection.cpp
Commit 9958c4fb244203a16577ebb183946313ac4902b3 by wuyanjun110
feat:添加挂车的上层纵向参数
The file was modifieddata/obstacle/ogm.cpp
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifiedcommon/util/crash_helper.cpp
The file was modifiedalgorithm/plan/ego_expanding.cpp
The file was modifiedalgorithm/vehicle_model/kinematic_bicycle_model.cpp
The file was modifiedhmi/draw/draw_constrain.cpp
The file was modifiedalgorithm/wbca/truck_wbca_manager.cpp
The file was modifieddata/config/cfg_static.cpp
The file was modifiedalgorithm/plan/sweep_area.cpp
The file was modifieddata/lattice/collision_checker.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifiedhmi/draw/draw_ego.cpp
The file was modifieddata/config/cfg_static.hpp
Commit 9236dd6181e0b7c771e63db307356296e789dbf2 by wuyanjun110
fix: 简化UpdateCurLaneData函数中的当前和目标车道索引更新逻辑
The file was modifieddata/plan/switch_data.cpp
Commit 1500480102eebfe23dc08f22baee8e8a5e45c038 by wuyanjun110
fix: 优化ConstructStartAndEndContour和ConstructEndStraightPosture函数中的逻辑，增加双车道距离补偿
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 1b3e1d627380950b922bf794cd8f9b9160f4a6e0 by wuyanjun110
fix: 调整GetExtendPoint函数中的扩展点计算逻辑，增加扩展距离；优化在线区域轮廓创建逻辑，增加多边形连接性检查和简化处理
The file was modifieddata/ssep/online_region_contour_creator.cpp
The file was modifieddata/map/envelop/map_envelop.cpp
Commit 978096f8d9bd68740c1cc23d1d60ea5ce1fa09e4 by tangwenqing
feat: Keb optimizer task 单线程功能完成

The file was modifiedssep/data_structures/path_utils.h
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 9e61440a54d4a4d9ba5f6d79d76bc84ef225b5e7 by tangwenqing
feat: Keb path optimize task 支持异步（多线程）模式。

The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit ab65d3bc4ea9b19ca8a03e9090432de03b66bc73 by wuyanjun110
feat: 添加核心对象库并优化可执行文件链接逻辑
The file was modifiedCMakeLists.txt
Commit 8c79ea9cf0d58a434b38c9fd839eba62571b8eeb by wuyanjun110
feat: 添加PncGraphicsView类以支持图像显示和交互功能；更新相关文件以替换DragImage
The file was addedhmi/common/pnc_graphics_view.hpp
The file was modifiedhmi/node_hmi.cpp
The file was modifiedhmi/common/image_viewer.cpp
The file was modifiedhmi/widget/pnc_mat.cpp
The file was modifiedCMakeLists.txt
The file was modifiedhmi/widget/replayer_pnc_mat.cpp
The file was addedhmi/common/pnc_graphics_view.cpp
The file was modifiedhmi/replayer_hmi.cpp
The file was modifiedhmi/widget/replayer_pnc_mat.hpp
The file was modifiedhmi/widget/pnc_mat.hpp
Commit 596962e10fec144af58b2e0fd7b089fca8661440 by wuyanjun110
fix: 调整ConstructEndPosture函数中的扩展距离逻辑，将TT类型的扩展距离从20.0增加到25.0
The file was modifieddata/ssep/open_space_ec.cpp
Commit f6df47fe7a095d203cffc46df3eec57303915643 by wuyanjun110
fix: 取消CalRefPtsKappa函数中的注释，启用航向角计算逻辑
The file was modifieddata/map/reference/reference_segment.cpp
Commit 6c6c78a4cb5ad24627297a27ec668ab5e3913a37 by wuyanjun110
feat: 添加测量功能，支持在PncGraphicsView中显示测量线和文本；更新鼠标事件处理逻辑以支持控制键测量
The file was modifiedhmi/common/pnc_graphics_view.hpp
The file was modifiedhmi/replayer_hmi.cpp
The file was modifiedhmi/common/pnc_graphics_view.cpp
The file was modifiedhmi/draw/draw_ssep.cpp
Commit 174fffc20a252707cccc80f830bd65304bdef169 by wuyanjun110
fix: 注释掉DrawTargetPath函数中的轮廓生成和绘制逻辑
The file was modifiedhmi/draw/draw_ssep.cpp
Commit 65a7777d7c662ac049366c24e60b684062dae23d by wuyanjun110
fix: 修复EgoExpanding类中VertexExpanding函数的除零错误；更新KinematicBicycleModel类中TrailerPtFromTractorPt函数的代码格式
The file was modifiedalgorithm/vehicle_model/kinematic_bicycle_model.cpp
The file was modifiedalgorithm/plan/ego_expanding.cpp
Commit 2a3c11f3986d0c8c71aea388f19bb0cc1ef03230 by wuyanjun110
fix: 在CreateTrajInfo函数中添加continue语句以优化逻辑
The file was modifieddata/plan/cloud_trajectory.cpp
Commit 993c574f08c46cf65f6b891f0e920b196809a7f3 by chenran
fix: wbca path fluctuation problem.
The file was modifieddata/plan/start_point_data.cpp
The file was modifieddata/plan/start_point_data.hpp
Commit 8724ebfc9392edaa35d0827ba5f4eeea7642e316 by wuyanjun110
fix: 在InterpPtByLinearS函数中添加对s值的有效性检查，避免无效输入导致错误
The file was modifieddata/common/trajectory_point.cpp
Commit 19551aed1c4d603d6af3351db48ca4c83b6c67cf by tangwenqing
chore: Finetune Keb-Path-0ptimize-Task and add warm-start stretagy.

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
Commit ca574be78a4a5b22d2531926384d5f1ece21d0ee by chenran
fix: add wbca min_start_velocity
The file was modifieddata/plan/start_point_data.hpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 64250345071c2bdf4003a45d557cab9fb0e31f7a by wuyanjun110
feat: 添加获取弯道前车道ID的功能，并在SwitchData中更新相关逻辑, 解决变道时，参考线跳变的问题
The file was modifieddata/plan/switch_data.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.hpp
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifieddata/plan/reference_line_info.cpp
Commit bbcd70c8e3cfc961046a945890a08281ecd18571 by tangwenqing
fix: SSEP: 修复IMV进充电桩方向与现场任务不一致的问题。

The file was modifiedssep/scenarios/imv_enter_station_planner.h
Commit 8101d8ebf6ca8142278ca0d1491c2ce9622bba6c by tangwenqing
chore: Keb-Path-Opt-Task 调优，缩放道路边界，调整多边形障碍物参数等。

The file was modifiedssep/data_structures/path_utils.h
The file was modifiedssep/data_structures/polyline.cc
The file was modifiedssep/data_structures/polyline.h
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit d2c0739f3014c96356d8396559abdf5bd6491812 by wuyanjun110
refactor:优化包略框的合并 ，以及优化耗时
The file was modifieddata/map/envelop/map_envelops.hpp
The file was modifieddata/ssep/seaside_junction_ec.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifiedhmi/draw/draw_map_envelpos.cpp
The file was modifieddata/ssep/ex_lane_change_ec.cpp
The file was modifieddata/ssep/ssep_util.cpp
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/ssep/online_region_contour_creator.hpp
The file was modifieddata/map/envelop/map_envelop.cpp
The file was modifieddata/map/envelop/map_envelops.cpp
The file was modifieddata/ssep/online_region_contour_creator.cpp
Commit 43f11b859819fd7f30c9c0dbfc7d138350fe3086 by wuyanjun110
feat: 在CreateContour中添加时间记录，优化轮廓构建过程
The file was modifieddata/ssep/online_region_contour_creator.cpp
Commit 5c4212a16790c1e956baf2553bece33826d8e699 by wuyanjun110
feat: 更新参数设置，调整前向和侧向扩展长度以优化空间计算
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/plan/guide_line.cpp
Commit f30dcba8137c34892d27029c7c49467ba887d16a by wuyanjun110
feat: 添加核心对象库并优化可执行文件链接逻辑
The file was modifiedCMakeLists.txt
Commit 4bf1d9123193b59bce5cec3cf4c0f5c99115b31c by wuyanjun110
fix: SSEP: 修复IMV进充电桩方向与现场任务不一致的问题。

The file was modifiedssep/scenarios/imv_enter_station_planner.h
Commit 4721fbb98c8c3f4a02c52aa61d2e363ec8bee4ac by chenran
fix: wbca path fluctuation problem.
The file was modifieddata/plan/start_point_data.hpp
The file was modifieddata/plan/start_point_data.cpp
Commit 81d3cdb94db0b7d350cbe44a0440fdd7b0f25e87 by chenran
fix: add wbca min_start_velocity
The file was modifieddata/plan/start_point_data.hpp
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
Commit 743127a9723c20065292b4105dcdb172f6c5eff3 by wuyanjun110
feat: 增强在线区域轮廓创建失败时的回退逻辑，确保使用基础多边形作为后备
The file was modifieddata/ssep/online_region_contour_creator.cpp
The file was modifieddata/ssep/open_space_ec.cpp
Commit c799fbc816ed7ac97459c9a6f83da30da12420b2 by chenran
fix: wbca crab mode condition opt.
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 6751b29aa1f63012d68615b08fd675060fe76c28 by tangwenqing
chore: SSEP: 集卡上下码头面可以在standby_guide_line上任意匹配终点

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit d725454ddae3355ba0c05e4ed9600f230ab6153b by tangwenqing
fix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。

The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
Commit 5da516f1b19b13f65a0d9c3f6041cdb4c9226f11 by wuyanjun110
fix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/imv_general_planner.h
Commit 4a08ca557e16b33f5b439f97aeed655588af18ca by wuyanjun110
feat: 添加IsAvailable方法以验证轨迹数据的有效性
The file was modifieddata/lattice/piecewise_acc_traj1d.cpp
The file was modifieddata/lattice/piecewise_acc_traj1d.hpp
The file was modifiedmath/curve1d/curve1d.hpp
The file was modifieddata/lattice/trajectory_combiner.cpp
Commit 6c3476ae1785ffcc0e72a44ab5a39ec14f926234 by wuyanjun110
fix: 修复StitchSsepReferenceLine方法中的路径段验证逻辑
The file was modifiedtasks/other_tasks/stitch_path_to_reference_line.cpp
Commit 6edf9f81cfd8d34ef20271ac92b2c4e0b3a486cc by wuyanjun110
fix:进充电桩场景切换的bug
The file was modifiedplan/prepare/prepare_status.cpp
Commit bf29d886d0b6908319dbdd6a243e24199b6116d3 by wuyanjun110
fix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。

The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
Commit bca00d5a1a152b9f58ec76ac573479d128623a05 by wuyanjun110
fix:进充电桩场景切换的bug
The file was modifiedplan/prepare/prepare_status.cpp
Commit 0397367e55966239ac1882398b60d66c20610e95 by wuyanjun110
feat: 添加IsAvailable方法以验证轨迹数据的有效性
The file was modifieddata/lattice/piecewise_acc_traj1d.hpp
The file was modifieddata/lattice/trajectory_combiner.cpp
The file was modifieddata/lattice/piecewise_acc_traj1d.cpp
The file was modifiedmath/curve1d/curve1d.hpp
Commit 48becb12a9ae19b4084c5a5d2f83a96ccd07219b by wuyanjun110
fix: 修复StitchSsepReferenceLine方法中的路径段验证逻辑
The file was modifiedtasks/other_tasks/stitch_path_to_reference_line.cpp
Commit c8e821186992f60df26f209fe665bd2582a060f3 by wuyanjun110
feat: 添加角度显示功能，增强PncGraphicsView的交互性
The file was modifiedhmi/common/pnc_graphics_view.hpp
The file was modified.clangd
The file was modifiedhmi/common/pnc_graphics_view.cpp
Commit 140041f723b7605ba0c3f541cf93137b952dcb5b by wuyanjun110
fix:修复误进入openspace的bug
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 3001382e4da8a90bb2207c8ebc1f2abb7b0e03a1 by wuyanjun110
fix:修复误进入openspace的bug
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 937254808f46c55561908ecdcb1bc38c60fc631f by wuyanjun110
fix: 调整最大速度阈值以优化后向Ogm忽略逻辑
The file was modifieddata/other/flow_control.cpp
Commit d139f15bf463997ee997c79687feca4fd884c284 by chenran
feat: add smooth_mode_wbca_params
The file was modified.clangd
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifieddata/wbca/wbca_data.hpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
Commit bffc729ab74e52199d824957e3de786bf735aa45 by chenran
fix: smooth_mode_wbca_params bug
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
Commit bcbdf46ad462f619475c1fdf3fb71e834a30d778 by wuyanjun110
fix: 修复车辆行进过程中，误进routing 方向的更新逻辑的bug
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 4b50a49607424665f8acfd256ac9e1dbd1baea94 by tangwenqing
fix: Keb Path Optimize Task解决方向盘抖动的问题（启用warm start）。改善低贝位挂车拉不直的问题。

The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/data_structures/path.cc
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit b4c8509dc59d5b832c6f297fbea4cb1161112772 by wuyanjun110
fix: 调整RefMatch匹配条件的范围以增强灵活性
The file was modifieddata/map/reference/reference_segment.cpp
Commit 5e1def34a1ab7f1f4863441233d8e7bd06f3d684 by wuyanjun110
fix: 修复车辆行进过程中，误进routing 方向的更新逻辑的bug
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit a76643e4c21c168879c1a71da896bc65a8291933 by wuyanjun110
fix: 调整RefMatch匹配条件的范围以增强灵活性
The file was modifieddata/map/reference/reference_segment.cpp
Commit a73b8f4d7d8f7e5659d3be56c8f20f13c3e3ba9b by wuyanjun110
fix: 添加禁停区逻辑以避免在倒车路径区域创建禁停区
The file was modifieddata/constrain/block_data.cpp
Commit 65ebb62e3b5a0dd60ecede17b26d9f9af1f6cd5f by wuyanjun110
fix: 添加禁停区逻辑以避免在倒车路径区域创建禁停区
The file was modifieddata/constrain/block_data.cpp
Commit 676d5a425b2d7245cc5964a500bba444c3e2007e by tangwenqing
fix: SSEP: 解决西联IMV进停车位搜索失败的问题

The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
Commit 52bb041a298a685ad7b18fc6619078d0a0a1a576 by wuyanjun110
fix: SSEP: 解决西联IMV进停车位搜索失败的问题

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/scenarios/imv_enter_station_planner.h
Commit f023327617996384eb2eb107a649febce1dcafcd by chenran
fix: imv wbca end velocity bug.
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
Commit 54642a4d385953f418422c708d1c011a5b7cd8d6 by chenran
fix: l_bfgs optimization.
The file was modifiedthirdparty/lbfgs/lbfgs.hpp
Commit 8fb3e52371e6b397cdf014eb49b6bd06c8a3651d by wuyanjun110
feat: 添加获取shared_msgs的commit id和分支名称功能，并更新版本信息输出
The file was modifiednode/main.cpp
The file was modifiedcommon/other/version.hpp
The file was modifiedreplayer/main.cpp
The file was modifiedCMakeLists.txt
Commit a7d725fc7c38581e5d41df1e9a44e812be9fdc51 by wuyanjun110
feat: 添加Keb路径优化任务的执行和重置功能，并更新场景接口
The file was modifiedscenarios/scenario.cpp
The file was modifiedscenarios/scenario_interface.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cpp
Commit 0ccd53b38e6cf5b4986459323cfb5fc3bce2d87c by wuyanjun110
feat: 实现OutYardJunctionFirstStage类中的ExecuteTaskOnReferenceLine方法，增强任务执行逻辑
The file was modifiedscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.hpp
The file was modifiedscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cpp
Commit 26f67573d71e96ade8fcb594cdcff81a75d1e006 by tangwenqing
fix: keb-path-optimize-task 优化低贝位挂车不直的问题

The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.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
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 8daab03cfcdd70c6d39cd7a41c0042f2e24d8728 by wuyanjun110
fix: 调整ReferenceRoadSection和ReferenceSegment中的位置判断条件，优化边界处理逻辑
The file was modifieddata/map/reference/reference_segment.cpp
The file was modifieddata/map/reference/reference_road_section.cpp
Commit a72d2be5cd0662cab2cdb1c266e38bfa6110bb4e by wuyanjun110
fix: 调整ReferenceRoadSection和ReferenceSegment中的位置判断条件，优化边界处理逻辑
The file was modifieddata/map/reference/reference_segment.cpp
The file was modifieddata/map/reference/reference_road_section.cpp
Commit e2b0bdcfed979c4ac9696f57a447526432e07cbc by wuyanjun110
feat: 添加获取shared_msgs的commit id和分支名称功能，并更新版本信息输出
The file was modifiedcommon/other/version.hpp
The file was modifiedCMakeLists.txt
The file was modifiedreplayer/main.cpp
The file was modifiednode/main.cpp
Commit 771e068e36b299ceb0ee0718cd9eb38dda67c5e7 by tangwenqing
chore: keb-path-optimize-task finetune.

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit bdf1ef7712f7e5b5ed7747856466c73e81e90765 by wuyanjun110
feat: 添加ClearAreaOverlap类及相关逻辑，优化清晰区域处理和绘制功能
The file was modifieddata/map/pnc_map/path_overlap.cpp
The file was modifieddata/constrain/disable_stop_range.cpp
The file was modifieddata/map/pnc_map/path_overlap.hpp
The file was modifiedhmi/draw/draw_map.cpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
Commit 68884d9316d33b45fc13365f4ffaf29e9a7e481e by tangwenqing
chore: 优化keb-path-optimize-task进堆场效果

The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 823980e823db5df3c886893d6f87f528f9fb2db6 by wuyanjun110
feat: 添加CmdReduceSafeDistance类及相关逻辑，优化安全距离处理功能
The file was modifieddata/constrain/longitude_constrain.cpp
The file was addeddata/app/cmd/cmd_reduce_safe_distance.hpp
The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/app/app_data.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/app/reaction/app_reaction.cpp
The file was modifieddata/app/app_data.hpp
The file was modifieddata/app/reaction/app_reaction.hpp
The file was addeddata/app/cmd/cmd_reduce_safe_distance.cpp
Commit aafa159991f4a48c9ef692f1a8e047e7c424afb6 by tangwenqing
chore: keb param adjust

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit de884128bc0875b3d57de275946de95f2cd8b3e0 by wuyanjun110
feat: 优化障碍物处理逻辑，简化多边形构建和碰撞判断
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 1bd0449b5f8dcfa94fec6c7945fe60d974d9ad32 by wuyanjun110
feat: 优化障碍物处理逻辑，简化多边形构建和碰撞判断
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 721aad94a7dfbc0f93058ae6450a28f2dd043489 by tangwenqing
fix: keb task finetune

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 0b608a2fa4fd2c989e96867676775c39bae76060 by tangwenqing
chore: keb task 关键参数提取

The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit f6c043fbdbc05a23fc14c006a984cb9ea32b6c2e by chenran
fix: l_bfgs optimization.
The file was modifiedthirdparty/lbfgs/lbfgs.hpp
Commit 9c5c170342494671d0cf0ac64b8a6e7f4b2af70d by tangwenqing
fix: SSEP: 进堆场优化用终点硬约束

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 84ff4a2e3dde08f3d0742036d1c94610e9ab1d44 by tangwenqing
chore: keb-task 使用终点约束

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 8eafd16a9aeb91372cbbeb9b45ed48da8f9af4e3 by wuyanjun110
feat: 更新MapEnvelops类，增强路径转换功能，支持备用地图包络处理
The file was modifieddata/ssep/open_space_ec.hpp
The file was modifiedplan/prepare/prepare_map_related.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifieddata/map/envelop/map_envelops.cpp
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/map/envelop/map_envelops.hpp
The file was modifieddata/plan_frame.hpp
The file was modifieddata/ssep/online_region_contour_creator.cpp
Commit 88d62ee670ee5f633ebb48441a4bd2b2404fef60 by wuyanjun110
feat:调整指令的类别

The file was modifieddata/app/fsm/task_command_type.hpp
Commit 03b3cf39f7b16511a2dbe122e5ad34392670a516 by wuyanjun110
feat:暂时关闭参考线拼接 theta重新计算的逻辑
The file was modifieddata/map/reference/reference_segment.cpp
Commit 4e7363bab6270a42be563277ee5882fd97e4a99c by chenran
feat: add shift_type_ignoring_no_shift_region
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/boundary/road_boundary.cpp
Commit c41eddb38ef7f1a2e7bbc7435935def0d072d825 by tangwenqing
feat: keb task: 1. 实时优化增加拉直点功能。2. 滤除偏离参考线太远的轨迹

The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
Commit 9dc2ca95d9ba598e7a465c92cb78be52a34592dc by tangwenqing
fix: 修复集卡优化器终点可能超过拖挂角度限制的问题

The file was modifiedssep/keb_optimizer/cost_features/state_constraint.h
Commit 8d32b4930266f35ff301b6030bec4cccc04d7aa0 by wuyanjun110
feat: 添加ClearAreaOverlap类及相关逻辑，优化清晰区域处理和绘制功能
The file was modifieddata/map/pnc_map/path_overlap.hpp
The file was modifieddata/constrain/block_data.cpp
The file was modifiedhmi/draw/draw_map.cpp
The file was modifieddata/constrain/disable_stop_range.cpp
The file was modifieddata/map/pnc_map/path_overlap.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
Commit b0b06927dbaffd63819509d96b0a48e95a23a173 by wuyanjun110
feat: 添加CmdReduceSafeDistance类及相关逻辑，优化安全距离处理功能
The file was addeddata/app/cmd/cmd_reduce_safe_distance.hpp
The file was modifieddata/app/reaction/app_reaction.cpp
The file was modifieddata/app/app_data.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/app/reaction/app_reaction.hpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/app/app_data.hpp
The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifieddata/constrain/longitude_constrain.cpp
The file was addeddata/app/cmd/cmd_reduce_safe_distance.cpp
Commit fe45ba157988b615c24bae4fe43d8b3302254918 by wuyanjun110
feat: 更新MapEnvelops类，增强路径转换功能，支持备用地图包络处理
The file was modifieddata/plan_frame.hpp
The file was modifiedplan/prepare/prepare_map_related.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifieddata/ssep/open_space_ec.hpp
The file was modifieddata/map/envelop/map_envelops.hpp
The file was modifieddata/map/envelop/map_envelops.cpp
The file was modifieddata/ssep/online_region_contour_creator.cpp
The file was modifieddata/ssep/open_space_ec.cpp
Commit 58293034061f9aa3edd075764961740dcf23e6c8 by wuyanjun110
fix:修复guidelien 中 overlap计算的bug
The file was modifieddata/plan/guide_line.cpp
The file was modifieddata/common/path.cpp
Commit 419f75f12ec66fbea96fb469cb3cd0e5e4c742c3 by chenran
fix: imv smooth_mode bug
The file was modifiedalgorithm/wbca/occupancy_grid_map/data_render.cpp
The file was modifieddata/wbca/grid_map/esdf_map.hpp
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
The file was modifieddata/wbca/grid_map/esdf_map.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 2026f2b99af4241f05203d6d6a354eafc69ebbe9 by chenran
fix: imv start_pt bug
The file was modifieddata/plan/start_point_data.cpp
Commit bfc992cbf1652ca99e8bfd0ef9cc690b4f595815 by wuyanjun110
fix:修复拼接ssep结果后，junction overlap 生成的bug
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
Commit 251ad648d7b5958a23e670eebf6d15769d94309d by wuyanjun110
feat: 添加 实时的终点边界约束和拉值约束， 然后 终点约束使用使用实时约束
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/other/flow_control.hpp
The file was modifieddata/ssep/into_yard_junction_ec.hpp
Commit f2e9dde3e2a7a459695b595cd8cc740d5d924eb7 by wuyanjun110
refactor: 注释掉低贝位作业相关的代码逻辑
The file was modifieddata/boundary/road_boundary.cpp
Commit 06ce627159426497944ccf43a460d672bea1611b by wuyanjun110
refactor: 注释掉低贝位作业相关的代码逻辑
The file was modifieddata/boundary/road_boundary.cpp
Commit a9c9de3aebb610e9e0c105d0a9edb79f48aab9c8 by wuyanjun110
fix: 更新镜子相关参数的命名空间前缀为/pnc_node
The file was modifieddata/config/cfg_static.cpp
Commit 75ace1b4dce8a4dddcf1d6d3ceecc7810c013742 by wuyanjun110
fix:修复崩溃的bug
The file was modifieddata/other/flow_control.cpp
Commit 42eda6dd35e959268a2c138d1e7f238bb63f02e6 by wuyanjun110
feat: 添加自动获取大谢终点约束的功能
The file was modifieddata/ssep/into_yard_junction_ec.hpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 09680d0ab04914754cc2ad5548709fa7a6706021 by wuyanjun110
feat: 添加搜索起点框的功能并优化车辆框生成逻辑
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/ssep/open_space_ec.cpp
Commit b04d7ce3f4cd18f062c3a4d858cf4ad39f3b1ab2 by wuyanjun110
fix: 更新GetLatPoint函数以考虑LKA控制模式
The file was modifieddata/plan/start_point_data.cpp
Commit d4b8b915fc9ba0e5f6f01e879c815c72750a0b12 by wuyanjun110
fix:虚拟停止线构建的bug
The file was modifieddata/plan/guide_line.cpp
The file was modifiedhmi/draw/draw_guide_line.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
Commit 965f5fede6e0d702f94fc03e5949631fa39c590b by wuyanjun110
fix: 修正DrawUpperHead函数中镜子高度计算错误
The file was modifiedhmi/draw/draw_ego.cpp
Commit 9e80ba1dd25ec991530e8a553d3091634c647c0f by wuyanjun110
fix: 调整自动构建结束直线姿态和终点扩展长度的计算逻辑
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 883b412a5a96493f584d7058fabe6533c8e1c498 by wuyanjun110
feat: SSEP: 进堆场添加用专家经验生成的路径，拼接替换原始参考线。

The file was addedssep/common/utils/reference_line_stitcher.cc
The file was addedssep/common/utils/reference_line_stitcher.h
The file was addedssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/data_structures/path.h
The file was modifiedssep/data_structures/path.cc
The file was modifiedssep/test/ssep_planner_test.cc
The file was addedssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 33080cb2d7b4baef6313b23ed6f72c926954f829 by wuyanjun110
feat: SSEP: 进堆场跑通无搜索规划

The file was modifiedssep/data_structures/path.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/common/utils/reference_line_stitcher.cc
The file was modifiedssep/data_structures/path.cc
Commit ff3983e85440eec20a8d71008f9c044361eed42b by wuyanjun110
fix: keb task 修复路径被og点阻挡时轨迹异常的问题

The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedssep/common/utils/path_utils.h
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/common/utils/path_utils.cc
Commit d10baa56499a6a39ce844c37382b8dcb7886e5b5 by wuyanjun110
fix: 修复keb task碰撞检测使用路径长度过长的问题

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/data_structures/path.cc
The file was modifiedssep/data_structures/path.h
Commit 6602d54db962af381c83bd63f4d23cecef6f9642 by chenran
fix: road segment splitting bug.
The file was modifieddata/map/pnc_map/pnc_map.cpp
Commit 5ea473b606083edbe4736f0a0cb6fbf6bb141762 by chenran
refact: GetRoadSegmentFirstSplitPos
The file was modifieddata/map/pnc_map/pnc_map.cpp
Commit c423432f6f465d4814e1b8c6f5f102c54d077d0a by wuyanjun110
fix: SSEP: 修复无搜索模式可能崩溃的问题

The file was modifiedssep/common/utils/reference_line_stitcher.cc
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 3fb22d781dee9b445918726ac70ab53834e032cf by tangwenqing
feat: SSEP: 进堆场添加用专家经验生成的路径，拼接替换原始参考线。

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was addedssep/common/utils/reference_line_stitcher.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was addedssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.cc
The file was modifiedssep/test/ssep_planner_test.cc
The file was modifiedssep/data_structures/path.h
The file was addedssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.h
The file was modifiedssep/data_structures/path.cc
The file was addedssep/common/utils/reference_line_stitcher.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
Commit c3a7a1c91bcb80596ed9371ab46d60af714681a3 by tangwenqing
feat: SSEP: 进堆场跑通无搜索规划

The file was modifiedssep/common/utils/reference_line_stitcher.cc
The file was modifiedssep/data_structures/path.h
The file was modifiedssep/data_structures/path.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/ssep_planner.cc
Commit 943dbcf65482786bf0ae78eea7f6d02eca589b85 by tangwenqing
fix: keb task 修复路径被og点阻挡时轨迹异常的问题

The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/common/utils/path_utils.cc
The file was modifiedssep/common/utils/path_utils.h
Commit d46b28a4575ad474b7b4fc9acf007636214fdaf6 by tangwenqing
fix: 修复keb task碰撞检测使用路径长度过长的问题

The file was modifiedssep/data_structures/path.h
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/data_structures/path.cc
Commit 55d35d7507cd3c3d289168dac7882b5db37d7bfb by tangwenqing
fix: SSEP: 修复无搜索模式可能崩溃的问题

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/reference_line_stitcher.cc
Commit 40be2a376bfdeb10ac8ac64ea311727ec8779caf by tangwenqing
fix: SSEP: 提升新版进堆场搜索的成功率

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/common/utils/path_utils.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/common/utils/path_utils.h
Commit 1bdae8ae7d8ca3cd49b96dab5d54998d211a6f8c by wuyanjun110
fix: SSEP: 提升新版进堆场搜索的成功率

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/common/utils/path_utils.cc
The file was modifiedssep/common/utils/path_utils.h
Commit 935d321f793e198615189b481385443adda4536a by chenran
feat: lka deviation after crane
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/ctrl/lka_start_up.cpp
The file was modifiedhmi/widget/diagnose.cpp
The file was modifieddata/ctrl/lka_start_up.hpp
Commit fd557192f4bb94e7e7313318315cfd0bd92abbde by wuyanjun110
fix: SSEP: 修复变道路径可能有碰撞的问题

The file was modifiedssep/scenarios/tractor_trailer_lane_change_planner.h
Commit f86bed86caa62e3d5c1390726a2b301711f4f61c by wuyanjun110
fix: SSEP: 修复变道路径可能有碰撞的问题

The file was modifiedssep/scenarios/tractor_trailer_lane_change_planner.h
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 3e1daf4d64dbd6153996f3473694c915343be10d 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.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
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 modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifieddata/config/cfg_lat_plan.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.hpp
The file was modifiedplan/prepare/prepare_status.cpp
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 modifieddata/obstacle/obstacle.cpp
The file was modifiedplan/prepare/prepare_objs.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.h
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
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/maps/ogm_builder.cc
The file was modifiedssep/ssep_planner.cc
Commit 63ac7fb6eefe80e06ffb73c9a9a7a339bf5c63b2 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 259f597964ce71051e685f9b61fa3a14f9540303 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 modifieddata/obstacle/obstacle.cpp
The file was modifiedplan/prepare/prepare_objs.cpp
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 394231d157e32897752b57338f4ce7005c15cbba 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 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 modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/plan/path_direction_data.cpp
Commit 64d386ad766bd636bab93766fb2da25c04a45378 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 modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/plan/path_direction_data.cpp
Commit b4d00b792d4bb9e71da250164808250583acf73c 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/maps/ogm_builder.cc
The file was modifiedssep/ssep_planner.cc
Commit b99a6ef817f1b8c94f2aea6df788b676e1a3bdc3 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 66fa765b858984a42c41669ae4b2c8ee600e000d by wuyanjun110
fix: keb task 修复路径被og点阻挡时轨迹异常的问题

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedssep/common/utils/path_utils.cc
The file was modifiedssep/common/utils/path_utils.h
Commit 9da2dbb539fbd9991221ecec7ed1b5ab5dcf5756 by wuyanjun110
feat: 杨浦 B003 B004适配
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit c184036c04cbd54cbf2d38a50522c261f87a91bc by chenran
feat: yard name verification.
The file was modifieddata/ctrl/lka_start_up.cpp
Commit 678aa94ed48bdae8222f00caa2159d3a4f765e93 by wuyanjun110
fix: 调整对拖车姿态有效性的角度判断阈值
The file was modifieddata/plan/path_direction_data.cpp
Commit 14b080ef741e8924a6badc3e3895b8fcadb83c99 by wuyanjun110
fix: 调整对拖车姿态有效性的角度判断阈值
The file was modifieddata/plan/path_direction_data.cpp
Commit 6150b7d1445ee5be72794b493d46d708742e1b2f by wuyanjun110
feat: 增加对车道有效性的检查，确保车道ID在实际车道ID列表中
The file was modifiedplan/prepare/prepare_objs.cpp
Commit f73f14c1abecb7d72ead16573ba2801d4688ec3b by wuyanjun110
chore: SSEP: 自卸车进出散货堆场搜索使用软约束

The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
Commit 83543a38fe864a91b8574d0637c45ef2d8533bfe by wuyanjun110
fix: SSEP: 修复集卡进堆场S弯轨迹不合理，及自适应拉直距离失效的问题

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 989199e3abcea69d8f2c3a5b02eea5fed4b5f2e5 by wuyanjun110
fix: 调整路径重叠的起始和结束点设置，确保不超出有效范围
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
Commit d7b38ac92fd4feea0f081ba7b8d1bdf9ef6d74c4 by wuyanjun110
feat:杨浦低贝位适配
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 78b03829ca619e234632e08ef4a2fec031ee502a by wuyanjun110
feat:合并ssep更改
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/scenarios/planner_utils.h
The file was modifiedssep/common/utils/path_utils.cc
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/ssep_planner.cc
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.cc
The file was modifiedssep/scenarios/planner_utils.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
Commit 0790824356c822d73ea7452ea501676bdf42445f by wuyanjun110
feat: 添加车辆姿态设置功能并更新测量和角度显示逻辑
The file was modifiedhmi/widget/replayer_pnc_mat.cpp
The file was modifiedhmi/common/pnc_graphics_view.hpp
The file was modifiedhmi/widget/pnc_mat.cpp
The file was modifiedhmi/common/pnc_graphics_view.cpp
Commit 2bf315098c6338d37740c7d9754ae76a47e91a51 by wuyanjun110
fix: SSEP: 修复普通卡车搜索拉直段失效的问题

The file was modifiedssep/scenarios/truck_general_planner.h
Commit e77b10f61749b6e9afd05a75fdfafd11a38f7b37 by wuyanjun110
feat:适配友谊关进停车的拉正距离
The file was modifieddata/ssep/forward_ec.hpp
The file was modifieddata/ssep/forward_ec.cpp
Commit e6b92869883057da0681b03f5113122025ef0983 by chenran
fix: disable default LKA deviation.
The file was modifieddata/ctrl/lka_start_up.cpp
Commit fa455161c9a61091ea7b4aa829a89ce4ac9fed36 by chenran
fix: lka deviation bug
The file was modifieddata/ctrl/lka_start_up.cpp
The file was modifieddata/ctrl/lka_start_up.hpp
Commit 86499e111872b1d3d1c5d563a19973150c47adc5 by chenran
feat: add lbfgs prevous version.
The file was modifiedthirdparty/lbfgs/lbfgs.hpp
Commit a08b0d9eda7192187c98b20f94d44a8b82adff81 by wuyanjun110
feat: 苏溪调箱门场景适配
The file was modifieddata/ssep/normal_junction_ec.cpp
Commit 1613b12c1f873e85b5db4546d718acc3f000a041 by wuyanjun110
feat: 添加无效侧通行点检查和虚拟障碍物生成逻辑
The file was modifieddata/boundary/driving_corridor.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifieddata/obstacle/ogm.hpp
Commit fb8de5cde2aa0863bec4b2fcbdcbd5efea6a3e07 by wuyanjun110
refactor:优化 停止线所属junction的判断逻辑
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
Commit 6561aae642b08a5f52f0e42603e97e44a5bb95b7 by wuyanjun110
feat:合并ssep更改
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was addedssep/offboard/generate_path_repository/CMakeLists.txt
The file was addedssep/offboard/servers/path_repository_vis_html_template.h
The file was modifiedssep/ssep_planner.cc
The file was addedssep/protos/state_match_condition.proto
The file was addedssep/data_structures/state_match_condition.cc
The file was addedssep/data_structures/state_match_condition.h
The file was addedssep/data_structures/path_repository_manager.h
The file was addedssep/offboard/generate_path_repository/generate_path_repository_cli.cc
The file was addedssep/offboard/servers/path_repository_vis_html_template.cc
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/offboard/servers/CMakeLists.txt
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was addedssep/offboard/servers/path_repository_vis_server.cc
The file was addedssep/protos/path_repository.proto
The file was addedssep/data_structures/path_repository_manager.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
Commit 0fee299f74d88e995f954a18306383d3d5d47e65 by wuyanjun110
fix:终点低贝位时， 然后场桥低贝位不重新搜索的bug
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit e5b729ff7d0611bdbb69ddcee59054dda48c439b by chenran
fix: filter wbca path by cost
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedhmi/widget/diagnose.cpp
The file was modifiedalgorithm/wbca/path_optimization/car_path_optimization.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
Commit 6dcf15351db344dcd55fc9aab5b4752d79ece05c by chenran
fix: add switch for lbfgs to lbfgs_new
The file was modifiedalgorithm/wbca/path_optimization/truck_path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/car_path_optimization.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedthirdparty/lbfgs/lbfgs.hpp
The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
Commit 4b8fd569d6e9e0b2fce5f82fcc1492a931254c13 by chenran
fix: using new l_bfgs
The file was modifieddata/config/cfg_lat_plan.cpp
Commit 43b5f43e081e3fcb19611dabd32690bbb038433f by chenran
fix: cost filter for imv and truck
The file was modifiedalgorithm/wbca/path_optimization/truck_path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit 0afabfef75fe9e5647647d2c76ff30a5a8462dcf by chenran
fix: activate wbca smooth mode in align fsm.
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit dd3cd4ffa16307ef8ec1e14b7c9d54612569cec7 by wuyanjun110
feat:直道地图包络构建的优化
The file was modifieddata/map/envelop/map_envelop.cpp
Commit 0cb819d21bf799329879a48cde4521ad3d9ee993 by wuyanjun110
feat: （动态搜索的box框),优化生成平行框的距离计算逻辑
The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 0cea97bb59690e21b8c78f6f57dba06bc21bb1f5 by wuyanjun110
fix: 更新DrawObject函数中的颜色值注释
The file was modifiedhmi/draw/draw_map.cpp
Commit 2d88b884ef5a90f28725b9ee8a903052746dae20 by chenran
fix: filter wbca cost without collision cost.
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
The file was modifiedalgorithm/wbca/path_optimization/truck_path_optimization.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/car_path_optimization.cpp
Commit 16c1b08fd90dfbe96d6c19eee677e0c277106059 by chenran
fix: LKA deviation for out_yard
The file was modifieddata/ctrl/lka_start_up.cpp
Commit b908866bb5fc622e0b5c38abb054065846fac533 by wuyanjun110
feat:调整换向缩小安全距离的阈值
The file was modifieddata/config/cfg_long_plan.cpp
Commit 9166b6f5cf02de41c7d254793596e93b4095b8d7 by wuyanjun110
fix:修复变道的约束
The file was modifieddata/ssep/ex_lane_change_ec.cpp
Commit 03835a6edefc7751fa29c0afa94c963e61ef852e by wuyanjun110
fix:修复变道的约束
The file was modifieddata/ssep/ex_lane_change_ec.cpp
Commit 59a8b4953c0034a76e4621e903299f15a73ee06e by wuyanjun110
feat: 增加ALIGN命令相关错误类型并更新状态处理逻辑
The file was modifiedhmi/widget/command.cpp
The file was modifieddata/vehicle/vehicle_status.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/app/fsm/task_command_type.cpp
The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifieddata/app/cmd/cmd_align.cpp
The file was modifieddata/vehicle/vehicle_status.hpp
Commit 485ee6c90f4b6efd1d8e6ac773ad61e1f3b27331 by chenran
fix: cloud areas avoidence.
The file was added.codex
The file was modifieddata/obstacle/ogm.cpp
Commit a2dea387ad7cf18e899b5e4fad9f818ccfea8fae by wuyanjun110
refactor:朝海侧，右转横二路，边界优化
The file was modifieddata/ssep/normal_junction_ec.cpp
Commit ec4d35f41324aa76809ec6751edbe77100865758 by wuyanjun110
refactor:极限变道约束优化
The file was modifieddata/ssep/ex_lane_change_ec.cpp
Commit 09c794cf8bb7f149f81d16444d7530994c976e9d by wuyanjun110
refactor:朝海侧，右转横二路，边界优化
The file was modifieddata/ssep/normal_junction_ec.cpp
Commit 730037190ab095ff3004718347429c4e827549c3 by wuyanjun110
refactor:极限变道约束优化
The file was modifieddata/ssep/ex_lane_change_ec.cpp
Commit 03a16b1951a8759def877fa6f2567a4a8ff87ea4 by wuyanjun110
feat: 添加地图限速膨胀系数并更新速度限制计算
The file was modifieddata/plan/guide_line.cpp
The file was modifieddata/plan/guide_line_base.hpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/config/cfg_long_plan.hpp
Commit 6862fa7baf3e2ea29901804dc68811836d0a2ec5 by wuyanjun110
refactor: openspace中的参考线为pnc引导线
The file was modifiedssep/scenarios/scenario_planner_factory.h
Commit 872795a1a0f295bc2a654f87ac3d581f7d5ed224 by wuyanjun110
fix:imv下码头搜索失败的bug
The file was modifieddata/ssep/open_space_ec.cpp
Commit 1bfa73de87f15d05a5d6a4ce6b7567405c3a65d9 by tangwenqing
fix: 修复imv普通搜索参考线错误的问题

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/imv_general_planner.h
Commit 52b5cdfbedb852982b4aee273b9ec123661e2492 by wuyanjun110
fix:修复反向出停车位的bug
The file was modifieddata/other/flow_control.cpp
Commit 573112a5fff58141b971f584de3609204f935a3f by wuyanjun110
fix:修复停止线绑定juntion的bug
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
Commit ebbb633c102e5c17cf27904916b01b96810d114e by wuyanjun110
refactor:优化场桥转场判断
The file was modifieddata/constrain/block_data.cpp
The file was modifiedplan/prepare/prepare_objs.cpp
Commit 15e9e4cee79dce43e032ac44ce5a5ee6b43a671e by wuyanjun110
refctor:优化转场场桥box的使用
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/plan/predict_path.cpp
Commit 480404c57f2a071947cc17402c0420e4c885f35a by chenran
fix: pnc_map splitting error.
The file was modifieddata/map/pnc_map/pnc_map.cpp
Commit a37db28239f7ff646e2cfd4741956d0931f16012 by wuyanjun110
chore: SSEP: 集卡多段倒车场景，Replan时加入最后一段拉直逻辑

The file was modifiedssep/scenarios/stitching_replanner.h
The file was modifiedssep/ssep_planner.cc
Commit c056957f24f960655444350738b1f87cfd43dfee by wuyanjun110
chore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度

The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
Commit 6689b96da152ff775738a4d8549f63c3a4006ef5 by wuyanjun110
fix: SSEP: 提升太阳纸业自卸车出堆场成功率

The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
Commit bc123663a2b96f1de8212916ac10b2311921b2ea by wuyanjun110
fix:极限变道不replan的bug
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedtasks/deciders/search_decider/ex_lane_change_search_decider.cpp
Commit 03c0657ce15b2d36b9b7db1be30a799619f63c7b by wuyanjun110
fix:极限变道不replan的bug
The file was modifiedtasks/deciders/search_decider/ex_lane_change_search_decider.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit da89721cf51cc043236212892929ab5f695057cd by wuyanjun110
fix: 优化SmoothTask执行逻辑，增加对特定条件的处理
The file was modifiedtasks/plan/smooth_task.cpp
Commit 8e49862c79f39612bfc375ccd4713261e70a0418 by wuyanjun110
chore: SSEP: 解决集卡多段倒车可能绕圈的问题

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
Commit d666a45ca3767b4b91105fb1fb0f7d32135b68cf by wuyanjun110
refactor:优化小地图绘制时间过长的问题
The file was modifiedhmi/common/image_viewer.cpp
The file was modifiedhmi/widget/map.cpp
The file was modifiedhmi/common/image_viewer.hpp
The file was modifiedhmi/widget/map.hpp
The file was modifiedhmi/widget/replayer_map.hpp
The file was modifiedhmi/widget/replayer_map.cpp
Commit a37d003f3d78285b1caa441cbe8d88a4cb213a04 by wuyanjun110
feat: 添加点云底图加载功能，支持异步加载和清除操作
The file was modifiedhmi/draw/draw_map.hpp
The file was modifiedhmi/replayer_hmi.cpp
The file was modifiedhmi/node_hmi.cpp
The file was modifiedhmi/draw/draw_map.cpp
Commit 4276d18dd2fdd47232479f7a347a05597563a7cc by wuyanjun110
feat: 添加虚拟障碍物长度限制，优化创建虚拟障碍物的性能
The file was modifiedhmi/common/pnc_graphics_view.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit 64ef83d02cb4ee10b6552d567e1250eeeb5ced6d by chenran
fix: fiter cost_beta
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 28b808307c8011970b2cdff7fa66961de6217668 by chenran
feat: trust-region solver based WBCA
The file was addedthirdparty/trust-region/truncated_cg_trust_region.hpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.hpp
The file was modifiedalgorithm/wbca/path_optimization/truck_path_optimization.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/car_path_optimization.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit 8ac969a8781279ff5844967394890d8214fff0a7 by chenran
fix: max_ref_len 60
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
Commit 819284d803105345130b63c9b6bd545af273446f by wuyanjun110
feat:fsm interface 里面添加 开始对准是终点距离的接口
The file was modifieddata/app/fsm_interface.cpp
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.hpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.hpp
The file was modifieddata/app/fsm/task_motion_fsm.hpp
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
The file was modifieddata/app/fsm/task_motion_fsm.cpp
The file was modifieddata/app/fsm_interface.hpp
Commit 8c45894813ba6649234716d03a0f8db3819c13fd by wuyanjun110
fix:align done 情况下还可以继续走的bug
The file was modifieddata/app/fsm/motion_fsm/motion_fsm.cpp
Commit 1103882d593a0c4891581b5d3ce213d8c472bbf4 by wuyanjun110
fix:停车原因赋值错误的bug
The file was modifieddata/app/cmd/cmd_align.cpp
The file was modifieddata/app/fsm/task_command_type.cpp
The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifiedplan/prepare/module.cpp
The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
The file was modifiedhmi/widget/command.cpp
The file was modifiedplan/prepare/prepare_status.cpp
Commit 8ba0710732b2cc129b93b855484552d35aac311c by wuyanjun110
feat: 添加对值阈值和条件，优化对准决策逻辑
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
Commit b9301900bfe01801aee8ab789b9f37e9ee58fea1 by wuyanjun110
fix: 添加路径点数量检查，确保至少有两个点以创建路径
The file was modifieddata/map/pnc_map/pnc_map_path.cpp

Summary

  1. feat: 增加网络热力图与版本采集归档、历史切换及界面整理 (details)
Commit 6239acf67a0cc4281adf20ec475eae08ceb4e68e by haoxiangtao
feat: 增加网络热力图与版本采集归档、历史切换及界面整理


(cherry picked from commit eeccaaf38ae479092629c0c741c47aaa54f866e6)

(cherry picked from commit 425599a07cd1bccf3a8176389f08cff9253b2d49)
The file was modifiedfrontend/src/view/version-check.vue
The file was modifiedfrontend/src/data/network_heatmap.js
The file was modifiedfrontend/src/data/store.js
The file was addedbackend/models/version_archive_schema.js
The file was removedbackend/models/section_ins.js
The file was modifiedbackend/models/heatmap_ins.js
The file was modifiedbackend/models/mqtt_ins.js
The file was modifiedfrontend/src/view/network-heatmap.vue
The file was modifiedbackend/app.js
The file was modifiedbackend/models/mongodb_ins.js
The file was modifiedbackend/models/version_record.js
The file was modifiedbackend/routes/off_router.js
The file was removedfrontend/src/components/SelectDisplayMode.vue
The file was modifiedbackend/routes/netquality_router.js
The file was addedbackend/models/network_heatmap_archive_schema.js
The file was modifiedfrontend/src/components/PageHeader.vue