[Jenkins]Jenkins

Changes

Summary

  1. Update push.groovy (details)
  2. Update push.groovy (details)
  3. Update orinBuild.groovy (details)
  4. Update orin32Choice.groovy (details)
  5. Update orin64Choice.groovy (details)
  6. Update orinModule32Choice.groovy (details)
  7. Update orinModule64Choice.groovy (details)
Commit 5110066e6fb18e323b89e9df75552e3a7580278f by weilikang
Update push.groovy
The file was modifiedsrc/org/devops/push.groovy
Commit 48f615b44df5ad45dc23ee1afbf89288b9cd5d7f by weilikang
Update push.groovy
The file was modifiedsrc/org/devops/push.groovy
Commit 792e791e510e916fdb4ac99f8360113db33f4adf by weilikang
Update orinBuild.groovy
The file was modifiedsrc/org/orin/orinBuild.groovy
Commit cfdda238409be0d6ef7127db80dce6ddb75c70ff by weilikang
Update orin32Choice.groovy
The file was modifiedsrc/org/orin/orin32Choice.groovy
Commit 6158be3d5aafe6b83ac8411998b59378395dcac1 by weilikang
Update orin64Choice.groovy
The file was modifiedsrc/org/orin/orin64Choice.groovy
Commit 71c4415f00794e235fb73c1a21491a479f470df5 by weilikang
Update orinModule32Choice.groovy
The file was modifiedsrc/org/orin/orinModule32Choice.groovy
Commit 9f44dc9fae70c421108f9b859142c1e0c757669a by weilikang
Update orinModule64Choice.groovy
The file was modifiedsrc/org/orin/orinModule64Choice.groovy

Summary

  1. Update guangxi-youyiguan-submodule.jenkinsfile (details)
  2. Update telediagnostic.jenkinsfile (details)
  3. Update mizar.jenkinsfile (details)
  4. Update polaris.jenkinsfile (details)
  5. Update tc397_ota.jenkinsfile (details)
  6. Update python-scripts.jenkinsfile (details)
  7. Update system-libraries.jenkinsfile (details)
  8. Update hdmap-cloud.jenkinsfile (details)
  9. Update map-png.jenkinsfile (details)
  10. Update map-png.jenkinsfile (details)
Commit 49321de23dfe8c770ea50675c4b947f53d384405 by weilikang
Update guangxi-youyiguan-submodule.jenkinsfile
The file was modifiedparams/guangxi-youyiguan-submodule.jenkinsfile
Commit e9d7b2a14e0abe388837b3259c564e516f54dd39 by weilikang
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Commit 38ac92ef208455da5c23f870e8719e634f4902a4 by weilikang
Update tc397_ota.jenkinsfile
The file was modifiedhardware/tc397_ota.jenkinsfile
Commit c04bafab16435ba3ba034eae18bdf53931d05dc6 by weilikang
Update python-scripts.jenkinsfile
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Update hdmap-cloud.jenkinsfile
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Update map-png.jenkinsfile
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Commit 8914f99ff0f103e6b77088dcf41dfd536debcc4f by weilikang
Update map-png.jenkinsfile
The file was modifiedhdmap/map-png.jenkinsfile

Summary

  1. fix:引桥前变道的bug (details)
  2. fix:变道的bug (details)
  3. chore: SSEP: Update ssep sdk. (details)
  4. fix:修复合并的bug (details)
  5. fix:修复合并的bug (details)
  6. chore: 重构keb_optimizer，提取出tractor_trailer_keb_optimizer. 后续可以为其他车型添加优化器 (details)
  7. fix:适配open space 场景 (details)
  8. fix: using maximum vehicle size in WBCA (details)
  9. fix: using maximum vehicle size in WBCA (details)
  10. Feat: SSEP: 增加自卸车倒车卸货场景 (details)
  11. feat: 接入自卸车倒车卸货场景 (details)
  12. fix: abandon  last segment in wbca. (details)
  13. fix: 修复ssep搜索区域尺寸错误 (details)
  14. fix:可能崩溃的bug (details)
  15. fix: wbca debug msg. (details)
  16. fix: end_velocity for wbca calc exception. (details)
  17. fix: velocity profile exception. (details)
  18. fix:人工对准误创建约束 (details)
  19. fix:人工对准误创建约束 (details)
  20. feat:open space的优化 (details)
  21. refactor:直线步进 优化步进时间 (details)
  22. refactor:直线步进 优化步进时间 (details)
  23. feat: SSEP: keb optimizer优化多段路径。car模型适配keb optimizer。 (details)
  24. feat: ssep_data中保存重规划原因 (details)
  25. fix: add wbca debug var. (details)
  26. fix: add lateral acc cost. (details)
  27. fix: abandon  last segment in wbca. (details)
  28. fix: wbca debug msg. (details)
  29. fix: end_velocity for wbca calc exception. (details)
  30. fix: velocity profile exception. (details)
  31. fix: add wbca debug var. (details)
  32. fix: add lateral acc cost. (details)
  33. fix: add wbca cost and time_consuming. (details)
  34. fix: add wbca cost and time_consuming. (details)
  35. fix: add wbca cost and time_consuming. (details)
  36. fix: add lateral acc cost. (details)
  37. fix: SSEP: 修复car+optimizer中代码的bug (details)
  38. merge latest ssep (details)
  39. feat:添加根据定位值的倒车防护，防治对准时，跟着桥走. (details)
  40. fix:修复代码合并的bug (details)
  41. fix: pub lane_pts debug msg. (details)
  42. feat: SSEP: 增加IMV-either-facing-goal搜索功能（可以头朝前也可以尾朝前） (details)
  43. feat: 适配IMV-either-facing-goal搜索。苏溪去除冗余的end theta加减PI处理 (details)
  44. feat: SSEP: 增加IMV-either-facing-goal搜索功能（可以头朝前也可以尾朝前） (details)
  45. feat:暂时可以调试 (details)
  46. fix:修复快照里面dp path 计算错误的bug (details)
  47. feat:原地打方向盘时，方向盘校验的阈值参数化 (details)
  48. chore: SSEP: 更新到最新版本ssep，增加集卡多段Parking场景，多段Parking增加优化后处理 (details)
  49. chore: 适配新版本ssep (details)
  50. feat: SSEP: 增加集卡多段倒车场景 (details)
  51. fix: wbca bd expanding. (details)
  52. feat: SSEP: 增加IMV-either-facing-goal搜索功能（可以头朝前也可以尾朝前） (details)
  53. feat: SSEP: 增加集卡多段倒车场景 (details)
  54. fix:修复连续普通路口搜索的bug (details)
  55. fix: SSEP: Resolve crashing issue. (details)
  56. fix: SSEP: Resolve crashing issue. (details)
  57. fix: SSEP: Resolve crashing issue. (details)
  58. fix: SSEP: Resolve crashing issue. (details)
  59. feat: add distance2bend (details)
  60. fix: WBCA lane change path (details)
  61. fix: choosing WBCA start_pt at guide_line in SMOOTH MODE (details)
  62. fix: choosing WBCA start_pt at guide_line in SMOOTH MODE (details)
  63. fix: cherry pick bug. (details)
  64. feat:适配状态机场景 (details)
  65. feat: WBCA serialization for debug. (details)
  66. fix: using history_pts for lattice velocity reference. (details)
  67. fix: use_func_use_wbca_speed_limit = true (details)
  68. fix: wbca bd expanding. (details)
  69. fix: using history_pts for lattice velocity reference. (details)
  70. feat: SSEP: 增加引导线跟随模式搜索 (details)
  71. feat: ssep适配脱困模式 (details)
  72. feat:boost 编译错误 (details)
  73. fix: SSEP: 修复引导线跟随搜索的一些bug (details)
  74. fix: lateral acceleration parameters. (details)
  75. fix: ComputeLonGuideVelFromLatAcc (details)
  76. feat: clear align times when align2nd to align1st. (details)
  77. feat: clear align times when align2nd to align1st. (details)
  78. feat:脱离模式 路径切换的适配 (details)
  79. chore: SSEP: 新增DirectionalPath数据结构，简化对reference line的处理 (details)
  80. feat: SSEP: 增加引导线跟随模式搜索 (details)
  81. fix: SSEP: 修复引导线跟随搜索的一些bug (details)
  82. chore: SSEP: 新增DirectionalPath数据结构，简化对reference line的处理 (details)
  83. fix: lon_decision for car. (details)
  84. feat:cut ego 添加参数 (details)
  85. feat:适配新的障碍物类型 (details)
  86. fix: lon_decision for car. (details)
  87. feat:脱困模式，适配重搜索逻辑以及地图版本校验 (details)
  88. feat:cut ego 添加参数 (details)
  89. feat:适配新的障碍物类型 (details)
  90. fix: add min_turn_radius (details)
  91. fix: add lattice_velocity_reference_mode (details)
  92. feat:调整搜索终点位置 (details)
  93. feat:堆高机作业关路重叠时，合并 (details)
  94. feat:park lock下 不校验地图 (details)
  95. fix: disable wbca debug mode. (details)
  96. feat:调整出堆场口的约束创建 (details)
  97. feat:调整出堆场口的约束创建 (details)
  98. fix: max_lat_acc in wbca params (details)
  99. fix: ignore dynamic obstacle in risk evaluation. (details)
  100. fix:调整危险限速距离的bug (details)
  101. feat:调整状态机 (details)
  102. feat:远程步步进，停车时间参数化 (details)
  103. fix:调整危险限速距离的bug (details)
  104. feat:远程步步进，停车时间参数化 (details)
  105. fix_out: lat_acc_baed ref vel cal error. add debug msg. (details)
  106. fix:修复因为距离阈值，带来场景识别错误的bug (details)
  107. fix: bug (details)
  108. fix: disable wbca_debug mode. (details)
  109. fix:修复终点距离计算的bug (details)
  110. chore(format):格式 (details)
  111. chore: 适配remote guide line变更 (details)
  112. fix:修复海润进弯道后第一个停车位停不正的bug (details)
  113. fix:修复因为距离阈值，带来场景识别错误的bug (details)
  114. fix:修复终点距离计算的bug (details)
  115. fix:修复海润进弯道后第一个停车位停不正的bug (details)
  116. fix: delete log. (details)
  117. enable ssep_heat_net (tmp commit) (details)
  118. fix:修复误触发open space的bug (details)
  119. fix:修复误触发open space的bug (details)
  120. fix: SSEP: 修复IMV进充电桩方向错误的问题 (details)
  121. fix: SSEP: 修复IMV进充电桩方向错误的问题 (details)
  122. fix: delete log (details)
  123. feat: SSEP: 完成 learning-based 进出堆场口搜索全流程 (details)
  124. feat: 适配ssep learning-based 进出堆场口 (details)
  125. feat:执行remote后进入stop auto (details)
  126. feat:添加obj障碍物的跟车距离 (details)
  127. refactor:优化bulk场景的限速 (details)
  128. fix: SSEP: 修复终点在堆场边缘时，场景识别错误导致搜索失败的问题。 (details)
  129. chore: SSEP: Add some printos. (details)
  130. fix:修复park lock 切换 park out， 不重搜索的bug (details)
  131. fix:修复极限变道时没有应用变道路径，然后状态机切换的bug (details)
  132. feat:添加obj障碍物的跟车距离 (details)
  133. refactor:优化跟车距离 (details)
  134. refactor:优化跟车距离 (details)
  135. chore: SSEP: use standard out stream. (details)
  136. fix: 解决未安装cuda的系统编译失败的问题。 (details)
  137. fix:临时修复重搜索的bug (details)
  138. refactor:优化动态搜索限速 (details)
  139. feat: SSEP: 重规划时先考虑复用优化上一条轨迹 (details)
  140. feat: SSEP重规划时复用轨迹 (details)
  141. refactor:优化动态搜索限速 (details)
  142. fix:修复replayer编译失败的bug (details)
  143. feat: lon_decision from SQ (details)
  144. fix: add min_safe_ttc (details)
  145. fix: v_min_coef = 9.9 wbca (details)
  146. fix: disable dynamic and steering speed constraints (details)
  147. fix: disable dynamic and steering speed constraints (details)
  148. fix: add min_velocity_coefficient_for_velocity_cost. (details)
  149. feat:添加障碍物靠近警报的功能 (details)
  150. feat:添加障碍物靠近警报的功能 (details)
  151. fix:修复出堆场过程中， travel out场景退出的bug (details)
  152. fix: bulk场景 进出堆场限速的bug (details)
  153. feat: SSEP: 增加imv keb optimizer, 适配两段式搜索任务。 (details)
  154. refactor:优化动态搜索限速 (details)
  155. feat:添加障碍物靠近警报的功能 (details)
  156. fix:修复出堆场过程中， travel out场景退出的bug (details)
  157. fix: bulk场景 进出堆场限速的bug (details)
  158. fix:优化不绕行和搜索停车的问题 (details)
  159. fix:保存任务时，当前定位保存错误的bug (details)
  160. fix:合并的bug (details)
  161. chore: SSEP: minor params finetune. (details)
  162. feat: 海润适配新imv搜索器 (details)
  163. fix: wbca crash issue. (details)
  164. fix: crash issue. (details)
  165. fix: SSEP: 修复集卡进堆场轨迹绕圈问题 (details)
  166. fix: wbca debug mode. (details)
  167. fix: replace IsInLat/Lon with is_bend. (details)
  168. feat:适配大港ssep (details)
  169. feat: ogm聚类时使用多边形代替原来的线段障碍物 (details)
  170. chore: SSEP: (details)
  171. feat: 进出堆场场景中，如果存在云端remote guide line的话，进入参考线跟随搜索模式。 (details)
  172. chore: SSEP: imv optimizer参数调试 (details)
  173. fix: 救援模式下，无法取消任务的bug (details)
  174. fix:状态机切换的bug (details)
  175. fix:修复带有bulk 途经点， opensspce 不搜索的bug (details)
  176. fix:修复带有bulk 途经点， opensspce 不搜索的bug (details)
  177. fix: crash issue. (details)
  178. fix:堆场口禁停异常的bug (details)
  179. chore: SSEP重构 - 实现搜索框架适配器，将旧的搜索器适配到新框架，统一流程。可视化与主进程解耦，去除死代码。 (details)
  180. chore: 适配ssep重构 (details)
  181. chore: SSEP: minor adjustments (details)
  182. chore: SSEP: 1. imv-keb-optimizer调参解决低贝位进堆场路径画龙的问题。2. 限制斜行角度。 (details)
  183. chore: SSEP: 增加打印信息，修复一些小错误。 (details)
  184. feat:适配直线步进，根据ttc进行碰撞检测的功能 (details)
  185. fix:1.修复fall back 重搜索的bug 2.fallback自动起步的bug (details)
  186. fix:向后直线步进的bug (details)
  187. fix:向后直线步进的bug (details)
  188. fix:修复合并的bug (details)
  189. feat:cheackout ssep (details)
  190. feat:release (details)
  191. fix:出停车位,不拼接参考线的bug (details)
  192. fix: 拖车路径延长初始角度错误 (details)
  193. fix:travel out 退出的bug (details)
  194. feat:1.吊具着箱后，拒绝对准2.添加吊距防护忽略安全的参数 (details)
  195. fix: SSEP: 修复碰撞检测参数错误 (details)
  196. fix:ttc计算的bug (details)
  197. chore: SSEP: 改进脱困模式效果 (details)
  198. fix:优化云端轨迹的转向赋值 (details)
  199. fix:ttc计算的bug (details)
  200. chore: ssep改善脱困模式搜索效果 (details)
  201. fix:修复平行驾驶出堆堆场不退出travel out 场景的bug (details)
  202. fix:修复直道标志位传输错误的bug (details)
  203. refactor:优化救援模式下的跟车距离 (details)
  204. chore: SSEP: Refactor (details)
  205. fix: ssep修复车道方向未赋值的问题，remote guide line校验不通过时打印错误信息 (details)
  206. chore: SSEP: 改进脱困模式效果 (details)
  207. chore: ssep改善脱困模式搜索效果 (details)
  208. feat: add drving_corridor_ogm_dilate_size_in_yard (details)
  209. fix:云端轨迹挂转角赋值错误的bug (details)
  210. fix: disable optimizer in ssep (details)
  211. feat:暂时关闭路口延长的逻辑 (details)
  212. feat:暂时关闭路口延长的逻辑 (details)
  213. chore: SSEP 重构大框架完成并通过自测 (details)
  214. fix: using successors to extend bend lane laterally. (details)
  215. fix: using successors to extend bend lane laterally. (details)
  216. fix: ssep: 补充重构时缺少的remote guide line处理逻辑 (details)
  217. fix: 修复错误进入多段出停车位场景的问题 (details)
  218. fix: 修复错误进入多段出停车位场景的问题 (details)
  219. chore: 修复友谊关场景错误 (details)
  220. chore: SSEP: 改进集卡多段倒车 (details)
  221. chore: minor update. (details)
  222. feat:道路方案判断的阈值参数化 (details)
  223. feat: ssep优化时增加对集卡车头车挂夹角的限制 (details)
  224. fix: is_lane_begin_and_end_same. (details)
  225. feat: SSEP: 脱困模式生成多段路径时，检测并去除过短的路径段。 (details)
  226. fix: 修复威海bulk out搜索失败的问题 (details)
  227. chore: SSEP: 脱困模式优化器提高参考线权重 (details)
  228. feat:添加超时框停车的功能 (details)
  229. feat:调整rss 安全判断 (details)
  230. feat:调整云端障碍物的显示 (details)
  231. feat: 改进集卡SSEP路径延长策略。跑通苏溪集卡出停车位场景。 (details)
  232. feat:引导线的序列化 (details)
  233. feat:限制忽略预测的最小距离阈值 (details)
  234. refactor:优化ssep og lines的序列化 (details)
  235. fix:replayer ogm lines显示的开关 (details)
  236. chore: SSEP: 改善杨浦低贝位进堆场轨迹扭曲的问题 (details)
  237. feat:优化imv 出停车位的相关逻辑 (details)
  238. feat:集卡出停车位 多段路径搜索参数调优(wenqing) (details)
  239. fix: SSEP: 修复IMV的either-facing搜索模式反向搜索成功率低的问题 (details)
  240. fix:优化极限变道安全的校验 (details)
  241. fix:进堆场弯道后目标车道选择时， 匹配失败的bug (details)
  242. fix: SSEP: 解决IMV优化器效果差的问题，取消参考线heading跟踪。 (details)
  243. chore: SSEP 调整集卡进堆场参数 (details)
  244. fix: start up boundary optimization. (details)
  245. fix:target 任务 终点保存的bug (details)
  246. fix: stacker crane wbca smooth mode thr. (details)
  247. fix:imv和集卡进出停车的适配 (details)
  248. feat:优化切换bulk in的条件 (details)
  249. feat: low bay operation smooth (details)
  250. feat:苏溪 进堆场堆场和普通路口搜索参数调优 (details)
  251. feat:优化路口搜索 (details)
  252. feat:car 动态搜索相关问题适配 (details)
  253. fix: start up boundary optimization. (details)
  254. fix: stacker crane wbca smooth mode thr. (details)
  255. feat: low bay operation smooth (details)
  256. chore: 太阳纸业适配reversing driving进货堆 (details)
  257. feat: add UpdateRouteForSmoothMode (details)
  258. fix:修复货堆任务无法自动起步的bug (details)
  259. fix: wbca crash issue. (details)
  260. chore: SSEP: 进出堆场多段搜索的步骤切换条件改进 -- 现在可以不按最近的堆场口进入堆场 (details)
  261. feat:终点距离计算的问题 (details)
  262. feat:travel out 切换 bulk 的bug (details)
  263. fix:修复remote状态机切换的bug (details)
  264. fix: ssep重新开启heatnet (details)
  265. feat:bulk状态下，障碍物挡停 切换 bulk lock的阈值参数化 (details)
  266. feat:修复routing data 转换的问题 (details)
  267. fix: SSEP: 修复倒车规划时初始方向向前的问题 (details)
  268. feat:过滤107 类型的点云 (details)
  269. feat: 增加ssep scenario config，通过参数文件设置场景触发条件及场景参数 (details)
  270. feat:远程步进超时的问题 (details)
  271. feat:出堆场场景赋值错误的bug (details)
  272. chore: SSEP: 前港进出堆场改进 (details)
  273. feat:修复默认的步进速度 (details)
  274. chore: SSEP: 改善集卡多段出停车位效果 (details)
  275. chore: SSEP: 改善集卡多段出停车位效果 (details)
  276. Refactor: SSEP: 整理代码目录结构，分离onboard代码与offboard代码 (details)
  277. Refactor: SSEP: minor updates (details)
  278. feat:整理安全防护 (details)
  279. fix:修复距离超视距框过近，搜索失败的bug (details)
  280. fix:调整ttc 预测轨迹 (details)
  281. feat: 太阳纸业场景适配 (details)
  282. feat:wcba求解路径过短的问题修复 (details)
  283. fix:wcba路径过短的问题 (details)
  284. fix: imv cost (details)
  285. feat: SSEP: 前进/后退时使用不同的碰撞检测策略。增加前进方向的额外碰撞检测。 (details)
  286. feat: SSEP: 前进/后退时使用不同的碰撞检测策略。增加前进方向的额外碰撞检测。 (details)
  287. fix:参考线拼接的bug (details)
  288. feat:wcba求解路径过短的问题修复 (details)
  289. fix:wcba路径过短的问题 (details)
  290. fix: using guide_line pt for smooth mode. (details)
  291. feat: SSEP: IMV更换新的运动学模型，额外状态量从后轮转向更改为beta (details)
  292. Refactor: SSEP: 整理代码目录结构，分离onboard代码与offboard代码 (details)
  293. Refactor: SSEP: minor updates (details)
  294. feat: SSEP: 前进/后退时使用不同的碰撞检测策略。增加前进方向的额外碰撞检测。 (details)
  295. feat: SSEP: IMV更换新的运动学模型，额外状态量从后轮转向更改为beta (details)
  296. fix: wbca smooth_mode path opt. (details)
  297. feat: 增加ssep-heatnet-2.0训练场景生成器 (details)
  298. refactor: 将ssep的依赖改为sub_directory的形式，添加proto数据结构 (details)
  299. feat: SSEP增加IMV进堆场场景 (details)
  300. feat: 增加ssep-heatnet-2.0训练场景生成器 (details)
  301. refactor: 将ssep的依赖改为sub_directory的形式，添加proto数据结构 (details)
  302. feat: SSEP增加IMV进堆场场景 (details)
  303. chore: SSEP: 调试IMV路径 (details)
  304. chore: SSEP: 调试IMV路径 (details)
  305. chore: Add proto converters. (details)
  306. feat:根据指令更改挂的尺寸 (details)
  307. Revert "feat:暂时屏蔽container size 变量" (details)
  308. refactor: 去除SSEP中不再用到的参数与相关处理。 (details)
  309. fix:太阳纸业 出库， ssep路径匹配的bug (details)
  310. fix:太阳纸业 出库， ssep路径匹配的bug (details)
  311. fix: SSEP 修复proto版本不兼容的问题 (details)
  312. fix: SSEP 修复proto版本不兼容的问题 (details)
  313. fix:修复ttc预测的bug (details)
  314. fix:修复ttc预测的bug (details)
  315. Revert "feat:暂时屏蔽container size 变量" (details)
  316. chore: SSEP: 改进多段路径 - 短路径去除的逻辑 (details)
  317. fix: reversing car bulk scenario. (details)
  318. fix:修复程序运行的bug (details)
  319. feat:搜索尺寸参数赋值 (details)
  320. fix:车辆参数赋值错误的bug (details)
  321. refactor: update cmakelist (details)
  322. fix: reversing crash. (details)
  323. feat: convert cloud_obstacles to cloud points. (details)
  324. chore: 改进出堆场搜索，调整offboard部分代码 (details)
  325. refactor:调整末端的限速 (details)
  326. chore: 改进友谊关多段倒车路径形状 (details)
  327. chore: 改进友谊关多段倒车路径形状 (details)
  328. feat:breakpad 崩溃 (details)
  329. feat:删除终点后的不可绕行 (details)
  330. feat:上引导不变道的bug (details)
  331. feat:draw ssep崩溃的防护 (details)
  332. feat:删除打印日志 (details)
  333. fix:replayer编译失败的bug (details)
  334. fix:breakpad编译失败的bug (details)
  335. fix: SSEP: proto去除optional关键字 (details)
  336. fix: motion_fsm to_normal bug. (details)
  337. feat: SSEP: 完成ssep相关的proto定义。 (details)
  338. fix: fix building issue (details)
  339. fix: 修复imv优化器斜行代价太小的问题 (details)
  340. fix: 修复imv优化器斜行代价太小的问题 (details)
  341. Revert "fix: 修复imv优化器斜行代价太小的问题" (details)
  342. fix:修复imv优化器斜行代价太小的问题 (details)
  343. fix: first_frame smooth mode except in_yard (details)
  344. refactor:优化进苏溪停车位的搜索 (details)
  345. refactor:优化进苏溪停车位的搜索 (details)
  346. fix: clear route in smooth mode when large deviation. (details)
  347. fix: clear route in smooth mode when large deviation. (details)
  348. chore: SSEP: 实现SceneFrame的构建 (details)
  349. fix: wbca smoth_mode route interval (details)
  350. fix: wbca smoth_mode route interval (details)
  351. feat:适配梁山港 (details)
  352. factor:添加搜索途径点的绘制 (details)
  353. feat:适配梁山港 (details)
  354. factor:添加搜索途径点的绘制 (details)
  355. feat: SSEP: 1. 增加集卡进停车位场景。2. 集卡出停车位场景倒车时增加额外后向检测。 (details)
  356. chore: ssep: yangpu enter yard (details)
  357. refactor:优化序列化的显示 (details)
  358. chore: SSEP: 改进杨浦进堆场路径 (details)
  359. feat: add KappaRateCost. (details)
  360. fix: add use_func_stationary_steering_activation (details)
  361. chore: SSEP: yangpu进堆场路径调试 (details)
  362. fix:宽度补偿的bug (details)
  363. fix:宽度补偿的bug (details)
  364. fix:参考线拼接的问题 (details)
  365. feat:对准指令校验的阈值参数化 (details)
  366. feat:优化counter的绘制 (details)
  367. feat:ssep的优化 (details)
  368. feat:杨浦进堆场口搜索约束的优化 (details)
  369. feat:wcba的优化 (details)
  370. refactor:优化序列化的显示 (details)
  371. refactor:调整末端的限速 (details)
  372. fix: smooth path opt. (details)
  373. fix:参考线拼接的问题 (details)
  374. feat:ssep的优化 (details)
  375. feat:杨浦进堆场口搜索约束的优化 (details)
  376. fix:参考线拼接的问题 (details)
  377. feat:对准指令校验的阈值参数化 (details)
  378. feat:优化counter的绘制 (details)
  379. feat:ssep的优化 (details)
  380. feat:杨浦进堆场口搜索约束的优化 (details)
  381. feat:wcba的优化 (details)
  382. feat: SSEP: 跑通offboard数据生成工具 (details)
  383. fix:smooth_mode connection. (details)
  384. fix: disable smooth mode in yard. (details)
  385. feat: SSEP: Add SceneFrame Replayer. (details)
  386. fix: wbca using history exception. (details)
  387. fix: stitch path data failed. (details)
  388. fix:苏溪进停车的bug (details)
  389. fix:苏溪进停车的bug (details)
  390. feat:添加绕行障碍物的速度参数 (details)
  391. feat:添加绕行障碍物的速度参数 (details)
  392. feat:优化绕行判断 (details)
  393. feat:优化绕行判断 (details)
  394. feat: SSEP: offboard: Add scene frame vis server. (details)
  395. fix: extract path and trajectory in replayer. (details)
  396. fix: extract path and trajectory in replayer. (details)
  397. fix: wbca start_pos bug. (details)
  398. feat:杨浦进堆场优化 (details)
  399. chore: SSEP: update OG polygon extraction algr. (details)
  400. feat:杨浦进堆场优化 (details)
  401. feat: SSEP: Viz server add download button. (details)
  402. feat: SSEP: Add rigid truck general scenario planner. (details)
  403. fix: clear history_pts when wbca opt failed. (details)
  404. fix: replayer wbca debug. (details)
  405. fix: SSEP: 修复SSEP内存泄漏问题 (details)
  406. chore: 保存ssep scene frame 到本地 (details)
  407. fix: SSEP: Fix crashing issues (details)
  408. fix:上引桥极限变道的bug (details)
  409. chore: SSEP web 可视化增加【上一个】【下一个】按钮 (details)
  410. feat: Pnc Cmakelist中增加scene_vis_server(编译和打包) (details)
  411. chore: minor update (details)
  412. fix: wbca debug (details)
  413. feat: SSEP: visualization show trailer contour (details)
  414. feat:杨浦进堆场优化 (details)
  415. feat:最近车道匹配的bug (details)
  416. feat: OG点挡停重规划 (details)
  417. fix:修复连续普通路口搜索的bug (details)
  418. feat:杨浦进堆场优化 (details)
  419. feat:最近车道匹配的bug (details)
  420. fix: SSEP: 修复car search + optimize相关问题 (details)
  421. fix: active curvature speed limit. (details)
  422. fix: wbca debug in replayer. (details)
  423. fix: kappa_softmax and kappa_rate_softmax (details)
  424. fix: win = 4 for kappa speed limit (details)
  425. chore: SSEP: 改进低贝位进堆场效果 (details)
  426. chore: SSEP: Remove unused offline files. (details)
  427. fix:身后障碍物过滤的bug (details)
  428. fix:replan逻辑的优化 (details)
  429. refacor:搜索的优化 (details)
  430. fix:修复连续普通路口搜索的bug (details)
  431. fix:身后障碍物过滤的bug (details)
  432. fix:replan逻辑的优化 (details)
  433. refacor:搜索的优化 (details)
  434. fix:编译的bug (details)
  435. fix:编译的bug (details)
  436. chore:  SSEP: Improve keb car optimization process (details)
  437. feat: SSEP add scene data augmentation scripts. (details)
  438. feat: 添加git push-notify功能，可以联动钉钉机器人发送推送通知，并调用大模型自动编辑周报 (details)
  439. fix:重复规划的bug (details)
  440. fix:出堆场，误进平滑模式的bug (details)
  441. fix:优化出堆场的搜索 (details)
  442. fix:重复规划的bug (details)
  443. fix:出堆场，误进平滑模式的bug (details)
  444. fix:优化出堆场的搜索 (details)
  445. chore: git push notify config脱敏 (details)
  446. fix:修复replayer内存泄漏的问题 (details)
  447. feat: SSEP: 自卸车进出堆场时忽略起点终点附近的碰撞 (details)
  448. fix: SSEP:  解决太阳纸业路口转弯距离参考线太远的问题 (details)
  449. fix:防护half to float 到 inf的场景 (details)
  450. fix: smooth_mode for bulk_load (details)
  451. feat:翻斗角度过大停车值在bulkload场景下生效 (details)
  452. feat:翻斗角度过大停车值在bulkload场景下生效 (details)
  453. fix: SSEP: 修复苏溪出停车位时先往前走一段的问题。 (details)
  454. fix: SSEP路径当前段匹配的bug (details)
  455. fix: SSEP路径当前段匹配的bug (details)
  456. fix: wbca debug (details)
  457. fix:修复正常跟踪场景使用pjpo的bug (details)
  458. fix:修复正常跟踪场景使用pjpo的bug (details)
  459. fix:ssep replan崩溃的bug (details)
  460. fix:ssep replan崩溃的bug (details)
  461. fix: keep history when wbca failed. (details)
  462. fix: SSEP: 解决苏溪进停车位搜索失败的问题 (details)
  463. fix:完善搜索失败临时停车的功能 (details)
  464. fix:完善搜索失败临时停车的功能 (details)
  465. fix:修复崩溃的bug (details)
  466. fix:修复崩溃的bug (details)
  467. fix:修复太阳路口搜索失败的bug (details)
  468. fix:修复太阳路口搜索失败的bug (details)
  469. fix: SSEP: 1. 修复accurate reversing场景倒车最后三米忽略碰撞未触发的问题。2.提升苏溪进停车位成功率 (details)
  470. chore: SSEP: minor update (details)
  471. chore: SSEP: minor updates (details)
  472. feat:car类型的普通路口搜索考虑边界 (details)
  473. feat:car类型的普通路口搜索考虑边界 (details)
  474. fix:修复可能崩溃的bug (details)
  475. refactor:优化太阳卸料区挡停的重搜索逻辑 (details)
  476. fix: SSEP: 修复优化器中起点曲率没有初始化的问题 (details)
  477. fix:修复可能崩溃的bug (details)
  478. refactor:优化太阳卸料区挡停的重搜索逻辑 (details)
  479. fix: start_pt from last_path. (details)
  480. feat: SSEP: 集卡多段倒车搜索器改进为双向搜索。复测威海、友谊关的问题场景，成功率100% (details)
  481. fix:连续载入快照崩溃的bug (details)
  482. fix: SSEP: 修复IMV PULLOVER场景最后一段不走直线的问题。 (details)
  483. fix: start_pt from last_path. (details)
  484. feat: SSEP: 集卡多段倒车搜索器改进为双向搜索。复测威海、友谊关的问题场景，成功率100% (details)
  485. fix:连续载入快照崩溃的bug (details)
  486. fix: SSEP: 修复IMV PULLOVER场景最后一段不走直线的问题。 (details)
  487. fix:董家口靠边作业的问题 (details)
  488. feat:wbca求解失败后，使用ssep路径带来的路径跳变问题 (details)
  489. fix: add curvature over limit temp stop. (details)
  490. fix: curvature_over_limit_stop_coefficient 10.0 (details)
  491. chore: SSEP minor updates (details)
  492. fix: truck start_pt exception. (details)
  493. feat:曲率超限停车优化 (details)
  494. feat:travel out 没有一次规划的适配 (details)
  495. fix:董家口靠边作业的问题 (details)
  496. feat:wbca求解失败后，使用ssep路径带来的路径跳变问题 (details)
  497. feat:曲率超限停车优化 (details)
  498. fix:调整曲率超限的滤波参数 (details)
  499. fix:调整曲率超限的滤波参数 (details)
  500. fix:曲率超限停车的bug (details)
  501. fix:曲率超限停车的bug (details)
  502. feat: add CalcKappaCostSigmoid. (details)
  503. fix: SSEP: 集卡进停车位时时候更严格的挂车角度 (details)
  504. fix:travel out 没有一次规划，状态机切换的bug (details)
  505. feat:travel out 没有一次规划的适配 (details)
  506. fix:travel out 没有一次规划，状态机切换的bug (details)
  507. fix: SSEP: 修正Rigid truck general builder搜索参数，确保搜索器能具有搜出最大曲率路径的能力。 (details)
  508. feat:万道内pjpo路径跳变以及变道的bug修复 (details)
  509. fix: using ssep speed_limit for deviation. (details)
  510. 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)
  511. fix:解决合并代码需要重新编译的问题 (details)
  512. fix:解决合并代码需要重新编译的问题 (details)
  513. fix: SSEP: 修复前杠倒车进料堆优化失败的问题。 (details)
  514. fix:修复拼接的bug (details)
  515. fix:修复拼接的bug (details)
  516. fix: wbca reversing bug. (details)
  517. refactor调整切换lock的阈值 (details)
  518. feat:锁站场景不膨胀尺寸 (details)
  519. refactor调整切换lock的阈值 (details)
  520. feat:锁站场景不膨胀尺寸 (details)
  521. fix:代码合并的bug (details)
  522. fix: minimize esdf_map (details)
  523. fix:修复崩溃的bug (details)
  524. fix:修复崩溃的bug (details)
  525. fix: dx_norm = path_1_tmp.norm (details)
  526. fix: merge wbca_v2. using soft_min collision cost for truck. (details)
  527. 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)
  528. feat:进堆场边界优化 (details)
  529. fix:ssep搜索失败的bug (details)
  530. 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)
  531. fix: wbca ignores ref_pts out of range. (details)
  532. fix:修复出停车位ssep路径方向的bug (details)
  533. fix:sweep路径的bug (details)
  534. feat:界面添加障碍物类别的显示 (details)
  535. feat:优化云端障碍物的赋值 (details)
  536. 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)
  537. feat: SSEP: Car模型多段倒车场景，途径点角度增加角度限制 (details)
  538. chore: SSEP: Car车型多段倒车参数调整 (details)
  539. fix:修复出停车位ssep路径方向的bug (details)
  540. fix:sweep路径的bug (details)
  541. feat:界面添加障碍物类别的显示 (details)
  542. feat:优化云端障碍物的赋值 (details)
  543. fix: 修复威海car bulkout场景进错的问题 (details)
  544. fix: typo (details)
  545. fix: SSEP: 修复最后一段有碰撞时可能优化失败的问题。 (details)
  546. 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)
  547. feat:动态搜索考虑不可形式区域 (details)
  548. 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)
  549. feat: SSEP: 可视化增加地图元素显示 (details)
  550. feat: add repowiki by qoder (details)
  551. fix:终点在堆场出口，边界的bug (details)
  552. chore: SSEP: minor updates (details)
  553. fix: no_shift region around destination. (details)
  554. feat:调整 hfsm status中cur lane id的逻辑 (details)
  555. fix: deviation speed limit bug. (details)
  556. 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)
  557. Refactor: SSEP: 用aabox替换vector<double>表示search bounds (details)
  558. fix: truck wbca replayer debug. (details)
  559. fix: truck wbca replayer debug. (details)
  560. feat:优化cur laneid的赋值 (details)
  561. chore: SSEP: Improve bidirectional search (details)
  562. fix: fix compile errors (details)
  563. fix: using wbca failed_count to deactivate history. (details)
  564. fix: merge bug. (details)
  565. fix:搜索起点太远的问题 (details)
  566. fix: SSEP: 解决集卡常规场景轨迹异常的问题 (details)
  567. fix: cfg_static bug (details)
  568. fix: replayer bug (details)
  569. fix: SSEP: 修复IMV出停车位路径异常的问题 (details)
  570. fix:imv进停车位双向搜索的bug (details)
  571. fix:切换到idle保持状态的bug (details)
  572. feat:苏溪,西联,董分 双向搜索的bug (details)
  573. chore:添加gitgnore (details)
  574. fix:驾驶走廊图构建的bug (details)
  575. chore:删除多余的log (details)
  576. feat:调整 float to half (details)
  577. feat:适配新的region (details)
  578. feat:终点距离的判断使用map distance (details)
  579. feat:终点距离的判断使用map distance (details)
  580. fix:imv进停车位双向搜索的bug (details)
  581. fix:切换到idle保持状态的bug (details)
  582. feat:苏溪,西联,董分 双向搜索的bug (details)
  583. chore:添加gitgnore (details)
  584. fix:驾驶走廊图构建的bug (details)
  585. chore:删除多余的log (details)
  586. feat:调整 float to half (details)
  587. fix:修复动态上下面过程中，提前切换到bulk场景的bug (details)
  588. fix:修复动态上下面过程中，提前切换到bulk场景的bug (details)
  589. fix: ogm.height/width (details)
  590. fix: ogm.height/width (details)
  591. feat: SSEP: 初步跑通GPU加速版本的进堆场搜索 (details)
  592. chore: SSEP-GPU: 通过所有测试用例 (details)
  593. chore: SSEP: gpu search 性能优化 (details)
  594. chore: SSEP: 同步ssep的imv进充电桩的更新 (details)
  595. 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)
  596. fix: SSEP: 修复回归测试失败的场景 (details)
  597. fix: SSEP: 解决集卡普通搜索画龙的问题 (details)
  598. fix:修复变道过程中，更新laneid的bug (details)
  599. refactor:出堆场的起始点从参考线上选取 (details)
  600. feat: 添加lowbag 判断函数 (details)
  601. fix: clear path_optimization_task esdf his. (details)
  602. feat: SSEP: 增加万能参数接口 (details)
  603. 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)
  604. chore: SSEP: 改进自卸车多段倒车 (details)
  605. feat: 太阳纸业使用pncc_port_related参数配置SSEP场景 (details)
  606. feat:添加clangd的配置文件 (details)
  607. fix: SSEP: 修复集卡普通搜索路口有可能超近道的问题 (details)
  608. feat:调整低贝位判断的逻辑，低贝位判断统一FlowController里面进行 (details)
  609. fix: smooth logic (details)
  610. fix: SSEP: 解决进堆场画龙 (details)
  611. fix:调整大谢进堆场路径 (details)
  612. feat:规划路径和ssep路径不一致的问题分析 (details)
  613. feat:适配clang (details)
  614. chore: SSEP: 大榭只优化一次 (details)
  615. refactor:适配clang编译 (details)
  616. feat:赋值的bug (details)
  617. fix:适配clang的bug (details)
  618. fix:修复甩正点的bug (details)
  619. feat:适配clang (details)
  620. feat:甩正点距离适配 (details)
  621. fix:修复甩正点的bug (details)
  622. fix:修复路径跳变的bug (details)
  623. fix: using LD v1 (details)
  624. feat:适配大谢右转进堆场 (details)
  625. feat:适配大谢右转进堆场 (details)
  626. feat: ssep 威海多段倒车支持按键拉直功能 (details)
  627. feat:适配缩小根据距离 (details)
  628. feat:调整counter和进堆场障碍物考虑的条件 (details)
  629. feat:单车道区分左右边界 (details)
  630. fix:大谢单车道，低贝位判断的bug (details)
  631. fix: del omp.h (details)
  632. feat:搜索尺寸参数赋值 (details)
  633. fix:车辆参数赋值错误的bug (details)
  634. fix: smooth mode in yard. (details)
  635. fix: smooth mode in yard. (details)
  636. feat:调整counter和进堆场障碍物考虑的条件 (details)
  637. feat:适配缩小根据距离 (details)
  638. feat:单车道区分左右边界 (details)
  639. fix:大谢单车道，低贝位判断的bug (details)
  640. 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)
  641. fix: SSEP: fix GPU search bug (details)
  642. feat:优化进堆场的约束 (details)
  643. feat:into 都使用双向搜索 (details)
  644. feat:龙门吊位置计算的bug (details)
  645. feat:into 都使用双向搜索 (details)
  646. feat:龙门吊位置计算的bug (details)
  647. feat:优化进堆场的约束 (details)
  648. fix: SSEP: 修复大榭进堆场车体距离边界太近的问题 (details)
  649. feat:适配 utrun掉头 (details)
  650. chore:修复.gitignore (details)
  651. 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)
  652. fix: SSEP: fix GPU search bug (details)
  653. fix: SSEP: 修复大榭进堆场车体距离边界太近的问题 (details)
  654. feat:添加通过lane id 配置不绕行区域的功能 (details)
  655. feat:大谢进堆场配置甩正的位置 (details)
  656. feat:适配 utrun掉头 (details)
  657. feat:添加通过lane id 配置不绕行区域的功能 (details)
  658. feat:适配大谢右转进堆场 (details)
  659. feat:适配缩小根据距离 (details)
  660. feat:调整counter和进堆场障碍物考虑的条件 (details)
  661. feat:单车道区分左右边界 (details)
  662. fix:大谢单车道，低贝位判断的bug (details)
  663. feat:优化进堆场的约束 (details)
  664. feat:龙门吊位置计算的bug (details)
  665. Auto stash before cherrypick of "feat:龙门吊位置计算的bug" (details)
  666. chore:修复.gitignore (details)
  667. feat:大谢进堆场配置甩正的位置 (details)
  668. fix: SSEP: 解决gpu编译问题 (details)
  669. fix: SSEP: gpu compile error (details)
  670. fix:修复编译报错 (details)
  671. fix:修复编译报错 (details)
  672. feat:修复编译的warning (details)
  673. fix: SSEP: 修复“最后一段不检测碰撞”功能遗漏的提交 (details)
  674. chore: SSEP: update unit tests (details)
  675. fix: SSEP: 修复地图元素"is_closed"标志位转换错误的问题 (details)
  676. feat:编译warnig (details)
  677. feat:锁站限速过滤 (details)
  678. fix: using smooth mode when opt failed. (details)
  679. fix: SSEP: 修复路径距离参考线太远的问题。 (details)
  680. fix: SSEP: 修复集卡多段倒车搜索的参数配置错误 (details)
  681. feat:添加忽略文件 (details)
  682. 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)
  683. feat:align过程中,拒绝直线步进 (details)
  684. fix:程序启动直接搜索带来的崩溃问题 (details)
  685. chore: SSEP: 改进集卡多段倒车拉直轨迹 (details)
  686. chore: SSEP: 提升GPU进堆场搜索成功率 (details)
  687. feat:修复搜索失败报警的等级 (details)
  688. feat:编译包warning的bug (details)
  689. feat:进堆场约束调整，并且调整low bay type (details)
  690. fix:修复虚拟场桥低贝判断的bug (details)
  691. feat:添加忽略文件 (details)
  692. feat:align过程中,拒绝直线步进 (details)
  693. fix:程序启动直接搜索带来的崩溃问题 (details)
  694. feat:修复搜索失败报警的等级 (details)
  695. feat:编译包warning的bug (details)
  696. feat:进堆场约束调整，并且调整low bay type (details)
  697. fix:修复虚拟场桥低贝判断的bug (details)
  698. chore: ssep: 高贝位进堆场时，只在终点的道路边界侧添加约束。 (details)
  699. fix:修复编译报错的bug (details)
  700. fix: SSEP: 固定编译时的依赖顺序 (details)
  701. fix: SSEP: 固定编译时的依赖顺序 (details)
  702. fix: SSEP: 固定编译时的依赖顺序 (details)
  703. chore: SSEP: 改进多段倒车拉直轨迹 (details)
  704. feat:缩短跟车距离的优化 (details)
  705. refactor:优化起始点的选择 (details)
  706. feat:优化杨浦进单侧堆场的边界 (details)
  707. feat:打开预测消息的发送 (details)
  708. feat:参考线不实时刷新的bug (details)
  709. feat:云端预测轨迹s赋值的bug (details)
  710. fix:修复崩溃的bug (details)
  711. fix:调整debug 字段 (details)
  712. feat:添加进堆场的超视距障碍物 (details)
  713. fix:修复起始点车辆有转角，路径异常的bug (details)
  714. feat: SSEP: 增加头部不参与优化的区域设置接口。 (details)
  715. 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)
  716. fix: using maximum speed (details)
  717. fix:修复openspace 误重规划的bug (details)
  718. feat: Add truck multi seg planner (details)
  719. 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)
  720. fix:极限变道 replan的bug (details)
  721. refactor:删除多余的日志打印 (details)
  722. fix: smooth mode bug (details)
  723. fix:优化动态下码头面搜索终点选取的问题 (details)
  724. refactor:优化杨浦低贝位约束 (details)
  725. feat: SSEP: 增加末端微调采样，解决杨浦进堆场曲率跳变问题。 (details)
  726. chore: SSEP: 刚性卡车多段路径倒车时候更加原理后方障碍物 (details)
  727. feat:添加 Yard Name的显示 (details)
  728. feat:终点低贝位 缩小挂甩正的角度 (details)
  729. feat:变道搜索搜索失败不停车 (details)
  730. feat:大谢右转进堆场添加参数，适配仿真场景 (details)
  731. feat:更改reuse的次数 (details)
  732. fix: SSEP: 解决高贝位进堆场轨迹异常的问题 (details)
  733. feat:右转进低贝位拉值角度调整 (details)
  734. feat:卡车 车辆方向修改为路径方向 (details)
  735. fix: SSEP: 修复集卡普通搜索启发项错误的问题 (details)
  736. fix: SSEP: 过滤明显存在碰撞的集卡进堆场轨迹 (details)
  737. fix: SSEP: 回退集卡普通进堆场“超近道”的问题 (details)
  738. feat:进堆场偏离参考线过多，不触发禁停的bug (details)
  739. feat:进堆场口的限速参数独立出来 (details)
  740. feat:区分堆场的偏移和场桥的偏移 (details)
  741. feat: SSEP: 变道搜索时使用standby_guide_line当做引导线。 (details)
  742. feat:添加junctionid的显示 (details)
  743. 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)
  744. fix: SSEP: 修复集卡搜索轨迹不合理导致优化画龙的问题 (details)
  745. feat: SSEP: 非低贝位进堆场使用拉直点逻辑 (details)
  746. feat:龙须点碰撞检测添加开关 (details)
  747. refactor:1.调整进堆场的限速  2. 调整低贝位的距离 (details)
  748. feat: SSEP 集卡在NORMAL,INYARD,OUTYARD,SEASIDE,BRIDGE场景强制使用参考线。 (details)
  749. fix:无法三次对准的bug (details)
  750. 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)
  751. feat:优化og点的碰撞检测 (details)
  752. 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)
  753. fix: 优化友谊关倒车路径，更符合pass point (details)
  754. 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)
  755. feat:bulk场景判断的距离阈值调整成255米 (details)
  756. feat:单侧堆场默认左侧放箱子 (details)
  757. feat:进堆场 不是低贝位i的时候取消外侧的约束 (details)
  758. fix: 优化友谊关倒车路径，更符合pass point (details)
  759. 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)
  760. fix: SSEP: fix typo (details)
  761. feat:优化og的处理 (details)
  762. fix:修复绘制的bug (details)
  763. fix: SSEP: 提升远距离绕桥腿成功率 (details)
  764. feat:杨浦适配B场 (details)
  765. 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)
  766. feat: SSEP: 增加 is_blocked_by_shore_crane 和 use_hard_constraint 参数 (details)
  767. chore: mionr update (details)
  768. fix:杨浦 动态搜索 + 进堆场场景 路径拼接的bug (details)
  769. fix:3 4 阶段对准时,不能切换creep的bug (details)
  770. feat:og碰撞的优化 (details)
  771. feat:进堆场的优化 (details)
  772. feat:关闭debug信息 (details)
  773. feat: SSEP: 增加场景编辑工具 (details)
  774. feat:junction弯道区间计算的bug (details)
  775. feat:纵一路边上的转场临停修改判断阈值 (details)
  776. fix:修复误变道的问题 (details)
  777. chore: SSEP: update scene editor server (details)
  778. 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)
  779. 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)
  780. feat:搜索的时候是否考虑静态障碍物添加开开关 (details)
  781. chore: SSEP: Fix mult-segment searching params. (details)
  782. fix:龙须点处理的bug (details)
  783. fix:修复龙须点处理的bug (details)
  784. feat:调整单车道堆场的约束 (details)
  785. fix:没有路径，并且在弯道前，ssep无法搜索的bug (details)
  786. feat:优化场桥防护 (details)
  787. feat:修改对准数据的打印 (details)
  788. feat: SSEP: 使用多项式采样器生成变道路径 (details)
  789. fix: lattice wbca velocity reference bug. (details)
  790. fix: lattice wbca velocity reference bug. (details)
  791. fix:杨浦堆场入口重搜索的bug (details)
  792. refactor:优化打印日志 (details)
  793. fix: send 50m path to control in bulk state. (details)
  794. fix: delete submodules (details)
  795. feat: 添加更多忽略文件到.gitignore (details)
  796. 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)
  797. fix: 修复边界约束逻辑并优化障碍物处理代码 (details)
  798. chore: SSEP: merge 集卡进堆场的新改动 (details)
  799. fix: 优化障碍物处理逻辑，过滤不必要的障碍物类型 (details)
  800. fix: 优化OgmPoints序列化，过滤无效点并调整序列化方法 (details)
  801. 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)
  802. 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)
  803. fix: serailize params for wbca (details)
  804. fix: SSEP: 修复反向路径拖挂角度错误的问题 (details)
  805. 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)
  806. fix: wbca params serialization bug (details)
  807. fix: 注释掉日志记录代码以减少输出干扰 (details)
  808. 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)
  809. fix: build bug (details)
  810. fix: Trajectory MatchByt bug. (details)
  811. fix: Trajectory MatchByt bug. (details)
  812. fix: build bug (details)
  813. 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)
  814. chore: SSEP: 过滤无效的采样轨迹，提高进堆场搜索成功率 (details)
  815. chore: SSEP: 处理掉头场景终点在standby_guideline上的情况 (details)
  816. feat: 添加镜子配置和绘制功能 (details)
  817. feat: 优化JudgeFinishAlign函数，简化FSM接口调用，增强对齐完成判断逻辑 (details)
  818. 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)
  819. fix: 移除不必要的日志警告，优化代码逻辑 (details)
  820. chore: SSEP: 掉头进堆场时增加参考线权重 (details)
  821. 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)
  822. fix: 更新YANGPU虚拟车道到第一排箱子的阈值，修正为0.0 (details)
  823. fix: 修正右侧车道拉直点阈值为2.0度 (details)
  824. fix:进堆场终点距离计算的bug (details)
  825. 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)
  826. 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)
  827. fix: 修正OgmCollisionPos函数中的颜色定义注释，确保颜色代码清晰 (details)
  828. feat:添加挂车的上层纵向参数 (details)
  829. fix: 简化UpdateCurLaneData函数中的当前和目标车道索引更新逻辑 (details)
  830. fix: 优化ConstructStartAndEndContour和ConstructEndStraightPosture函数中的逻辑，增加双车道距离补偿 (details)
  831. 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)
  832. feat: Keb optimizer task 单线程功能完成 (details)
  833. feat: Keb path optimize task 支持异步（多线程）模式。 (details)
  834. feat: 添加核心对象库并优化可执行文件链接逻辑 (details)
  835. 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)
  836. 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)
  837. fix: 取消CalRefPtsKappa函数中的注释，启用航向角计算逻辑 (details)
  838. 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)
  839. fix: 注释掉DrawTargetPath函数中的轮廓生成和绘制逻辑 (details)
  840. 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)
  841. fix: wbca path fluctuation problem. (details)
  842. chore: Finetune Keb-Path-0ptimize-Task and add warm-start stretagy. (details)
  843. fix: add wbca min_start_velocity (details)
  844. 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)
  845. fix: SSEP: 修复IMV进充电桩方向与现场任务不一致的问题。 (details)
  846. 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)
  847. refactor:优化包略框的合并 ，以及优化耗时 (details)
  848. feat: 在CreateContour中添加时间记录，优化轮廓构建过程 (details)
  849. 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)
  850. feat: 添加核心对象库并优化可执行文件链接逻辑 (details)
  851. fix: SSEP: 修复IMV进充电桩方向与现场任务不一致的问题。 (details)
  852. fix: wbca path fluctuation problem. (details)
  853. fix: add wbca min_start_velocity (details)
  854. 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)
  855. fix: wbca crab mode condition opt. (details)
  856. chore: SSEP: 集卡上下码头面可以在standby_guide_line上任意匹配终点 (details)
  857. fix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。 (details)
  858. fix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。 (details)
  859. feat: 添加IsAvailable方法以验证轨迹数据的有效性 (details)
  860. fix: 修复StitchSsepReferenceLine方法中的路径段验证逻辑 (details)
  861. fix:进充电桩场景切换的bug (details)
  862. fix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。 (details)
  863. fix:进充电桩场景切换的bug (details)
  864. feat: 添加IsAvailable方法以验证轨迹数据的有效性 (details)
  865. fix: 修复StitchSsepReferenceLine方法中的路径段验证逻辑 (details)
  866. feat: 添加角度显示功能，增强PncGraphicsView的交互性 (details)
  867. fix:修复误进入openspace的bug (details)
  868. fix:修复误进入openspace的bug (details)
  869. fix: 调整最大速度阈值以优化后向Ogm忽略逻辑 (details)
  870. feat: add smooth_mode_wbca_params (details)
  871. fix: smooth_mode_wbca_params bug (details)
  872. fix: 修复车辆行进过程中，误进routing 方向的更新逻辑的bug (details)
  873. 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)
  874. fix: 调整RefMatch匹配条件的范围以增强灵活性 (details)
  875. fix: 修复车辆行进过程中，误进routing 方向的更新逻辑的bug (details)
  876. fix: 调整RefMatch匹配条件的范围以增强灵活性 (details)
  877. fix: 添加禁停区逻辑以避免在倒车路径区域创建禁停区 (details)
  878. fix: 添加禁停区逻辑以避免在倒车路径区域创建禁停区 (details)
  879. fix: SSEP: 解决西联IMV进停车位搜索失败的问题 (details)
  880. fix: SSEP: 解决西联IMV进停车位搜索失败的问题 (details)
  881. fix: imv wbca end velocity bug. (details)
  882. fix: l_bfgs optimization. (details)
  883. 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)
  884. 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)
  885. feat: 实现OutYardJunctionFirstStage类中的ExecuteTaskOnReferenceLine方法，增强任务执行逻辑 (details)
  886. fix: keb-path-optimize-task 优化低贝位挂车不直的问题 (details)
  887. fix: 调整ReferenceRoadSection和ReferenceSegment中的位置判断条件，优化边界处理逻辑 (details)
  888. fix: 调整ReferenceRoadSection和ReferenceSegment中的位置判断条件，优化边界处理逻辑 (details)
  889. 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)
  890. chore: keb-path-optimize-task finetune. (details)
  891. chore: 优化keb-path-optimize-task进堆场效果 (details)
  892. chore: keb param adjust (details)
  893. feat: 优化障碍物处理逻辑，简化多边形构建和碰撞判断 (details)
  894. fix: keb task finetune (details)
  895. chore: keb task 关键参数提取 (details)
  896. fix: l_bfgs optimization. (details)
  897. fix: SSEP: 进堆场优化用终点硬约束 (details)
  898. chore: keb-task 使用终点约束 (details)
  899. feat:暂时关闭参考线拼接 theta重新计算的逻辑 (details)
  900. feat: add shift_type_ignoring_no_shift_region (details)
  901. 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)
  902. fix: 修复集卡优化器终点可能超过拖挂角度限制的问题 (details)
  903. feat: 添加ClearAreaOverlap类及相关逻辑，优化清晰区域处理和绘制功能 (details)
  904. feat: 添加CmdReduceSafeDistance类及相关逻辑，优化安全距离处理功能 (details)
  905. feat: 更新MapEnvelops类，增强路径转换功能，支持备用地图包络处理 (details)
  906. fix:修复guidelien 中 overlap计算的bug (details)
  907. fix: imv smooth_mode bug (details)
  908. fix: imv start_pt bug (details)
  909. fix:修复拼接ssep结果后，junction overlap 生成的bug (details)
  910. 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)
  911. refactor: 注释掉低贝位作业相关的代码逻辑 (details)
  912. refactor: 注释掉低贝位作业相关的代码逻辑 (details)
  913. fix: 更新镜子相关参数的命名空间前缀为/pnc_node (details)
  914. fix:修复崩溃的bug (details)
  915. feat: 添加自动获取大谢终点约束的功能 (details)
  916. feat: 添加搜索起点框的功能并优化车辆框生成逻辑 (details)
  917. fix: 更新GetLatPoint函数以考虑LKA控制模式 (details)
  918. fix:虚拟停止线构建的bug (details)
  919. fix: 修正DrawUpperHead函数中镜子高度计算错误 (details)
  920. 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)
  921. 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)
  922. feat: SSEP: 进堆场跑通无搜索规划 (details)
  923. fix: keb task 修复路径被og点阻挡时轨迹异常的问题 (details)
  924. fix: 修复keb task碰撞检测使用路径长度过长的问题 (details)
  925. fix: road segment splitting bug. (details)
  926. refact: GetRoadSegmentFirstSplitPos (details)
  927. fix: SSEP: 修复无搜索模式可能崩溃的问题 (details)
  928. 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)
  929. feat: SSEP: 进堆场跑通无搜索规划 (details)
  930. fix: keb task 修复路径被og点阻挡时轨迹异常的问题 (details)
  931. fix: 修复keb task碰撞检测使用路径长度过长的问题 (details)
  932. fix: SSEP: 修复无搜索模式可能崩溃的问题 (details)
  933. fix: SSEP: 提升新版进堆场搜索的成功率 (details)
  934. fix: SSEP: 提升新版进堆场搜索的成功率 (details)
  935. feat: lka deviation after crane (details)
  936. fix: SSEP: 修复变道路径可能有碰撞的问题 (details)
  937. chore: keb task 增加最大转向角余量 (details)
  938. feat: 优化overlap s重计算，增加起始和结束点的有效性检查 (details)
  939. 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)
  940. fix: keb task ssep_end_s_ 赋值错误 (details)
  941. feat: 添加状态机切换时间参数并优化相关逻辑 (details)
  942. feat: 添加根据堆场内的车道名称扩展安全阈值 (details)
  943. chore: keb实时优化 将转向角余量 提取为配置参数 (details)
  944. chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹 (details)
  945. 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)
  946. 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)
  947. 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)
  948. fix: 解决西联IMV进停车位搜索过慢的问题 (details)
  949. fix: 集卡搜索时滤除起点和终点车挂内部的og点 (details)
  950. fix: 修正堆垛机特殊区域的横向扩展长度参数加载路径 (details)
  951. 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)
  952. feat: 杨浦 B003 B004适配 (details)
  953. feat: yard name verification. (details)
  954. fix: 调整对拖车姿态有效性的角度判断阈值 (details)
  955. 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)
  956. chore: SSEP: 自卸车进出散货堆场搜索使用软约束 (details)
  957. 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)
  958. 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)
  959. feat:杨浦低贝位适配 (details)
  960. feat:合并ssep更改 (details)
  961. feat: 添加车辆姿态设置功能并更新测量和角度显示逻辑 (details)
  962. fix: SSEP: 修复普通卡车搜索拉直段失效的问题 (details)
  963. feat:适配友谊关进停车的拉正距离 (details)
  964. fix: disable default LKA deviation. (details)
  965. fix: lka deviation bug (details)
  966. feat: add lbfgs prevous version. (details)
  967. feat: 苏溪调箱门场景适配 (details)
  968. feat: 添加无效侧通行点检查和虚拟障碍物生成逻辑 (details)
  969. refactor:优化 停止线所属junction的判断逻辑 (details)
  970. feat:合并ssep更改 (details)
  971. fix:终点低贝位时， 然后场桥低贝位不重新搜索的bug (details)
  972. fix: filter wbca path by cost (details)
  973. fix: add switch for lbfgs to lbfgs_new (details)
  974. fix: using new l_bfgs (details)
  975. fix: cost filter for imv and truck (details)
  976. fix: activate wbca smooth mode in align fsm. (details)
  977. feat:直道地图包络构建的优化 (details)
  978. feat: （动态搜索的box框),优化生成平行框的距离计算逻辑 (details)
  979. fix: 更新DrawObject函数中的颜色值注释 (details)
  980. fix: filter wbca cost without collision cost. (details)
  981. fix: LKA deviation for out_yard (details)
  982. feat:调整换向缩小安全距离的阈值 (details)
  983. fix:修复变道的约束 (details)
  984. feat: 增加ALIGN命令相关错误类型并更新状态处理逻辑 (details)
  985. fix: cloud areas avoidence. (details)
  986. refactor:朝海侧，右转横二路，边界优化 (details)
  987. refactor:极限变道约束优化 (details)
  988. refactor: openspace中的参考线为pnc引导线 (details)
  989. fix:imv下码头搜索失败的bug (details)
  990. fix: 修复imv普通搜索参考线错误的问题 (details)
  991. fix:修复反向出停车位的bug (details)
  992. fix:修复停止线绑定juntion的bug (details)
  993. refactor:优化场桥转场判断 (details)
  994. refctor:优化转场场桥box的使用 (details)
  995. feat: 添加忽略障碍物的阈值配置并优化相关逻辑 (details)
  996. fix: pnc_map splitting error. (details)
  997. chore: SSEP: 集卡多段倒车场景，Replan时加入最后一段拉直逻辑 (details)
  998. chore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度 (details)
  999. fix: SSEP: 提升太阳纸业自卸车出堆场成功率 (details)
  1000. fix:极限变道不replan的bug (details)
  1001. fix: 优化SmoothTask执行逻辑，增加对特定条件的处理 (details)
  1002. chore: SSEP: 解决集卡多段倒车可能绕圈的问题 (details)
  1003. refactor:优化小地图绘制时间过长的问题 (details)
  1004. feat: 添加点云底图加载功能，支持异步加载和清除操作 (details)
  1005. 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)
  1006. feat:接受云端的发送的终点前N米障碍不绕行的参数 (details)
  1007. fix: fiter cost_beta (details)
  1008. feat: trust-region solver based WBCA (details)
  1009. fix: max_ref_len 60 (details)
  1010. feat:fsm interface 里面添加 开始对准是终点距离的接口 (details)
  1011. fix:align done 情况下还可以继续走的bug (details)
  1012. fix:停车原因赋值错误的bug (details)
  1013. feat: 添加对值阈值和条件，优化对准决策逻辑 (details)
  1014. fix: 添加路径点数量检查，确保至少有两个点以创建路径 (details)
  1015. feat:1.添加耗时显示2.优化绘制界面 map的绘制 (details)
  1016. fix:一次规划，单个车道分段时， 路径冲突判断的bug (details)
  1017. refactor: 注释掉不必要的代码，简化判断逻辑 (details)
  1018. refactor:优化ssep passing pt的赋值 (details)
  1019. fix: wbca smooth path is exception in align state (details)
  1020. feat: 添加性能成本详细信息分组显示，优化绘制面板更新逻辑 (details)
  1021. refactor: 简化pass_posture_的赋值逻辑 (details)
  1022. fix: straight lane near crane and lock_station (details)
  1023. refactor:优化界面耗时 (details)
  1024. feat:调整9861的跟车距离 (details)
Commit d34c973a3b488e38a50e8fb80883a99a016c0702 by wuyanjun110
fix:引桥前变道的bug

The file was modifieddata/plan/switch_data.cpp
Commit c49619cffafe7c6fa46f5a961cd4d0ca5ac3d2dc by wuyanjun110
fix:变道的bug

The file was modifieddata/map/reference/center_line.cpp
Commit 8e8d233398fa0c149774fd59b994aa827d4f7196 by tangwenqing
chore: SSEP: Update ssep sdk.

The file was modifiedssep/sdk/ssep_activation_impl.cc
The file was modifiedssep/demo/src/main_ssep_activation.cc
The file was modifiedssep/common/def/type_definition.cc
The file was modifiedssep/common/def/type_definition.h
The file was removedssep/common/def/basic.hpp
Commit 6c32fe6149effdf03a337fd1709353a36456cce6 by wuyanjun110
fix:修复合并的bug

The file was modifieddata/plan/switch_data.cpp
Commit 069ea6786697010789b21ee0541a48cd1b5b3bb9 by wuyanjun110
fix:修复合并的bug

The file was modifieddata/plan/switch_data.cpp
Commit eba84cf6a23301a89d96fb3e920495bb3492abfd by tangwenqing
chore: 重构keb_optimizer，提取出tractor_trailer_keb_optimizer. 后续可以为其他车型添加优化器

The file was addedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was addedssep/keb_optimizer/keb_utils.cc
The file was modifiedssep/keb_optimizer/data_structure.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/main_test/main_ssep_input.cc
The file was addedssep/keb_optimizer/keb_utils.h
Commit b85177099c031fce100287e2f28605c7df379c54 by wuyanjun110
fix:适配open space 场景

The file was modifieddata/app/reaction/app_reaction.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifieddata/app/reaction/app_reaction.hpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.hpp
Commit d98c3c9625dc959cd3ee424321be2967f10c60bd by 5081703.cr
fix: using maximum vehicle size in WBCA

The file was modifiedalgorithm/wbca/truck_wbca_manager.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit b71349f8c40f412fd26fa7afe1dfe224909ce298 by 5081703.cr
fix: using maximum vehicle size in WBCA

The file was modifiedalgorithm/wbca/truck_wbca_manager.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 6fd87e36efeb654d7125d528ef1fdae307146ed2 by tangwenqing
Feat: SSEP: 增加自卸车倒车卸货场景

The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.h
The file was addedssep/keb_optimizer/cost_features/truck_kinematic_constraint.h
The file was addedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was addedssep/keb_optimizer/cost_features/tractor_trailer_kinematic_constraint.h
The file was removedssep/keb_optimizer/cost_features/kinematic_constraint.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit c02b749c4c7b70eca408fa081f5265e5a014d085 by tangwenqing
feat: 接入自卸车倒车卸货场景

The file was modifieddata/ssep/forward_ec.cpp
Commit 16607c09adead29dfc85d7dc76fe55296a1b241e by 5081703.cr
fix: abandon  last segment in wbca.

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
Commit 5fabec158c37b523cf8a5c6acc6803fa54d90e5f by tangwenqing
fix: 修复ssep搜索区域尺寸错误

The file was modifieddata/ssep/forward_ec.cpp
Commit 287eb3bcd4c2f508146bde8ff18ca49462e64ff0 by wuyanjun110
fix:可能崩溃的bug

The file was modifieddata/plan/switch_data.cpp
Commit 855d2b1c96f7de60850239d21a32a6f98e61f30f by 5081703.cr
fix: wbca debug msg.

The file was modifiedsink/ros_sink_plan_debug.cpp
Commit cdecea5362b67b0f41903e5516d1daeeefe47fca by 5081703.cr
fix: end_velocity for wbca calc exception.

The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
Commit 1ae8cc1f873e2595332aed90540bd7f6b7fe5867 by 5081703.cr
fix: velocity profile exception.

The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
Commit 99ab390ee555fefbb05351f68f6053e949d3fa26 by wuyanjun110
fix:人工对准误创建约束

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit c7d55549d1fa29cc760a8efdb29a40e01d6d9147 by wuyanjun110
fix:人工对准误创建约束

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit c9b7c7ef30f2b802baf67b8bccd1563874f76bc8 by wuyanjun110
feat:open space的优化

The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/config/cfg_region.hpp
The file was modifieddata/config/cfg_region.cpp
Commit 39e1051cec249f83e81811588c26ec21da0e61e6 by wuyanjun110
refactor:直线步进 优化步进时间

The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_fsm.cpp
The file was modifieddata/config/cfg_env_const.hpp
Commit 3d538b2a494e397c1228ebfacf648da8c4937b20 by wuyanjun110
refactor:直线步进 优化步进时间

The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_fsm.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_env_const.hpp
Commit af06d40a9c93410b70af80c0a7a567fdcdc9e2bf by tangwenqing
feat: SSEP: keb optimizer优化多段路径。car模型适配keb optimizer。

The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/keb_optimizer/cost_features/truck_kinematic_constraint.h
The file was modifiedssep/keb_optimizer/data_structure.h
The file was addedssep/keb_optimizer/cost_features/curvature_cost.h
The file was modifiedssep/keb_optimizer/cost_features/tractor_trailer_kinematic_constraint.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/ssep_heat_net/inference_ml_trajectory_cli.cc
The file was addedssep/keb_optimizer/cost_features/soft_disk_collision_cost.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
Commit 4b484fe1c68b82f2cec136f8ff46093fc81216d0 by tangwenqing
feat: ssep_data中保存重规划原因

The file was modifiedtasks/deciders/search_decider/forward_search_decider.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/decide/decide_reaction.hpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/plan/ssep_data.hpp
Commit 09de05492e0e8f6c4bc5470cd7a23eaa1498f4e0 by 5081703.cr
fix: add wbca debug var.

The file was modifiedsink/ros_sink_plan_debug.cpp
Commit 42a20025d749e2115e2fd0f8b96c75a4d7f9c718 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 989f398e8adb5e6717f375d999ae8796c7291e1f by 5081703.cr
fix: abandon  last segment in wbca.

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
Commit fb99858d9895067e53c9e2dd819ca1900a4977fa by 5081703.cr
fix: wbca debug msg.

The file was modifiedsink/ros_sink_plan_debug.cpp
Commit 7eb65d8fad4428ff65a4ebb59279aace6786fefe by 5081703.cr
fix: end_velocity for wbca calc exception.

The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
Commit efe843eebc0988353431642b93a7e3baf0bacd75 by 5081703.cr
fix: velocity profile exception.

The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
Commit a6f28bf0226b3f41baf0866845c7af0849a43fac by 5081703.cr
fix: add wbca debug var.

The file was modifiedsink/ros_sink_plan_debug.cpp
Commit 4ab3db2e9d48be5657090e0a0dd586ae81c83607 by 5081703.cr
fix: add lateral acc cost.

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 modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit efed77162e1f93c135d20545829be3b0a1286036 by 5081703.cr
fix: add wbca cost and time_consuming.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
Commit d00c94af2933638c8784fe5d5c844e8cf06af561 by 5081703.cr
fix: add wbca cost and time_consuming.
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit cddefcea61b2b710fcf223bcc9c374fa54c13a86 by 5081703.cr
fix: add wbca cost and time_consuming.
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 52d4eff1db1a0f22867f43d3caa133ac53e05a07 by 5081703.cr
fix: add lateral acc cost.

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/car_path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/truck_path_optimization.cpp
Commit cefa5a09de39a144c872149d480be9276a6a4058 by tangwenqing
fix: SSEP: 修复car+optimizer中代码的bug

The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/cost_features/curvature_cost.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 6004f24187d389f3795255926f57a66b05379b61 by tangwenqing
merge latest ssep
The file was addedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/common/def/type_definition.cc
The file was modifiedssep/sdk/ssep_activation_impl.cc
The file was modifiedCMakeLists.txt
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/common/def/type_definition.h
The file was addedssep/keb_optimizer/cost_features/heading_constraint.h
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/ssep_heat_net/inference_ml_trajectory_cli.cc
The file was addedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was addedssep/keb_optimizer/keb_utils.h
The file was addedssep/keb_optimizer/cost_features/curvature_cost.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was addedssep/keb_optimizer/cost_features/soft_disk_collision_cost.h
The file was removedssep/common/def/basic.hpp
The file was modifiedssep/keb_optimizer/data_structure.h
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.h
The file was addedssep/keb_optimizer/cost_features/tractor_trailer_kinematic_constraint.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was addedssep/keb_optimizer/cost_features/truck_kinematic_constraint.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was removedssep/keb_optimizer/cost_features/kinematic_constraint.h
The file was modifiedssep/demo/src/main_ssep_activation.cc
The file was addedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was addedssep/keb_optimizer/keb_utils.cc
The file was modifiedssep/main_test/main_ssep_input.cc
Commit 764457e161b26f99e4429ee95910810707655019 by wuyanjun110
feat:添加根据定位值的倒车防护，防治对准时，跟着桥走.

The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
The file was modifieddata/app/cmd/cmd_align.cpp
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.hpp
Commit e144a3fa9d9dc5d60f442f1886c83d42cdd6f6d2 by wuyanjun110
fix:修复代码合并的bug

The file was modifieddata/ssep/forward_ec.cpp
Commit 7e361d0240c561704b8c58c95e44c4c30176b3be by 5081703.cr
fix: pub lane_pts debug msg.
The file was modifiedreplayer/logic.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.hpp
Commit 26e8196b4d8ee38ca599e0b0dcc54ac1198d09b5 by tangwenqing
feat: SSEP: 增加IMV-either-facing-goal搜索功能（可以头朝前也可以尾朝前）

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/conditions/along_lane_condition.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.h
The file was addedssep/coarse_search/geometric_searcher/conditions/path_direction_condition.h
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/ssep_planner.cc
Commit a7cc7490ca54134b4d6308da41c3f72337b6f04b by tangwenqing
feat: 适配IMV-either-facing-goal搜索。苏溪去除冗余的end theta加减PI处理

The file was modifieddata/ssep/forward_ec.cpp
Commit d0500b751819bfe5c281dfbc993ab848ea89d1ca by tangwenqing
feat: SSEP: 增加IMV-either-facing-goal搜索功能（可以头朝前也可以尾朝前）

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was addedssep/coarse_search/geometric_searcher/conditions/path_direction_condition.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/conditions/along_lane_condition.h
The file was modifiedssep/ssep_planner.h
Commit 9e2f67a11b970c72d57dd91cb7628c86bb90f48f by wuyanjun110
feat:暂时可以调试

The file was modifieddata/app/reaction/app_reaction.cpp
The file was modifieddata/app/cmd/cmd_set_target.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifieddata/app/app_data.cpp
The file was modifieddata/app/reaction/app_reaction.hpp
The file was modifieddata/ssep/forward_ec.hpp
The file was modifieddata/other/flow_control.hpp
The file was modifiedhmi/draw/draw_map.cpp
The file was modifieddata/app/cmd/cmd_set_target.hpp
The file was modifiedhmi/draw/draw_map.hpp
The file was modifiedscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
The file was modifieddata/ssep/forward_ec.cpp
Commit fd2f42a027f2a500857e87fc02373fee0374f157 by wuyanjun110
fix:修复快照里面dp path 计算错误的bug

The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit 7c9de4ba8cdf82133ca620694a3a6d732ca9b0e2 by wuyanjun110
feat:原地打方向盘时，方向盘校验的阈值参数化

The file was modifieddata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_env_const.hpp
Commit 5b1535551e682685aacef8241beebbb1d8453cf5 by tangwenqing
chore: SSEP: 更新到最新版本ssep，增加集卡多段Parking场景，多段Parking增加优化后处理

The file was modifiedssep/ssep_planner.cc
The file was addedssep/coarse_search/geometric_searcher/conditions/path_direction_condition.h
The file was addedssep/ssep_heat_net/ssep_heat_net_trt.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
The file was addedssep/keb_optimizer/keb_utils.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was addedssep/ssep_heat_net/inference_ml_trajectory_cli.cc
The file was addedssep/keb_optimizer/cost_features/state_constraint.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/indexed_priority_queue.h
The file was modifiedssep/influence_map/sl_projection_map.cc
The file was addedssep/keb_optimizer/cost_features/curvature_cost.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/tools/scene_data_generator/ogm_builder/ogm_builder.cc
The file was addedssep/coarse_search/geometric_searcher/search_engine_interface.h
The file was modifiedssep/smoother/safety_corridor_smoother.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/composed_motion_primitive_sampler.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/multi_curvature_motion_primitive_sampler.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/collision_cost_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/common/def/map_element_polyline.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.h
The file was addedssep/keb_optimizer/cost_features/disk_collision_cost.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/ref_line_cost_computer.h
The file was modifiedssep/coarse_search/data_structure/polyline.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/cost_feature_computer.h
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/general_hybrid_astar_searcher_builder.cc
The file was addedssep/keb_optimizer/cost_features/tractor_trailer_kinematic_constraint.h
The file was addedssep/tools/scene_data_generator/state_augment_util.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path_motion_primitive_sampler.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was addedssep/ssep_heat_net/ssep_heat_net.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/jackknife_cost_computer.h
The file was removedssep/common/def/basic.hpp
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/data_structure/polyline.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/ref_line_heuristic_computer.h
The file was addedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was addedssep/coarse_search/geometric_searcher/conditions/trailer_relative_angle_condition.h
The file was addedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/main_test/main_ssep_input.cc
The file was addedssep/coarse_search/geometric_searcher/evaluator/diagonal_cost_computer.h
The file was modifiedssep/influence_map/sl_projection_map.h
The file was modifiedssep/conf/ssep_preprocess.yaml
The file was modifiedssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.cc
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/diagnal_motion_primitive_sampler.cc
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
The file was addedssep/keb_optimizer/cost_features/dynamic_constraint.h
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/general_hybrid_astar_searcher_builder.h
The file was addedssep/ssep_heat_net/ssep_heat_net_trt.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cc
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifiedssep/sdk/ssep_activation_impl.cc
The file was modifiedssep/ogm_map/ogm.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
The file was addedssep/ssep_heat_net/ssep_heat_net.h
The file was addedssep/ssep_heat_net/standarization_params.h
The file was modifiedssep/common/def/type_definition.h
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.h
The file was addedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.cc
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/diagnal_motion_primitive_sampler.h
The file was addedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/bulk_yard_reasoner.h
The file was addedssep/keb_optimizer/cost_features/truck_kinematic_constraint.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/curvature_cost_computer.h
The file was addedssep/keb_optimizer/cost_features/soft_disk_collision_cost.h
The file was addedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.h
The file was modifiedssep/common/def/ssep_input.hpp
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was addedssep/keb_optimizer/cost_features/path_length_cost.h
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/coarse_search/geometric_searcher/conditions/along_lane_condition.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.cc
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.cc
The file was addedssep/keb_optimizer/cost_features/trailer_disk_collision_cost.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was addedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_collision_cost_computer.h
The file was modifiedssep/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cc
The file was modifiedssep/demo/src/main_ssep_activation.cc
The file was addedssep/keb_optimizer/cost_features/pinch_cost.h
The file was addedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was addedssep/keb_optimizer/cost_features/jet_access.h
The file was addedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
The file was addedssep/keb_optimizer/keb_utils.h
The file was modifiedssep/common/def/type_definition.cc
The file was addedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/ogm_map/ogm.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was addedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/back_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/state_hasher.h
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/reverse_primitive_decorator.h
The file was modifiedssep/tools/scene_data_generator/generate_scene_data_cli.cc
The file was modifiedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.h
The file was addedssep/keb_optimizer/cost_features/heading_constraint.h
The file was modifiedssep/coarse_search/hybrid_a_star_tt.cc
The file was addedssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/ilqr_motion_primitive_sampler.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/geometric_search_visualizer.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/motion_primitive_sampler.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was addedssep/keb_optimizer/data_structure.h
Commit 9647b79751bcdc27546afd6933d05b87fedc4c14 by tangwenqing
chore: 适配新版本ssep

The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedCMakeLists.txt
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifieddata/ssep/ssep_ec.cpp
Commit a193839bd84db355132d1d6a326861fe47276f7b by tangwenqing
feat: SSEP: 增加集卡多段倒车场景

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/ssep_planner.cc
Commit b87283f764a230ae850ebacb69489c7210a44636 by 5081703.cr
fix: wbca bd expanding.

The file was modifiedalgorithm/wbca/occupancy_grid_map/data_render.cpp
Commit bc1112a9d52f45b8ad8918bb1b057535b9e58ed7 by tangwenqing
feat: SSEP: 增加IMV-either-facing-goal搜索功能（可以头朝前也可以尾朝前）

The file was modifiedssep/coarse_search/geometric_searcher/conditions/along_lane_condition.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was addedssep/coarse_search/geometric_searcher/conditions/path_direction_condition.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.h
Commit a280eeda09dc73323f7028324017ff21ba288ae8 by tangwenqing
feat: SSEP: 增加集卡多段倒车场景

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
Commit 41f63bb85f70821a416316f2deeee080a82bc422 by wuyanjun110
fix:修复连续普通路口搜索的bug

The file was modifieddata/scenario/scenario_manager.cpp
The file was modifieddata/scenario/scenario_manager.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedtasks/deciders/search_decider/normal_junction_search_decider.cpp
The file was modifieddata/decide/decide_reaction.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.hpp
Commit 98e8e274bf05a76d4557731892885c01ded08feb by tangwenqing
fix: SSEP: Resolve crashing issue.

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit a4f849972654c0837f58e4ea61e4e7b260435529 by tangwenqing
fix: SSEP: Resolve crashing issue.

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit ccbe0ff61a1f49f9e0e60bcdf8b332985a8e03c5 by tangwenqing
fix: SSEP: Resolve crashing issue.

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit aa57cf43920b34fe51b46fd9a051e89f533822f3 by tangwenqing
fix: SSEP: Resolve crashing issue.

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit 6af1002eef64b39603e65a6e9a8097bd08c959b4 by 5081703.cr
 feat: add distance2bend

The file was modifieddata/map/pnc_map/routing_extension/routing_data.hpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 7cf7d48885a66176adede13d881909f4dd380122 by 5081703.cr
fix: WBCA lane change path
The file was modifieddata/config/cfg_lat_decide.hpp
The file was modifiedtasks/deciders/lat_decider/wbca_path_boundary_decider.cpp
The file was modifieddata/plan/switch_data.hpp
The file was modifieddata/config/cfg_lat_decide.cpp
The file was modifieddata/plan/switch_data.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifiedtasks/deciders/lat_decider/wbca_path_boundary_decider.hpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/plan/guide_line_info.cpp
The file was modifiedalgorithm/wbca/wbca_manager.hpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifieddata/plan/switch_helper.cpp
Commit da28a47375f1766e488d585a4a1627690ee1af1d by 5081703.cr
fix: choosing WBCA start_pt at guide_line in SMOOTH MODE

The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifiedtasks/plan/path_optimization_task.hpp
The file was modifieddata/wbca/wbca_data.hpp
Commit 4fddbc2e48f620ddc01bd2a93ca4270e3317064d by 5081703.cr
fix: choosing WBCA start_pt at guide_line in SMOOTH MODE
The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifiedtasks/plan/path_optimization_task.hpp
Commit 747de0d3628ec63161d434f2af123eeb6456d853 by 5081703.cr
fix: cherry pick bug.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit ef5c89f3285fb795c957d97d2d638e9607e23189 by wuyanjun110
feat:适配状态机场景

The file was modifiedscenarios/scenario_supervise.cpp
The file was modifieddata/scenario/scenario_region_action.cpp
The file was modifieddata/app/cmd/cmd_set_target.cpp
The file was addedscenarios/fallback_scenario/fallback_scenario.hpp
The file was modifieddata/scenario/scenario_planner_condition.cpp
The file was modifieddata/scenario/scenario_region_condition.hpp
The file was modifieddata/config/cfg_stage.hpp
The file was addedscenarios/fallback_scenario/fallback_stage.cpp
The file was modifiedcommon/util/express.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/scenario/scenario_region_bt.cpp
The file was modifieddata/scenario/scenario_planner_bt.cpp
The file was modifieddata/scenario/scenario_region_condition.cpp
The file was addedscenarios/fallback_scenario/fallback_stage.hpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/scenario/scenario_planner_action.cpp
The file was modifieddata/scenario/scenario_region.hpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.hpp
The file was addedscenarios/fallback_scenario/fallback_scenario.cpp
The file was modifiedtasks/other_tasks/create_reference_line.cpp
The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifieddata/config/cfg_stage.cpp
The file was modifieddata/scenario/scenario_planner.hpp
The file was modifieddata/app/fsm/task_command_type.cpp
The file was modifieddata/app/fsm/task_fsm/task_state.hpp
Commit 5385854ced1c4f0a38ecc0337eebc0d1a0ae820d by 5081703.cr
feat: WBCA serialization for debug.

The file was modifieddata/wbca/grid_map/grid_map.hpp
The file was modifieddata/wbca/grid_map/esdf_map.hpp
The file was modifieddata/plan/guide_line_info.hpp
The file was modifieddata/wbca/wbca_data.hpp
Commit 349cf66c11d9628ff7dde4ff4fe034f46ad4eab1 by 5081703.cr
fix: using history_pts for lattice velocity reference.

The file was modifieddata/lattice/trajectory_evaluator.cpp
Commit c5b717740c81e6085311e306132e5adec38bc508 by 5081703.cr
fix: use_func_use_wbca_speed_limit = true

The file was modifieddata/config/cfg_func_sw.cpp
Commit 393ff4b1567e26e1f160662e1dd0d3745b23f499 by 5081703.cr
fix: wbca bd expanding.

The file was modifiedalgorithm/wbca/occupancy_grid_map/data_render.cpp
Commit 529766b72c33a698ebb04242a5f04b4b21411065 by 5081703.cr
fix: using history_pts for lattice velocity reference.

The file was modifieddata/lattice/trajectory_evaluator.cpp
Commit f630959754c596f5112e6b06ca27455f75817e36 by tangwenqing
feat: SSEP: 增加引导线跟随模式搜索

The file was modifiedssep/conf/ssep_preprocess.yaml
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.h
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/main_test/main_ssep_input.cc
Commit eb15b8594d32856bc558eaf00a2cdd79e9f88a8f by tangwenqing
feat: ssep适配脱困模式

The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifieddata/ssep/ssep_ec.cpp
Commit d2aa1263316b362fa95667833a95cb387ed4db95 by wuyanjun110
feat:boost 编译错误

The file was modifiedCMakeLists.txt
Commit 5b151ef7dc7b81438899a4a14d899c76fddb1cbf by tangwenqing
fix: SSEP: 修复引导线跟随搜索的一些bug

The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
Commit 536b1fde473aa41238cb47d4343d807c3c507ab3 by 5081703.cr
fix: lateral acceleration parameters.

The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/config/cfg_long_plan.hpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/config/cfg_long_plan.cpp
Commit 9676b1db3bfc55a692b673dd152ae900129bc6c9 by 5081703.cr
fix: ComputeLonGuideVelFromLatAcc

The file was modifieddata/lattice/trajectory_evaluator.cpp
The file was modifieddata/lattice/trajectory_evaluator.hpp
Commit 6f04708b7e57863992eea101db7db54f7fca94a5 by 5081703.cr
feat: clear align times when align2nd to align1st.

The file was modifiedplan/prepare/prepare_status.cpp
The file was modifiedplan/prepare/prepare_status.hpp
Commit 7dde7bf484e626563740dd2d75d4fabe7af72a64 by 5081703.cr
feat: clear align times when align2nd to align1st.

The file was modifiedplan/prepare/prepare_status.cpp
The file was modifiedplan/prepare/prepare_status.hpp
Commit 8b77a84d05f84cafc18356acda48b4e4c5183ad0 by wuyanjun110
feat:脱离模式 路径切换的适配

The file was modifieddata/plan/path_direction_data.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/vehicle/vehicle_destination.cpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
The file was modifieddata/plan/guide_line.cpp
The file was modifiedplan/prepare/prepare_state.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/plan/ssep_data.hpp
Commit a1d9f0a0191c2974cae7191e8a81f09b421a643b by tangwenqing
chore: SSEP: 新增DirectionalPath数据结构，简化对reference line的处理

The file was removedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.h
The file was addedssep/coarse_search/data_structure/directional_path.cc
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/coarse_search/data_structure/directional_path.h
Commit 2e38dea16234d3f3854755fd5d8fda9981f26949 by tangwenqing
feat: SSEP: 增加引导线跟随模式搜索

The file was modifiedssep/conf/ssep_preprocess.yaml
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.cc
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.h
Commit 4d0eb985470379176f7871594b20f2a948ae6687 by tangwenqing
fix: SSEP: 修复引导线跟随搜索的一些bug

The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit b561d0438921523925628dcf5fcb163914948128 by tangwenqing
chore: SSEP: 新增DirectionalPath数据结构，简化对reference line的处理

The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.h
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.cc
The file was addedssep/coarse_search/data_structure/directional_path.cc
The file was addedssep/coarse_search/data_structure/directional_path.h
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit e77151e6ba5e36a4b850362ec661d98588ba6c7f by 5081703.cr
fix: lon_decision for car.

The file was modifiedalgorithm/decision/semantic_set_transformation_2.cpp
Commit d9e6b8da0a9a98d6c7466d51872046e2ff487ffb by wuyanjun110
feat:cut ego 添加参数

The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/config/cfg_env_const.cpp
Commit f0374d1e424b9eb8bfc116e85a1f4b8631991c0a by wuyanjun110
feat:适配新的障碍物类型

The file was modifieddata/obstacle/perception_obstacle.hpp
Commit a5c5bb46e01f4e55bfeca548e3ef9c63d2510baf by 5081703.cr
fix: lon_decision for car.

The file was modifiedalgorithm/decision/semantic_set_transformation_2.cpp
Commit 07da24972be561730ba0607d76f6a479db4b96a9 by wuyanjun110
feat:脱困模式，适配重搜索逻辑以及地图版本校验

The file was modifiedtasks/deciders/other_decider/replan_decider.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/app/cmd/cmd_set_target.cpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/plan/ssep_data.cpp
Commit ad6c09e37907cebcaa2037c5a0d452809b0a40a9 by wuyanjun110
feat:cut ego 添加参数

The file was modifieddata/obstacle/ogm.hpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit 663af06f4e49b4956bfdb7724e2f4af6cf86ed1d by wuyanjun110
feat:适配新的障碍物类型

The file was modifieddata/obstacle/perception_obstacle.hpp
Commit b1212f643913fed0b5782662c89feda43ff994d7 by 5081703.cr
fix: add min_turn_radius

The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/lattice/trajectory_evaluator.cpp
The file was modifieddata/config/cfg_long_plan.cpp
Commit 2cd209182765e48ef76e10b8f4f73986d6099459 by chenran
fix: add lattice_velocity_reference_mode

The file was modifieddata/config/cfg_long_plan.hpp
The file was modifieddata/lattice/trajectory_evaluator.cpp
The file was modifieddata/config/cfg_long_plan.cpp
Commit c0482707461266a3e3a894eb153bd2a8d4dfda99 by wuyanjun110
feat:调整搜索终点位置

The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit 3769459fde93fb52325f104384f270dc718a7a29 by wuyanjun110
feat:堆高机作业关路重叠时，合并

The file was modifieddata/constrain/temporary_stop_data.cpp
The file was modifieddata/constrain/block_data.cpp
The file was modifiedmath/util/algebra.cpp
The file was modifiedmath/util/algebra.hpp
Commit dec0413981b3ec63e201c15eefb6441fe6ea2c0a by wuyanjun110
feat:park lock下 不校验地图

The file was modifieddata/vehicle/request_routing_data.cpp
Commit 8c9e246300c0a81187d7dfc9d967a17080931b86 by chenran
fix: disable wbca debug mode.

The file was modifieddata/wbca/grid_map/grid_map.hpp
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 6f5c230d06ee1185d110b1bff6dfc7294ccd484e 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 71bc6b3762ae5bf4b93ed630fa3f60584aacd28b by chenran
fix: max_lat_acc in wbca params

The file was modifieddata/wbca/grid_map/grid_map.hpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/lattice/trajectory_evaluator.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
Commit d39503b26035a503132b582c968445d29d89232d by chenran
fix: ignore dynamic obstacle in risk evaluation.

The file was modifiedalgorithm/plan/obstacle_risk_evaluation.cpp
Commit 31d2d9ac0ecaaa2d8efc795df33b733c0fb6ca29 by wuyanjun110
fix:调整危险限速距离的bug

The file was modifiedalgorithm/plan/obstacle_risk_evaluation.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit f20ef566b368c578bb66db1dcab56ddb8873788a by wuyanjun110
feat:调整状态机

The file was modifieddata/app/fsm/task_fsm/task_fsm.hpp
Commit 091eaeb602a8d3e4a3aeb0d35cdd4283121e0dd9 by wuyanjun110
feat:远程步步进，停车时间参数化

The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_fsm.cpp
The file was modifieddata/config/cfg_env_const.hpp
Commit 388f6d439d5573602e948ead66a7f211b1a2ca0e by wuyanjun110
fix:调整危险限速距离的bug

The file was modifiedalgorithm/plan/obstacle_risk_evaluation.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 01e5770aa2b86f883819374bd05a78443ac2dd23 by wuyanjun110
feat:远程步步进，停车时间参数化

The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_fsm.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
Commit d0b10cfb5be8ed25111675d3f7302e8517235829 by chenran
fix_out: lat_acc_baed ref vel cal error. add debug msg.

The file was modifiedsink/ros_sink_plan_debug.cpp
The file was modifiedalgorithm/plan/lattice.cpp
The file was modifieddata/lattice/trajectory_evaluator.hpp
The file was modifieddata/lattice/trajectory_evaluator.cpp
The file was modifieddata/plan_frame.hpp
Commit 60fa8bbb4ce743b21bdf1c01f4aef06360f6b000 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 7882b227a73b2918bc10db5449921c29d0017d89 by chenran
fix: bug

The file was modifieddata/lattice/trajectory_evaluator.cpp
Commit 9cfc82949d744490a620b28f81c98283fbb7d048 by chenran
fix: disable wbca_debug mode.

The file was modifieddata/wbca/grid_map/grid_map.hpp
Commit 45d74acfedd027e5cec0bc21e40ecac6d1e9d6e2 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 dd5ed89ec56fd354a8530f7587a801e2e069cd45 by wuyanjun110
chore(format):格式

The file was modifieddata/config/cfg_env_const.hpp
Commit 013bc56b3aa76e9ae6726f6005ef1f0824c30635 by tangwenqing
chore: 适配remote guide line变更

The file was modifiedhmi/draw/draw_map.cpp
The file was modifieddata/ssep/ssep_ec.cpp
Commit b17f0d5fb704e33ac5c479ea638e8dc7e745462c 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 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 modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/plan/switch_data.cpp
Commit 9ae3bb642cab7844f04669b423c74cf6d8361bd3 by chenran
fix: delete log.

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 9e0b88249bd653bb4516cf863552738db6ed5e06 by tangwenqing
enable ssep_heat_net (tmp commit)
The file was modifiedssep/ssep_heat_net/ssep_heat_net.cc
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/conf/ssep_preprocess.yaml
The file was modifiedssep/ssep_heat_net/ssep_heat_net.h
The file was addedssep/coarse_search/reference_line_snapper.h
The file was addedssep/tools/scene_data_generator/utils.h
The file was modifiedssep/coarse_search/data_structure/directional_path.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.h
The file was modifiedssep/coarse_search/data_structure/directional_path.cc
The file was modifiedssep/coarse_search/data_structure/polyline.h
The file was modifiedssep/ssep_heat_net/inference_ml_trajectory_cli.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modified.gitignore
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/coarse_search/ml_path_validator.h
Commit 694cad1303ba2c0e2957174ca71764e0749fa783 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 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 e3fb4e9e3f7da3447a7b8aa2aa26b82f25f3636f by tangwenqing
fix: SSEP: 修复IMV进充电桩方向错误的问题
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit 6c088e1ef716df23d8d72e0db628379340e55c8c by tangwenqing
fix: SSEP: 修复IMV进充电桩方向错误的问题
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit d188c11ec9081cf9e63baf839a39f0254f7a5c6b by chenran
fix: delete log

The file was modifieddata/plan/guide_line.cpp
Commit 9c366b165aebbc23ec15f7c7c180882cf5f5da7f by tangwenqing
feat: SSEP: 完成 learning-based 进出堆场口搜索全流程

The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/ssep_heat_net/ssep_heat_net.cc
The file was modifiedssep/param_loader/param.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/ssep_heat_net/ssep_heat_net.h
The file was removedssep/ssep_heat_net/inference_ml_trajectory_cli.cc
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.cc
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.h
The file was addedssep/tools/executable/inference_ml_trajectory_cli.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit 4764fe09a51aceb56c0da627948116e3184479f6 by tangwenqing
feat: 适配ssep learning-based 进出堆场口

The file was modifieddata/config/cfg_ssep.hpp
The file was modifiedCMakeLists.txt
The file was modifieddata/config/cfg_ssep.cpp
Commit a0714073667b61cb782dc1cec5778ef2037679a8 by wuyanjun110
feat:执行remote后进入stop auto

The file was modifieddata/app/fsm/stop_reason.hpp
The file was modifieddata/app/fsm/stop_reason.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_fsm.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp
Commit 5dbd19046e7b94b72f150bcdc72f4ad2cc43aff3 by wuyanjun110
feat:添加obj障碍物的跟车距离

The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/constrain/longitude_constrain.cpp
The file was modifieddata/config/cfg_long_plan.hpp
Commit 78040d89b4fb954c95b42c8c2b47d5824f95a9a7 by wuyanjun110
refactor:优化bulk场景的限速

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 7098e5415d6bd47e934e8d2aeb9db564ce4c125e by tangwenqing
fix: SSEP: 修复终点在堆场边缘时，场景识别错误导致搜索失败的问题。

The file was modifiedssep/coarse_search/geometric_searcher/conditions/inside_yard_condition.h
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/bulk_yard_reasoner.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/common/def/map_element_polyline.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
Commit 265280e297efd28920dcf41d567dc2a01bf42023 by tangwenqing
chore: SSEP: Add some printos.

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/ml_path_validator.h
Commit aab9cba29215396bf75e3caa78691569a3d9726e by wuyanjun110
fix:修复park lock 切换 park out， 不重搜索的bug

The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit ffc89ba1cab4ef45708d83dc857e6c9a11c38ce0 by wuyanjun110
fix:修复极限变道时没有应用变道路径，然后状态机切换的bug

The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
The file was modifieddata/plan/switch_data.cpp
Commit 6968f0becb6e4205acf9747153959f2804dc39e5 by wuyanjun110
feat:添加obj障碍物的跟车距离

The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/config/cfg_long_plan.hpp
The file was modifieddata/constrain/longitude_constrain.cpp
Commit cd51af59b0d3bb60f8bd54fa148b89afeb852b36 by wuyanjun110
refactor:优化跟车距离

The file was modifieddata/config/cfg_long_plan.cpp
Commit fbcf64b20bb7a0e28f3f59bd472b7c92cca8f1e0 by wuyanjun110
refactor:优化跟车距离

The file was modifieddata/config/cfg_long_plan.cpp
Commit f6fc40765e865624dbbf8f06d10bb50c0737a36d by tangwenqing
chore: SSEP: use standard out stream.

The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.cc
Commit c5c03d2b950c5118588e96b8208191b160e6a535 by tangwenqing
fix: 解决未安装cuda的系统编译失败的问题。

The file was modifiedCMakeLists.txt
Commit 4f10762950f9fd6f6e02b069bbca40b8285ccdaa by wuyanjun110
fix:临时修复重搜索的bug

The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit 0790e7d3fb073f66c996f5c2d4ef5c28c08bf268 by wuyanjun110
refactor:优化动态搜索限速

The file was modifieddata/plan/guide_line.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 3bdbadb8192f2e1afbf517b06df6fa9888b05c6b by tangwenqing
feat: SSEP: 重规划时先考虑复用优化上一条轨迹

The file was modifiedssep/coarse_search/geometric_searcher/data_structure.h
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/common/def/ssep_input.hpp
Commit b9518728d2da556842eddcf95681f3f1aef566bf by tangwenqing
feat: SSEP重规划时复用轨迹

The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit 96a8d6212cb59118851ff31273dabc6fc64a63fe by wuyanjun110
refactor:优化动态搜索限速

The file was modifieddata/plan/guide_line.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit fa0b4b6111a47d28d18929de661182e9e51745a5 by wuyanjun110
fix:修复replayer编译失败的bug

The file was modifiedCMakeLists.txt
Commit 4e81a167aca0f81d3e5e8b0e924c8b7419efebd5 by 5081703.cr
feat: lon_decision from SQ

The file was modifieddata/config/cfg_decision.hpp
The file was modifiedalgorithm/decision/simulator/forward_simulation.hpp
The file was modifiedalgorithm/decision/simulator/forward_simulation.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/semantic/semantic_description.cpp
The file was modifieddata/semantic/semantic.cpp
The file was modifieddata/semantic/semantic.hpp
The file was modifiedalgorithm/decision/rule_base_behavior.cpp
The file was modifieddata/config/cfg_decision.cpp
The file was modifiedalgorithm/decision/longitudinal_decision_3.cpp
The file was modifiedalgorithm/decision/semantic_set_transformation_2.cpp
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 262ba25a61e529ba682a868668332b982d754d4c by 5081703.cr
fix: disable dynamic and steering speed constraints

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 25ea413341d494cc2bd5f20fce8ca02f978988ae by 5081703.cr
fix: add min_velocity_coefficient_for_velocity_cost.

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
Commit b927c1b538f0862739b0fd3f3e7faf0e800de7e2 by wuyanjun110
feat:添加障碍物靠近警报的功能

The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.cpp
The file was modifiedalgorithm/plan/obstacle_risk_evaluation.cpp
The file was modifiedsink/ros_sink_chassis_ctrl.hpp
The file was modifiedalgorithm/plan/obstacle_risk_evaluation.hpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.hpp
The file was modifieddata/obstacle/obstacle_decider_attr.hpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifiedsink/ros_sink_chassis_ctrl.cpp
The file was modifieddata/obstacle/obstacle_decider_attr.cpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/config/cfg_func_sw.cpp
Commit 82b6c62336e681fa911b2f8b86cb34bbcf29642f by wuyanjun110
feat:添加障碍物靠近警报的功能

The file was modifiedalgorithm/plan/obstacle_risk_evaluation.hpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifiedsink/ros_sink_chassis_ctrl.cpp
The file was modifiedsink/ros_sink_chassis_ctrl.hpp
The file was modifiedalgorithm/plan/obstacle_risk_evaluation.cpp
The file was modifieddata/obstacle/obstacle_decider_attr.cpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.cpp
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.hpp
The file was modifieddata/obstacle/obstacle_decider_attr.hpp
Commit 7233129e21e790db93b28035752be471f30783ec by wuyanjun110
fix:修复出堆场过程中， travel out场景退出的bug

The file was modifieddata/other/flow_control.cpp
The file was modifieddata/app/fsm/task_fsm/task_travel/task_travel_fsm.cpp
Commit 02ef3a87c72fa468a8e27ee4e0af031ad877c05c by wuyanjun110
fix: bulk场景 进出堆场限速的bug

The file was modifieddata/constrain/long_target.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 313ad77784466556e1099148a2a5b00756f4f56d by tangwenqing
feat: SSEP: 增加imv keb optimizer, 适配两段式搜索任务。

The file was modifiedssep/keb_optimizer/keb_problem.h
The file was addedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/ssep_planner.cc
The file was addedssep/keb_optimizer/cost_features/imv_rear_pinch_cost.h
The file was addedssep/keb_optimizer/cost_features/imv_rear_curvature_cost.h
The file was addedssep/keb_optimizer/cost_features/imv_center_pinch_cost.h
The file was addedssep/keb_optimizer/cost_features/imv_center_curvature_cost.h
The file was addedssep/keb_optimizer/imv_keb_optimizer.h
The file was addedssep/keb_optimizer/cost_features/imv_dynamic_constraint.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/ogm_map/ogm.cc
The file was modifiedssep/keb_optimizer/data_structure.h
The file was addedssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/CMakeLists.txt
The file was addedssep/keb_optimizer/cost_features/imv_rear_oversteer_cost.h
Commit b1d7edb7f2364f0b31aaefe5f365e5f5eb552716 by wuyanjun110
refactor:优化动态搜索限速

The file was modifieddata/plan/guide_line.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit b44716c1fac57d651ff9e4e7317600b4b480b846 by wuyanjun110
feat:添加障碍物靠近警报的功能

The file was modifiedalgorithm/plan/obstacle_risk_evaluation.cpp
The file was modifieddata/obstacle/obstacle_decider_attr.hpp
The file was modifiedalgorithm/plan/obstacle_risk_evaluation.hpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.cpp
The file was modifiedsink/ros_sink_chassis_ctrl.cpp
The file was modifiedsink/ros_sink_chassis_ctrl.hpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/obstacle/obstacle_decider_attr.cpp
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.hpp
Commit f4fea06d93b1571764d260bd8ab24c761ff40ba2 by wuyanjun110
fix:修复出堆场过程中， travel out场景退出的bug

The file was modifieddata/other/flow_control.cpp
The file was modifieddata/app/fsm/task_fsm/task_travel/task_travel_fsm.cpp
Commit 5ab62f8c1314d98f8b5e69abee10ebc9eec7211c by wuyanjun110
fix: bulk场景 进出堆场限速的bug

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/constrain/long_target.cpp
Commit 72264732bd5d2c4bbfc5c087a1f4e27c549b1c0c by wuyanjun110
fix:优化不绕行和搜索停车的问题

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/boundary/driving_corridor.cpp
Commit e6a9d101a79c8a24170cf062ba1c4efef6c06bc7 by wuyanjun110
fix:保存任务时，当前定位保存错误的bug

The file was modifiedsource/ros_source_ads_target.cpp
Commit 9778807fadf12683f3a6ab8cbadd64e02533d411 by wuyanjun110
fix:合并的bug

The file was modifieddata/config/cfg_env_const.hpp
Commit 998432a53fc583d72f6eedc0d6ae802499e002c0 by tangwenqing
chore: SSEP: minor params finetune.

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
Commit 4f2ebb73a2f4f43b4a0306dbbb7b4348c7e4f3fe by tangwenqing
feat: 海润适配新imv搜索器

The file was modifiedCMakeLists.txt
The file was modifieddata/ssep/ssep_ec.cpp
Commit 5d00ecb86c804df8745308b2c294f93c94b525c4 by 5081703.cr
fix: wbca crash issue.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 5775d0434930bd933538056f6dd6c1cdba439788 by 5081703.cr
fix: crash issue.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 9dc7c3033ea57ea993db2b9f4f2e0df3106283a5 by tangwenqing
fix: SSEP: 修复集卡进堆场轨迹绕圈问题

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 1ee467f0cb57f7f6ddf2986a1bb3a293b04b09fb by 5081703.cr
fix: wbca debug mode.

The file was modifieddata/plan/guide_line_info.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit b5993f3990e507a77f6ffcdb6faaeb6165795f66 by 5081703.cr
fix: replace IsInLat/Lon with is_bend.

The file was modifieddata/boundary/road_boundary.cpp
Commit 9c4082246969ff4baf4cbfb06d11709c34cdf927 by wuyanjun110
feat:适配大港ssep

The file was modifieddata/config/cfg_region.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/config/cfg_region.hpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/field_junction_ec.cpp
Commit d071b98f930438c12ee4e25d181887f7f5c2936a by tangwenqing
feat: ogm聚类时使用多边形代替原来的线段障碍物

The file was modifieddata/obstacle/ogm.hpp
The file was modifieddata/ssep/reverse_ec.cpp
The file was modifieddata/ssep/ssep_util.hpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/ssep/ssep_util.cpp
The file was modifiedsink/ros_sink_og_line_segments.cpp
Commit 3abb45ee4435e1dc8c7838595f583f8dac201eb6 by tangwenqing
chore: SSEP: 

1. 拆分普通guide line与云端remote guide line。
2. 最后一段路径为倒车路径时，将终点后方区域设置为禁行区域。
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.h
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/coarse_search/data_structure/directional_path.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/common/def/ssep_input.hpp
Commit e8942e3fc90f02b82aa9e2345c47b4e54aa1a270 by tangwenqing
feat: 进出堆场场景中，如果存在云端remote guide line的话，进入参考线跟随搜索模式。

The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifieddata/app/reaction/app_reaction.hpp
Commit deb6c6f53d137384d8ba57b939cf535e4737034e by tangwenqing
chore: SSEP: imv optimizer参数调试

The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
Commit d59896ccb2ee030a809190d96893a6e90da475d7 by wuyanjun110
fix: 救援模式下，无法取消任务的bug

The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
Commit 6215b504ba3736e2843e01bda5f2e35e2f73065d by wuyanjun110
fix:状态机切换的bug

The file was modifieddata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp
Commit 90a54dfa2a008218b8a8f6096de3be540093959f by wuyanjun110
fix:修复带有bulk 途经点， opensspce 不搜索的bug

The file was modifieddata/scenario/scenario_planner_condition.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit b7464186bc25420e5156da1c23655e3fe598f8ce by wuyanjun110
fix:修复带有bulk 途经点， opensspce 不搜索的bug
The file was modifieddata/scenario/scenario_planner_condition.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 47dd1e17e3b7a1cacfa8af95d3a50e451c387dc1 by wuyanjun110
fix: crash issue.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit dce023d8157f0b2a2ae0a7b324c8c5250b4a7f6a by wuyanjun110
fix:堆场口禁停异常的bug

The file was modifieddata/constrain/block_data.cpp
Commit 92a48ada059e3348440ce6c31fb49beb108d400f by tangwenqing
chore: SSEP重构 - 实现搜索框架适配器，将旧的搜索器适配到新框架，统一流程。可视化与主进程解耦，去除死代码。

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/ssep_visualizer.h
The file was addedssep/coarse_search/geometric_searcher/legacy_searcher_adaptor.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/coarse_search/hybrid_a_star_imv.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/coarse_search/hybrid_a_star_tt.cc
The file was modifiedssep/common/def/type_definition.h
The file was addedssep/keb_optimizer/cost_features/imv_center_curvature_constraint.h
The file was addedssep/ssep_visualizer.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/coarse_search/hybrid_a_star_imv.cc
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/geometric_searcher/data_structure.h
The file was modifiedssep/coarse_search/hybrid_a_star_car.cc
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/coarse_search/hybrid_a_star_tt.h
The file was modifiedssep/sdk/ssep_activation_impl.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/hybrid_a_star_car.h
Commit 02c08cfee444099dc03dbb3d04f005dc10df926f by tangwenqing
chore: 适配ssep重构

The file was modifieddata/ssep/ssep_activation.cpp
Commit 9512a300b6b260a6efa1d3d9536906eb1cc0a3b5 by tangwenqing
chore: SSEP: minor adjustments

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
Commit c1ddd3db44b13b8cd7a97208f6d149b4ea61ab33 by tangwenqing
chore: SSEP: 1. imv-keb-optimizer调参解决低贝位进堆场路径画龙的问题。2. 限制斜行角度。

The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/keb_optimizer/cost_features/imv_dynamic_constraint.h
Commit a6dd939259b424d3aa4b8e6672a3c981af2fbe95 by tangwenqing
chore: SSEP: 增加打印信息，修复一些小错误。

The file was modifieddata/ssep/ssep_util.hpp
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/kinematic_heuristic_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/reeds_shepp_path.h
The file was modifiedssep/common/utils/common.hpp
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path_motion_primitive_sampler.h
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/conditions/along_lane_condition.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/data_structure.h
The file was modifieddata/ssep/ssep_util.cpp
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/composite_heuristic_computer.h
The file was modifiedssep/coarse_search/reeds_shepp_path.cc
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
Commit acfc0c56e9269217c82baf54b3babd4cdfb3130a by wuyanjun110
feat:适配直线步进，根据ttc进行碰撞检测的功能

The file was modifieddata/app/fsm/motion_fsm/motion_fsm.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_state.hpp
The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_fsm.hpp
The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.hpp
The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_fsm.cpp
The file was modifieddata/app/fsm/task_command_type.cpp
The file was modifiedtasks/deciders/other_decider/stop_decider.cpp
Commit 210669ef8898b68ce49d8764f782892fea07a214 by wuyanjun110
fix:1.修复fall back 重搜索的bug 2.fallback自动起步的bug

The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_fsm.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 1c889f2d1cf1b5736ae5473b81d72bf57f46a95b by wuyanjun110
fix:向后直线步进的bug

The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_fsm.cpp
Commit 75328e1fd5afe28ecc98b7d02d7e788ba8670d34 by wuyanjun110
fix:向后直线步进的bug
The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_fsm.cpp
The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
Commit d0399f8916e45be94a48d1eaf074fe3cd8c9ea64 by wuyanjun110
fix:修复合并的bug

The file was modifieddata/ssep/forward_ec.cpp
Commit 419c27806816f44022ebe9a32bc12cf73de7a424 by wuyanjun110
feat:cheackout ssep

The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/conf/ssep_preprocess.yaml
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path_motion_primitive_sampler.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/tools/executable/inference_ml_trajectory_cli.cc
The file was modifiedssep/keb_optimizer/data_structure.h
The file was modifiedssep/sdk/ssep_activation_impl.cc
The file was modifiedssep/common/def/ssep_input.hpp
Commit db2235f3d475e77f503aa7cb62bb27c5a297e0a2 by wuyanjun110
feat:release

The file was modifiedCMakeLists.txt
Commit b988b08865cdf81bc9d3c616a04bd73129c64c50 by wuyanjun110
fix:出停车位,不拼接参考线的bug

The file was modifieddata/plan/guide_line.cpp
Commit e8c2258568ea91717ad1d1cd971fa5824f293c58 by tangwenqing
fix: 拖车路径延长初始角度错误

The file was modifiedssep/common/def/type_definition.cc
Commit b26ee22a08c071f571153acfd5a6e953b7c5881b by wuyanjun110
fix:travel out 退出的bug

The file was modifieddata/app/fsm/task_fsm/task_travel/task_travel_fsm.cpp
Commit e2a30c88aa6a3ef71baa754554f5190db70543f5 by wuyanjun110
feat:1.吊具着箱后，拒绝对准2.添加吊距防护忽略安全的参数

The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedplan/prepare/prepare_status.cpp
Commit 7ccdc598a8af12eace3130bcb60003fee49f3a3e by tangwenqing
fix: SSEP: 修复碰撞检测参数错误

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.cc
Commit fd62ce9c08f83cccf8c36869cc4ccaff25220900 by wuyanjun110
fix:ttc计算的bug

The file was modifieddata/obstacle/obstacle.cpp
Commit 9b4c06b4587f28f05fe262e1d16a6ada7f6c407c by tangwenqing
chore: SSEP: 改进脱困模式效果

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.cc
Commit ad7f312cc712eabafd3847dd570081535236157c by wuyanjun110
fix:优化云端轨迹的转向赋值

The file was modifieddata/common/trajectory.cpp
The file was modifieddata/lattice/trajectory_combiner.cpp
Commit 8664c9e63ade80049043b6f0dfa7e32f01a04f55 by wuyanjun110
fix:ttc计算的bug

The file was modifieddata/obstacle/obstacle.cpp
Commit 78aecf8c23b8ed7df75fba3c5257eba59df02b5f by tangwenqing
chore: ssep改善脱困模式搜索效果

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/influence_map/sl_projection_map.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/influence_map/sl_projection_map.h
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/ref_line_cost_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.h
Commit 888b922266324539c23dadc571a646482e67d56c by wuyanjun110
fix:修复平行驾驶出堆堆场不退出travel out 场景的bug

The file was modifieddata/other/flow_control.cpp
Commit 3a6166525aca2a94279dd2ad11fb753a97d49f7b by wuyanjun110
fix:修复直道标志位传输错误的bug

The file was modifiedsink/ros_sink_pnc_status.cpp
Commit 7018b46c5474df2f143a2289738f02fc6445125d by wuyanjun110
refactor:优化救援模式下的跟车距离

The file was modifieddata/config/cfg_long_plan.cpp
Commit 9f2a67682331d01ff0fb9e1fb6b02fd5f347a019 by tangwenqing
chore: SSEP: Refactor
The file was addedssep/coarse_search/motion_primitive_sampler/dubins_path.h
The file was removedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path_motion_primitive_sampler.h
The file was addedssep/scenarios/scenario_planner_factory.h
The file was removedssep/coarse_search/geometric_searcher/motion_primitive_sampler/rs_path_motion_primitive_sampler.h
The file was addedssep/coarse_search/motion_primitive_sampler/multi_curvature_motion_primitive_sampler.cc
The file was addedssep/data_structures/pose_utils.cc
The file was removedssep/common/def/ssep_recursion_obstacle.hpp
The file was addedssep/coarse_search/motion_primitive_sampler/rs_path_motion_primitive_sampler.h
The file was modifiedssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.h
The file was modifiedssep/tools/executable/main_obstacle_publisher.cc
The file was addedssep/coarse_search/legacy_searchers/dubin_path.cc
The file was modifiedssep/ogm_map/ogm.h
The file was removedssep/coarse_search/geometric_searcher/motion_primitive_sampler/reverse_primitive_decorator.h
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.h
The file was removedssep/common/def/type_definition.cc
The file was removedssep/coarse_search/data_structure/pose_utils.cc
The file was modifiedssep/ssep_planner.cc
The file was removedssep/coarse_search/geometric_searcher/conditions/along_lane_condition.h
The file was removedssep/coarse_search/geometric_searcher/conditions/range_tolerance_condition.h
The file was addedssep/coarse_search/evaluator/composite_heuristic_computer.h
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was addedssep/coarse_search/legacy_searchers/hybrid_a_star_car.h
The file was modifiedssep/tools/scene_data_generator/generate_scene_data_cli.cc
The file was removedssep/coarse_search/geometric_searcher/conditions/trailer_relative_angle_condition.h
The file was removedssep/coarse_search/geometric_searcher/evaluator/ref_line_cost_computer.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/coarse_search/motion_primitive_sampler/const_curvature_motion_primitive_sampler.cc
The file was addedssep/coarse_search/motion_primitive_sampler/diagnal_motion_primitive_sampler.cc
The file was removedssep/coarse_search/data_structure/directional_path.h
The file was addedssep/coarse_search/topology_analysis/candidate_goals_generator.h
The file was addedssep/data_structures/polyline.h
The file was addedssep/data_structures/ssep_output.hpp
The file was addedssep/coarse_search/legacy_searchers/node_car.cc
The file was addedssep/coarse_search/conditions/along_lane_condition.h
The file was removedssep/coarse_search/dubin_path.h
The file was addedssep/coarse_search/evaluator/curvature_cost_computer.h
The file was addedssep/common/status_macros.h
The file was addedssep/coarse_search/conditions/inside_yard_condition.h
The file was addedssep/coarse_search/legacy_searchers/hybrid_a_star_car.cc
The file was modifiedssep/main_test/main_ssep_test.cc
The file was removedssep/coarse_search/geometric_searcher/conditions/tractor_trailer_goal_reached_condition.h
The file was addedssep/scenarios/truck_fuzzy_reversing_planner.h
The file was addedssep/coarse_search/topology_analysis/voronoi_graph_builder.cc
The file was removedssep/coarse_search/geometric_searcher/motion_primitive_sampler/const_curvature_motion_primitive_sampler.h
The file was removedssep/coarse_search/geometric_searcher/motion_primitive_sampler/rs_path_motion_primitive_sampler.cc
The file was removedssep/coarse_search/geometric_searcher/motion_primitive_sampler/multi_curvature_motion_primitive_sampler.cc
The file was removedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path.h
The file was removedssep/coarse_search/geometric_searcher/conditions/crosses_access_line_condition.h
The file was addedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was removedssep/coarse_search/geometric_searcher/evaluator/curvature_cost_computer.h
The file was removedssep/coarse_search/geometric_searcher/evaluator/diagonal_cost_computer.h
The file was addedssep/coarse_search/evaluator/ref_line_cost_computer.h
The file was modifiedssep/coarse_search/preprocessed_curves/tt_curve.h
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was addedssep/scenarios/truck_u_turn_planner.h
The file was addedssep/coarse_search/motion_primitive_sampler/ilqr_motion_primitive_sampler.h
The file was removedssep/coarse_search/reeds_shepp_path.cc
The file was removedssep/coarse_search/hybrid_a_star_tt.h
The file was addedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was removedssep/coarse_search/geometric_searcher/evaluator/jackknife_cost_computer.h
The file was removedssep/coarse_search/geometric_searcher/motion_primitive_sampler/straight_line_motion_primitive_sampler.h
The file was removedssep/coarse_search/node_imv.h
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/conf/ssep_preprocess.yaml
The file was addedssep/coarse_search/candidate_yard_entry_states_generator.cc
The file was modifiedssep/coarse_search/ml_path_validator.h
The file was addedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
The file was addedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/third_party/json.hpp
The file was removedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.h
The file was removedssep/coarse_search/geometric_searcher/evaluator/trailer_collision_cost_computer.h
The file was removedssep/common/def/ssep_output.hpp
The file was addedssep/coarse_search/evaluator/ref_line_heuristic_computer.h
The file was modifiedssep/main_test/main_ssep_input.cc
The file was addedssep/coarse_search/legacy_searchers/hybrid_a_star_imv.cc
The file was addedssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.h
The file was modifiedssep/main_test/main_test_tt.cc
The file was addedssep/coarse_search/conditions/always_true_condition.h
The file was removedssep/coarse_search/data_structure/polyline.h
The file was modifiedssep/tools/executable/third_party/json.hpp
The file was addedssep/data_structures/map_element_polyline.hpp
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was removedssep/coarse_search/geometric_searcher/evaluator/path_length_cost_computer.h
The file was removedssep/coarse_search/geometric_searcher/geometric_search_visualizer.cc
The file was removedssep/coarse_search/hybrid_a_star_tt.cc
The file was removedssep/coarse_search/geometric_searcher/motion_primitive.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/tools/scene_data_generator/ogm_builder/ogm_builder.h
The file was removedssep/common/def/ssep_scenario_type.hpp
The file was removedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was removedssep/coarse_search/geometric_searcher/motion_primitive_sampler/ilqr_motion_primitive_sampler.h
The file was addedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
The file was removedssep/coarse_search/geometric_searcher/motion_primitive_sampler/ilqr_motion_primitive_sampler.cc
The file was removedssep/coarse_search/dubin_path.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was addedssep/coarse_search/evaluator/trailer_shortest_path_heur_computer.h
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.h
The file was addedssep/coarse_search/topology_analysis/barrier_detector.cc
The file was removedssep/coarse_search/hybrid_a_star_imv.h
The file was addedssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
The file was addedssep/coarse_search/evaluator/jackknife_cost_computer.h
The file was addedssep/coarse_search/stage_transition_controller.h
The file was addedssep/coarse_search/legacy_searchers/hybrid_a_star_tt.cc
The file was addedssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.h
The file was addedssep/coarse_search/state_hasher.h
The file was removedssep/coarse_search/geometric_searcher/data_structure.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was addedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.h
The file was removedssep/coarse_search/node_car.cc
The file was removedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.h
The file was addedssep/coarse_search/search_graph.h
The file was modifiedssep/main_test/main_test_qhd.cc
The file was removedssep/coarse_search/geometric_searcher/utils.h
The file was removedssep/coarse_search/geometric_searcher/conditions/back_insertion_alignment_condition.h
The file was removedssep/coarse_search/geometric_searcher/stage_transition_controller.h
The file was modifiedssep/ssep_planner.h
The file was addedssep/coarse_search/evaluator/cost_feature_computer.h
The file was addedssep/data_structures/type_definition.cc
The file was removedssep/coarse_search/node_tt.cc
The file was addedssep/coarse_search/topology_analysis/bulk_yard_reasoner.h
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was addedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was addedssep/coarse_search/motion_primitive_sampler/multi_curvature_motion_primitive_sampler.h
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was removedssep/coarse_search/data_structure/directional_path.cc
The file was removedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path.cc
The file was modifiedssep/common/utils/plotter.hpp
The file was modifiedssep/coarse_search/reference_line_snapper.h
The file was removedssep/common/def/ssep_recursion_og.hpp
The file was addedssep/coarse_search/evaluator/path_length_cost_computer.h
The file was addedssep/coarse_search/motion_primitive_sampler/const_curvature_motion_primitive_sampler.h
The file was addedssep/coarse_search/search_engine_interface.h
The file was addedssep/coarse_search/motion_primitive_sampler/dir_change_path_extention_decorator.h
The file was addedssep/coarse_search/motion_primitive_sampler/straight_line_motion_primitive_sampler.cc
The file was addedssep/coarse_search/evaluator/trailer_shortest_path_heur_computer.cc
The file was addedssep/coarse_search/legacy_searchers/node_tt.h
The file was addedssep/data_structures/directional_path.h
The file was addedssep/data_structures/ssep_recursion_obstacle.hpp
The file was removedssep/coarse_search/geometric_searcher/topology_analysis/voronoi_graph_visualizer.cc
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
The file was addedssep/coarse_search/motion_primitive_sampler/dubins_path.cc
The file was addedssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.h
The file was addedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was addedssep/coarse_search/motion_primitive_sampler/diagnal_motion_primitive_sampler.h
The file was addedssep/coarse_search/legacy_searcher_adaptor.h
The file was modifiedssep/main_test/main_test_dg.cc
The file was modifiedssep/keb_optimizer/keb_utils.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was addedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was removedssep/coarse_search/geometric_searcher/topology_analysis/voronoi_graph_visualizer.h
The file was modifiedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.h
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/back_insertion_maneuver_searcher_builder.h
The file was addedssep/coarse_search/conditions/composite_condition.h
The file was addedssep/coarse_search/legacy_searchers/node_car.h
The file was removedssep/coarse_search/geometric_searcher/motion_primitive_sampler/motion_primitive_sampler.h
The file was addedssep/coarse_search/multi_stage_hybrid_astar_search_engine.cc
The file was removedssep/coarse_search/node_car.h
The file was removedssep/coarse_search/geometric_searcher/motion_primitive_sampler/diagnal_motion_primitive_sampler.cc
The file was removedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.cc
The file was addedssep/coarse_search/motion_primitive.h
The file was addedssep/coarse_search/topology_analysis/voronoi_graph_builder.h
The file was addedssep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.h
The file was addedssep/coarse_search/evaluator/collision_cost_computer.h
The file was removedssep/coarse_search/geometric_searcher/topology_analysis/voronoi_thinner.cc
The file was addedssep/coarse_search/legacy_searchers/node_imv.cc
The file was addedssep/coarse_search/topology_analysis/voronoi_thinner.h
The file was removedssep/coarse_search/grid_search.cc
The file was addedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was addedssep/data_structures/path.h
The file was removedssep/coarse_search/geometric_searcher/evaluator/dir_switching_cost_computer.h
The file was addedssep/coarse_search/evaluator/kinematic_heuristic_computer.h
The file was addedssep/coarse_search/utils.cc
The file was addedssep/coarse_search/conditions/crosses_access_line_condition.h
The file was removedssep/common/def/ssep_input.hpp
The file was addedssep/coarse_search/legacy_searchers/hybrid_a_star_imv.h
The file was addedssep/coarse_search/geometric_search_visualizer.cc
The file was removedssep/coarse_search/node_imv.cc
The file was addedssep/scenarios/truck_remote_guided_escape_planner.h
The file was removedssep/coarse_search/geometric_searcher/evaluator/kinematic_heuristic_computer.h
The file was removedssep/coarse_search/geometric_searcher/state_hasher.h
The file was removedssep/coarse_search/geometric_searcher/evaluator/ref_line_heuristic_computer.h
The file was addedssep/coarse_search/legacy_searchers/node_tt.cc
The file was addedssep/coarse_search/utils.h
The file was addedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.cc
The file was addedssep/coarse_search/topology_analysis/voronoi_graph_visualizer.h
The file was removedssep/coarse_search/geometric_searcher/evaluator/cost_feature_computer.h
The file was removedssep/coarse_search/geometric_searcher/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
The file was removedssep/coarse_search/geometric_searcher/motion_primitive_sampler/reeds_shepp_path.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was removedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
The file was removedssep/coarse_search/geometric_searcher/motion_primitive_sampler/composed_motion_primitive_sampler.h
The file was removedssep/coarse_search/data_structure/pose.h
The file was removedssep/coarse_search/geometric_searcher/motion_primitive_sampler/const_curvature_motion_primitive_sampler.cc
The file was addedssep/coarse_search/multi_stage_hybrid_astar_search_engine.h
The file was addedssep/coarse_search/evaluator/conditional_filter_cost_computer.h
The file was removedssep/coarse_search/node_tt.h
The file was modifiedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cc
The file was removedssep/coarse_search/geometric_searcher/evaluator/conditional_filter_cost_computer.h
The file was addedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was removedssep/coarse_search/geometric_searcher/evaluator/collision_cost_computer.h
The file was modifiedssep/influence_map/dubin_layer.h
The file was addedssep/coarse_search/evaluator/heuristic_feature_computer.h
The file was addedssep/coarse_search/conditions/back_insertion_alignment_condition.h
The file was addedssep/coarse_search/motion_primitive_sampler/motion_primitive_sampler.h
The file was addedssep/scenarios/truck_bulk_yark_in_out_planner.h
The file was modifiedssep/ssep_visualizer.h
The file was removedssep/coarse_search/geometric_searcher/conditions/composite_condition.h
The file was removedssep/coarse_search/geometric_searcher/indexed_priority_queue.h
The file was removedssep/coarse_search/geometric_searcher/evaluator/bidirectional_kinematic_heuristic_computer.h
The file was removedssep/coarse_search/data_structure/polyline.cc
The file was removedssep/coarse_search/geometric_searcher/topology_analysis/voronoi_graph_builder.cc
The file was removedssep/coarse_search/geometric_searcher/motion_primitive_sampler/straight_line_motion_primitive_sampler.cc
The file was modifiedssep/main_test/main_test_zhoushan.cc
The file was addedssep/coarse_search/legacy_searchers/grid_search.h
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/back_insertion_maneuver_searcher_builder.cc
The file was removedssep/coarse_search/geometric_searcher/geometric_search_visualizer.h
The file was removedssep/coarse_search/geometric_searcher/evaluator/composite_heuristic_computer.h
The file was addedssep/coarse_search/topology_analysis/barrier_detector.h
The file was modifiedssep/main_test/main_test_park.cc
The file was removedssep/coarse_search/geometric_searcher/topology_analysis/bulk_yard_reasoner.h
The file was removedssep/coarse_search/geometric_searcher/motion_primitive_sampler/diagnal_motion_primitive_sampler.h
The file was removedssep/coarse_search/geometric_searcher/candidate_yard_entry_states_generator.cc
The file was modifiedssep/CMakeLists.txt
The file was addedssep/coarse_search/evaluator/evaluator.h
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was addedssep/coarse_search/legacy_searchers/hybrid_a_star_tt.h
The file was removedssep/coarse_search/geometric_searcher/topology_analysis/barrier_detector.h
The file was addedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cc
The file was removedssep/coarse_search/data_structure/pose_utils.h
The file was modifiedssep/main_test/main_test_car.cc
The file was removedssep/coarse_search/geometric_searcher/search_graph.h
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/u_turn_insertion_maneuver_searcher_builder.h
The file was addedssep/data_structures/ssep_input.hpp
The file was removedssep/coarse_search/geometric_searcher/conditions/search_condition_interface.h
The file was addedssep/data_structures/ssep_recursion_og.hpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was addedssep/coarse_search/indexed_priority_queue.h
The file was modifiedssep/smoother/safety_corridor_smoother.cc
The file was removedssep/coarse_search/hybrid_a_star_car.h
The file was removedssep/coarse_search/geometric_searcher/topology_analysis/voronoi_graph_builder.h
The file was removedssep/coarse_search/geometric_searcher/candidate_yard_entry_states_generator.h
The file was addedssep/coarse_search/legacy_searchers/node_imv.h
The file was addedssep/data_structures/directional_path.cc
The file was modifiedssep/main_test/main_test_diagonal.cc
The file was removedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was addedssep/coarse_search/topology_analysis/voronoi_thinner.cc
The file was removedssep/coarse_search/hybrid_a_star_imv.cc
The file was addedssep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was addedssep/coarse_search/topology_analysis/candidate_goals_generator.cc
The file was addedssep/scenarios/scenario_planner_interface.h
The file was addedssep/data_structures/pose_utils.h
The file was removedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dir_change_path_extention_decorator.h
The file was removedssep/common/def/type_definition.h
The file was addedssep/coarse_search/legacy_searchers/reeds_shepp_path.h
The file was modifiedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.h
The file was removedssep/coarse_search/geometric_searcher/search_engine_interface.h
The file was removedssep/coarse_search/geometric_searcher/conditions/inside_yard_condition.h
The file was addedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was removedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.h
The file was addedssep/coarse_search/legacy_searchers/reeds_shepp_path.cc
The file was removedssep/coarse_search/geometric_searcher/motion_primitive_sampler/arc_path_motion_primitive_sampler.h
The file was addedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/main_test/main_ssep.cc
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was removedssep/coarse_search/geometric_searcher/conditions/always_true_condition.h
The file was removedssep/coarse_search/geometric_searcher/legacy_searcher_adaptor.h
The file was modifiedssep/tools/scene_data_generator/utils.h
The file was removedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
The file was addedssep/coarse_search/legacy_searchers/dubin_path.h
The file was modifiedssep/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cc
The file was removedssep/coarse_search/grid_search.h
The file was addedssep/coarse_search/motion_primitive_sampler/straight_line_motion_primitive_sampler.h
The file was addedssep/coarse_search/topology_analysis/voronoi_graph_visualizer.cc
The file was modifiedssep/main_test/hdmap_interface/rapidjson/internal/regex.h
The file was removedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.cc
The file was addedssep/coarse_search/legacy_searchers/grid_search.cc
The file was addedssep/coarse_search/evaluator/trailer_collision_cost_computer.h
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.h
The file was removedssep/coarse_search/hybrid_a_star_car.cc
The file was addedssep/coarse_search/conditions/search_condition_interface.h
The file was addedssep/data_structures/type_definition.h
The file was addedssep/coarse_search/bidirectional_hybrid_astar_search_engine.h
The file was addedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was removedssep/common/def/map_element_polyline.hpp
The file was addedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/tools/scene_data_generator/state_augment_util.h
The file was addedssep/coarse_search/evaluator/dir_switching_cost_computer.h
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was removedssep/coarse_search/geometric_searcher/topology_analysis/barrier_detector.cc
The file was removedssep/coarse_search/geometric_searcher/topology_analysis/voronoi_thinner.h
The file was modifiedssep/influence_map/obstacle_layer.h
The file was modifiedssep/sdk/ssep_activation_impl.h
The file was modifiedssep/common/utils/common.hpp
The file was removedssep/coarse_search/geometric_searcher/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was addedssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
The file was addedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.h
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was addedssep/coarse_search/topology_analysis/barrier_result.h
The file was removedssep/coarse_search/geometric_searcher/motion_primitive_sampler/reeds_shepp_path.h
The file was removedssep/coarse_search/geometric_searcher/evaluator/heuristic_feature_computer.h
The file was removedssep/coarse_search/geometric_searcher/conditions/path_direction_condition.h
The file was modifiedssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.cc
The file was addedssep/coarse_search/motion_primitive_sampler/rs_path_motion_primitive_sampler.cc
The file was addedssep/coarse_search/conditions/trailer_relative_angle_condition.h
The file was modifiedssep/coarse_search/preprocessed_curves/tt_curve_manager.cc
The file was addedssep/data_structures/polyline.cc
The file was addedssep/coarse_search/evaluator/diagonal_cost_computer.h
The file was addedssep/coarse_search/motion_primitive_sampler/reeds_shepp_path.cc
The file was addedssep/coarse_search/motion_primitive_sampler/reeds_shepp_path.h
The file was addedssep/coarse_search/motion_primitive_sampler/reverse_primitive_decorator.h
The file was addedssep/coarse_search/candidate_yard_entry_states_generator.h
The file was removedssep/coarse_search/reeds_shepp_path.h
The file was removedssep/coarse_search/geometric_searcher/motion_primitive_sampler/multi_curvature_motion_primitive_sampler.h
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.cc
The file was addedssep/coarse_search/conditions/range_tolerance_condition.h
The file was addedssep/coarse_search/geometric_search_visualizer.h
The file was removedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
The file was modifiedssep/tools/executable/inference_ml_trajectory_cli.cc
The file was removedssep/coarse_search/geometric_searcher/utils.cc
The file was addedssep/coarse_search/evaluator/bidirectional_kinematic_heuristic_computer.h
The file was addedssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
The file was addedssep/coarse_search/motion_primitive_sampler/ilqr_motion_primitive_sampler.cc
The file was addedssep/data_structures/pose.h
The file was addedssep/coarse_search/conditions/path_direction_condition.h
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was addedssep/data_structures/search_boundary.h
The file was addedssep/coarse_search/conditions/tractor_trailer_goal_reached_condition.h
Commit 1a211986d865c3718eed21f169b3f3ac6de2653f by tangwenqing
fix: ssep修复车道方向未赋值的问题，remote guide line校验不通过时打印错误信息

The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/influence_map/sl_projection_map.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
Commit 529b72271832443127b523f087fd36a48242929b by tangwenqing
chore: SSEP: 改进脱困模式效果
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cc
Commit 111c49d62fd8f628c810a01afac5671d9c76c540 by tangwenqing
chore: ssep改善脱困模式搜索效果
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/influence_map/sl_projection_map.h
The file was modifiedssep/influence_map/sl_projection_map.cc
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
The file was modifiedssep/coarse_search/evaluator/ref_line_cost_computer.h
Commit d8b47444dc2bc732093b9d318f9ebd0f03cb62f9 by 5081703.cr
feat: add drving_corridor_ogm_dilate_size_in_yard

The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/boundary/driving_corridor.cpp
The file was modifieddata/config/cfg_safe_const.cpp
Commit e095ba39d56fd336b8f4fadd10ec826268e78015 by wuyanjun110
fix:云端轨迹挂转角赋值错误的bug

The file was modifieddata/lattice/trajectory_combiner.cpp
Commit 4dd872d2412f0cd5aa4fe97ab7c610b75201c295 by 5081703.cr
fix: disable optimizer in ssep

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit 1ee73ca3ea923c5b7ab469ff08a51f619e2eeed9 by wuyanjun110
feat:暂时关闭路口延长的逻辑

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit bc246aebbd468c8098c136dd8423598bd30c0217 by wuyanjun110
feat:暂时关闭路口延长的逻辑

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit c3b7d976f9d6cae8de65f45a3fe04ca9c766832b by tangwenqing
chore: SSEP 重构大框架完成并通过自测

The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was modifiedssep/influence_map/sl_projection_map.cc
The file was addedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifieddata/config/cfg_func_sw.hpp
The file was addedssep/scenarios/two_stage_planner_composer.h
The file was addedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/common/status_macros.h
The file was modifieddata/config/cfg_ssep.hpp
The file was addedssep/scenarios/imv_general_planner.h
The file was addedssep/scenarios/imv_enter_station_planner.h
The file was addedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedhmi/draw/draw_map.cpp
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifieddata/plan_frame.hpp
The file was modifiedssep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was addedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedtasks/plan/ssep_task.hpp
The file was addedssep/scenarios/stitching_replanner.h
The file was addedssep/scenarios/legacy_planner.h
The file was modifiedssep/scenarios/truck_u_turn_planner.h
The file was addedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/ssep_planner.h
The file was addedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifieddata/ssep/hmi_virtual_obs.hpp
The file was modifiedssep/main_test/main_ssep_input.cc
The file was removedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.h
The file was modifiedssep/ssep_planner.cc
The file was addedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/conf/ssep_preprocess.yaml
The file was modifiedCMakeLists.txt
The file was modifieddata/ssep/reverse_ec.cpp
The file was modifieddata/config/cfg_ssep.cpp
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifieddata/ssep/ssep_activation.hpp
The file was addedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/data_structures/path.h
The file was modifieddata/plan/ssep_data.hpp
Commit 21d0a0630541c9971aa77cf30ae0e07d2f098dc9 by 5081703.cr
fix: using successors to extend bend lane laterally.
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/map/pnc_map/pnc_map.cpp
Commit 04d8c8aa9f1074d7cbcdef5454f8d1a1d5f1f468 by 5081703.cr
fix: using successors to extend bend lane laterally.

The file was modifieddata/map/pnc_map/pnc_map.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit e6f28eaa7f58d13b833f9c5492024b17a288214c by tangwenqing
fix: ssep: 补充重构时缺少的remote guide line处理逻辑

The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
The file was modifiedssep/common/status_macros.h
The file was modifiedssep/scenarios/legacy_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/truck_u_turn_planner.h
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/ssep_planner.cc
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/scenarios/imv_general_planner.h
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/stitching_replanner.h
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/tractor_trailer_general_planner.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.h
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
Commit 2218678bbf773ff99623e27b8997aad3e7e8497f by tangwenqing
fix: 修复错误进入多段出停车位场景的问题

The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/ssep/ssep_ec.cpp
Commit 5f9cb077277608f938c61dc3af73a6f0d6a15e60 by tangwenqing
fix: 修复错误进入多段出停车位场景的问题

The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/ssep/forward_ec.cpp
Commit fb03da3117413c1798e25a770b131d40e8eae298 by tangwenqing
chore: 修复友谊关场景错误

The file was modifieddata/ssep/ssep_ec.cpp
Commit 694417b021234b3f36ec2f82366def6466f16cff by tangwenqing
chore: SSEP: 改进集卡多段倒车
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/common/status_macros.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifiedssep/scenarios/stitching_replanner.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/scenarios/legacy_planner.h
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was modifiedssep/keb_optimizer/keb_utils.cc
The file was modifieddata/plan/ssep_data.cpp
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/conf/ssep_preprocess.yaml
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/data_structures/path.h
Commit f2d2a984f26c9802d6f4f5762ef00d138a3d364a by tangwenqing
chore: minor update.

The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit db4a8d613e20ebddf164e56ba3438f4258c4a892 by wuyanjun110
feat:道路方案判断的阈值参数化

The file was modifieddata/plan/path_direction_data.cpp
Commit 25df17150cb26dd269613224aa2b99dbbe5c2342 by tangwenqing
feat: ssep优化时增加对集卡车头车挂夹角的限制

The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifiedssep/coarse_search/geometric_search_visualizer.cc
The file was modifiedssep/main_test/main_ssep_input.cc
The file was addedssep/keb_optimizer/cost_features/jack_knife_constraint.h
The file was modifiedssep/data_structures/type_definition.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/coarse_search/geometric_search_visualizer.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/data_structures/type_definition.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
Commit b0729c99173ebea3c924d628486111f8294e18b9 by 5081703.cr
fix: is_lane_begin_and_end_same.

The file was modifieddata/map/pnc_map/road_segments.cpp
Commit 39388936a03ebff2fc5b16f016752aba9b48a557 by tangwenqing
feat: SSEP: 脱困模式生成多段路径时，检测并去除过短的路径段。

The file was modifiedssep/data_structures/directional_path.cc
The file was modifiedssep/data_structures/directional_path.h
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
Commit 90d7d354bef1e938e6204114b4d995b9c95db83c by tangwenqing
fix: 修复威海bulk out搜索失败的问题

The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifieddata/ssep/ssep_ec.cpp
Commit 829aa3a6235928f509fd91e2cf6d56bbab388dab by tangwenqing
chore: SSEP: 脱困模式优化器提高参考线权重

The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
The file was modifiedssep/scenarios/stitching_replanner.h
The file was modifiedssep/tools/executable/inference_ml_trajectory_cli.cc
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.h
The file was modifiedssep/scenarios/truck_u_turn_planner.h
The file was modifiedssep/scenarios/legacy_planner.h
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
Commit 971e7a3af80ea5c6e66287f9c5c6e2415530465c by wuyanjun110
feat:添加超时框停车的功能

The file was modifiedplan/prepare/prepare_ogm.hpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/config/cfg_func_sw.hpp
Commit ff2ea2da831706262c0456278f0701ee742eef47 by wuyanjun110
feat:调整rss 安全判断

The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.cpp
Commit 362410abb2d2288c22d30c802535c353f8a6c899 by wuyanjun110
feat:调整云端障碍物的显示

The file was modifiedhmi/draw/draw_map.cpp
The file was modifiedhmi/draw/draw_intersection.cpp
Commit 6a5507907c3af07ed88e61b74e159a2344ed70e0 by tangwenqing
feat: 改进集卡SSEP路径延长策略。跑通苏溪集卡出停车位场景。

The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifieddata/plan/ssep_data.hpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifieddata/obstacle/ogm.hpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifieddata/plan_frame.hpp
Commit 3df6ca32cb43e02e72050e37f90a1ab521ed57a1 by wuyanjun110
feat:引导线的序列化

The file was modifieddata/other/flow_control.cpp
The file was modifieddata/app/reaction/app_reaction.cpp
The file was modifiedhmi/draw/draw_map.cpp
The file was modifieddata/app/reaction/app_reaction.hpp
Commit 2620ff25e73f69bcf7bf8357bbf8ebc92dc18676 by wuyanjun110
feat:限制忽略预测的最小距离阈值

The file was modifieddata/lattice/path_time_graph.cpp
Commit 3553c87f1de2ecd72ea99b8b9c3bd3bb454f4f7d by wuyanjun110
refactor:优化ssep og lines的序列化

The file was modifieddata/ssep/ssep_util.hpp
The file was modifiedhmi/draw/draw_ssep.cpp
The file was modifieddata/ssep/ssep_util.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/plan_frame.hpp
The file was modifieddata/ssep/ssep_ec.hpp
Commit 8082aa4655f9247387e2a72f9241981999c93309 by wuyanjun110
fix:replayer ogm lines显示的开关

The file was modifiedhmi/widget/replayer_pnc_mat.cpp
Commit f05c3a348aec142cf0825bee9bb51239f8761f71 by tangwenqing
chore: SSEP: 改善杨浦低贝位进堆场轨迹扭曲的问题

The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit 805b100be6b6300dc5614dd462775a539e040625 by wuyanjun110
feat:优化imv 出停车位的相关逻辑

The file was modifieddata/app/fsm/task_fsm/task_travel/task_travel_fsm.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/lattice/trajectory_evaluator.cpp
The file was modifieddata/vehicle/vehicle_destination.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/vehicle/request_routing_data.cpp
The file was modifieddata/ssep/normal_junction_ec.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.hpp
The file was modifieddata/plan/ssep_data.cpp
Commit 8565ed504f64d38a0ae555590a3799263921df3b by wuyanjun110
feat:集卡出停车位 多段路径搜索参数调优(wenqing)

The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
Commit b80c06355e9e6f59c51aa1b58ec2b76eb95ac280 by tangwenqing
fix: SSEP: 修复IMV的either-facing搜索模式反向搜索成功率低的问题

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/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifiedssep/data_structures/path.h
The file was modifiedssep/keb_optimizer/cost_features/path_length_cost.h
Commit aaa7d395555a3704da669771dbe2c2116f3e6271 by wuyanjun110
fix:优化极限变道安全的校验

The file was modifieddata/plan/switch_data.cpp
Commit 4fcc341547291f5d054e6ccad379e0ded350204c by wuyanjun110
fix:进堆场弯道后目标车道选择时， 匹配失败的bug

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/config/cfg_env_const.cpp
Commit 145ab40e2330cdc6e1bb81e3087ccbc0a823cb9b by tangwenqing
fix: SSEP: 解决IMV优化器效果差的问题，取消参考线heading跟踪。

The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/tools/executable/inference_ml_trajectory_cli.cc
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/scenarios/legacy_planner.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/common/status_macros.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/scenarios/truck_fuzzy_reversing_planner.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.h
The file was modifiedssep/scenarios/truck_u_turn_planner.h
The file was modifiedssep/scenarios/stitching_replanner.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
Commit 889fac0e57688396297aa13ef1179d1f9c36828d by tangwenqing
chore: SSEP 调整集卡进堆场参数

The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 6509f8cb5699501238d848477a07328f737e6555 by 5081703.cr
fix: start up boundary optimization.

The file was modifieddata/boundary/road_boundary.cpp
Commit 2b5cfd358e9da32871c9018ce255290d14504fb5 by wuyanjun110
fix:target 任务 终点保存的bug

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

The file was modifieddata/boundary/road_boundary.cpp
Commit 50994d1621d04ced88b3fe774380bc2439ab9acb by wuyanjun110
fix:imv和集卡进出停车的适配

The file was modifieddata/vehicle/vehicle_destination.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/plan/guide_line.cpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/map/envelop/map_envelops.cpp
The file was modifieddata/other/flow_control.cpp
Commit 89a3c1c0f32840be2f8f71371f83f7eac2246230 by wuyanjun110
feat:优化切换bulk in的条件

The file was modifieddata/app/fsm/task_fsm/task_travel/task_travel_fsm.cpp
Commit 793bab2770b6ae3b1ecc8197703f35a96bbba5cd by 5081703.cr
feat: low bay operation smooth

The file was modifieddata/boundary/road_boundary.cpp
Commit 958eab24ef3a3a9163252f075e460cd713242f9e by wuyanjun110
feat:苏溪 进堆场堆场和普通路口搜索参数调优

The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifiedssep/scenarios/legacy_planner.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit c80155ab0be6bc0c7f4885328614e92a18040999 by wuyanjun110
feat:优化路口搜索

The file was modifiedssep/scenarios/legacy_planner.h
Commit 078c0d0bd033d4bf2b8657cfc69a8a6371f2cdcc by wuyanjun110
feat:car 动态搜索相关问题适配

The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
The file was modifieddata/plan/guide_line.cpp
Commit 06c86ac68f946f12dc982060a022a87e1373c2c1 by 5081703.cr
fix: start up boundary optimization.

The file was modifieddata/boundary/road_boundary.cpp
Commit 6fe5fb5780a605fb350b6695ab1c6dd571671fb5 by 5081703.cr
fix: stacker crane wbca smooth mode thr.

The file was modifieddata/boundary/road_boundary.cpp
Commit cd1ea5f69ba312c6a243a99b9d4a55866e934c49 by 5081703.cr
feat: low bay operation smooth

The file was modifieddata/boundary/road_boundary.cpp
Commit 128245d69b94c0d9fafe2f6392d9b9e9faaeb665 by tangwenqing
chore: 太阳纸业适配reversing driving进货堆

The file was modifieddata/ssep/forward_ec.cpp
Commit a528f464122f3728ac5605bd25cf1431b3279cbd by 5081703.cr
feat: add UpdateRouteForSmoothMode

The file was modifiedalgorithm/wbca/imv_wbca_manager.hpp
The file was modifiedalgorithm/wbca/wbca_manager.hpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
Commit 3534a6cee5c3d60d9b6b80f6e15d9f909cbc7ae5 by wuyanjun110
fix:修复货堆任务无法自动起步的bug

The file was modifieddata/vehicle/vehicle_destination.cpp
Commit cc359d469af660bf0848258035f9d15deb0460fd by 5081703.cr
fix: wbca crash issue.

The file was modifiedalgorithm/wbca/occupancy_grid_map/data_render.cpp
Commit f58c1fde82bd44ded56276984b44942a5d797c74 by tangwenqing
chore: SSEP: 进出堆场多段搜索的步骤切换条件改进 -- 现在可以不按最近的堆场口进入堆场

The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.h
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was modifiedssep/coarse_search/conditions/inside_yard_condition.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was addedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/coarse_search/ml_path_validator.h
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/scenarios/truck_u_turn_planner.h
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
The file was modifiedssep/coarse_search/conditions/search_condition_interface.h
The file was modifiedssep/coarse_search/reference_line_snapper.h
The file was modifiedssep/data_structures/polyline.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
Commit 7e22f6d2d998077f63d5c261e31fd7c36a7ad872 by wuyanjun110
feat:终点距离计算的问题

The file was modifieddata/vehicle/request_routing_data.cpp
The file was modifieddata/vehicle/vehicle_destination.cpp
Commit 6cc69c7d59d11cf327ce2a04feae2cca93c62beb by wuyanjun110
feat:travel out 切换 bulk 的bug

The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
Commit 2f7f4dddb0e312ad85ba15d2bfd250c0f9f3ca44 by wuyanjun110
fix:修复remote状态机切换的bug

The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_fsm.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_fsm.cpp
Commit 2e40534d58f604f394834caafd29364e46aeead1 by tangwenqing
fix: ssep重新开启heatnet

The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
Commit 9fc1feac717bb90c2b072a464693ae3e8fba9654 by wuyanjun110
feat:bulk状态下，障碍物挡停 切换 bulk lock的阈值参数化

The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit a0d06ffd7ae527c56e15c9c655eecc63847683b2 by wuyanjun110
feat:修复routing data 转换的问题

The file was modifieddata/vehicle/request_routing_data.cpp
Commit bd259073401b2664f130038f597f6d2bd30993ba by tangwenqing
fix: SSEP: 修复倒车规划时初始方向向前的问题

The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
Commit dd057811071f49efb4918ef01099f6d3a9542582 by wuyanjun110
feat:过滤107 类型的点云

The file was modifiedplan/prepare/prepare_ogm.cpp
Commit e83dce8cb0b0176c291c3111c32a761e20c0be23 by tangwenqing
feat: 增加ssep scenario config，通过参数文件设置场景触发条件及场景参数

The file was modifieddata/config/cfg_ssep.hpp
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifieddata/config/cfg_ssep.cpp
The file was addeddata/ssep/ssep_scenario_config.hpp
The file was modifieddata/app/fsm/task_command_type.cpp
The file was modifieddata/ssep/ssep_common.hpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedtasks/deciders/search_decider/forward_search_decider.cpp
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/ssep_planner.cc
The file was addeddata/ssep/ssep_scenario_config_loader.hpp
The file was addeddata/ssep/ssep_scenario_config.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was addeddata/ssep/ssep_scenario_config_loader.cpp
The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifieddata/ssep/ssep_ec.hpp
Commit faba4b1c778c26b3f78a03adc0ba0332dba615a8 by wuyanjun110
feat:远程步进超时的问题

The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
Commit 0e5f57de27ebae1d32b39594eb241092fe25342c by wuyanjun110
feat:出堆场场景赋值错误的bug

The file was modifieddata/ssep/forward_ec.cpp
Commit 96b821ac3c22a53c3e4e6ff9cbf0b7c81640f0ee by tangwenqing
chore: SSEP: 前港进出堆场改进

The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
Commit d97a8913fa8bf38e38107a716c888138fcc4c555 by wuyanjun110
feat:修复默认的步进速度

The file was modifieddata/config/cfg_env_const.cpp
Commit cc1d282761453b73188d303088adbde37b9eaf62 by tangwenqing
chore: SSEP: 改善集卡多段出停车位效果

The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
Commit 21a312b06018d69d4e53225905df5043ff134ee9 by wuyanjun110
chore: SSEP: 改善集卡多段出停车位效果

The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
Commit e2822cab98d532445f28abe87f444e591eb85b06 by tangwenqing
Refactor: SSEP: 整理代码目录结构，分离onboard代码与offboard代码
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/biginteger.h
The file was addedssep/maps/ogm.cc
The file was removedssep/main_test/hdmap_interface/rapidjson/schema.h
The file was addedssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cc
The file was modifiedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
The file was removedssep/main_test/hdmap_interface/rapidjson/msinttypes/stdint.h
The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/schema.h
The file was removedssep/influence_map/obstacle_layer.h
The file was addedssep/offboard/main_test/main_test_qhd.cc
The file was removedssep/demo/src/CMakeLists.txt
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was addedssep/offboard/tools/obstacle_penalty/penalty_func_fit_normal.m
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_imv.cc
The file was removedssep/main_test/hdmap_interface/rapidjson/reader.h
The file was removedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/regex.h
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_tt.h
The file was removedssep/ssep_type_definition.h
The file was removedssep/influence_map/obstacle_dis_layer.h
The file was addedssep/offboard/tools/executable/main_clipper.cc
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/document.h
The file was removedssep/main_test/hdmap_interface/map_elements/section_info.h
The file was removedssep/ogm_map/ogm.h
The file was removedssep/main_test/main_test_tt.cc
The file was addedssep/offboard/main_test/main_test_car.cc
The file was addedssep/offboard/start.sh
The file was addedssep/offboard/sdk/ssep_activation_impl.cc
The file was removedssep/main_test/hdmap_interface/map_elements/map_info.h
The file was addedssep/offboard/main_test/main_test_zhoushan.cc
The file was removedssep/tools/obstacle_penalty/exp_test.m
The file was removedssep/smoother/fem_pos_smoother.h
The file was removedssep/start.sh
The file was removedssep/tools/executable/third_party/matlab_plot_cplusplus.hpp
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.cc
The file was modifiedssep/keb_optimizer/cost_features/disk_collision_cost.h
The file was addedssep/offboard/main_test/hdmap_interface/common/math/vec2d.hpp
The file was removedssep/tools/executable/liang_barsky_clipper.hpp
The file was modifiedssep/ssep_heat_net/ssep_heat_net.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/lane.h
The file was removedssep/main_test/hdmap_interface/common/math/polygon2d.hpp
The file was addedssep/offboard/third_party/matplotlibcpp.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was removedssep/main_test/hdmap_interface/libhdmap_interface.so
The file was removedssep/conf/ssep_imv_xugong.yaml
The file was removedssep/conf/ssep_car.yaml
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/junction.h
The file was addedssep/offboard/tools/executable/main_obstacle_publisher.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/strtod.h
The file was addedssep/offboard/tools/imv/imv_kinematic.py
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was removedssep/main_test/hdmap_interface/rapidjson/stream.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was addedssep/offboard/main_test/hdmap_interface/hdmap.h
The file was removedssep/main_test/hdmap_interface/map_elements/junction_info.h
The file was addedssep/offboard/tools/executable/main_obb_port.cc
The file was removedssep/influence_map/reference_line_layer.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was removedssep/main_test/hdmap_interface/map_elements/overlap_info.h
The file was removedssep/main_test/hdmap_interface/libhdmap_interface_shm.so
The file was removedssep/main_test/hdmap_interface/map_elements/road_info.h
The file was modifiedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was removedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cc
The file was modifiedssep/coarse_search/topology_analysis/voronoi_graph_builder.h
The file was addedssep/offboard/sdk/ssep_activation_impl.h
The file was addedssep/offboard/tools/executable/main_translation.cc
The file was removedssep/tools/obstacle_penalty/penalty_func_fit.asv
The file was addedssep/maps/ogm.h
The file was removedssep/input/.gitkeep
The file was removedssep/main_test/hdmap_interface/rapidjson/error/en.h
The file was removedssep/senior.sh
The file was modifiedssep/coarse_search/state_hasher.h
The file was removedssep/influence_map/obstacle_layer.cc
The file was removedssep/tools/scene_data_generator/generate_scene_data_cli.cc
The file was addedssep/offboard/install.sh
The file was addedssep/offboard/tools/executable/third_party/optional_lite.hpp
The file was removedssep/tools/executable/third_party/tabulate.hpp
The file was removedssep/third_party/json.hpp
The file was removedssep/main_test/hdmap_interface/rapidjson/filereadstream.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/overlap_info.h
The file was removedssep/main_test/hdmap_interface/rapidjson/msinttypes/inttypes.h
The file was addedssep/offboard/tools/executable/third_party/matplotlibcpp.h
The file was modifiedssep/keb_optimizer/cost_features/soft_disk_collision_cost.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/map_info.h
The file was removedssep/main_test/hdmap_interface/map_elements/section.h
The file was removedssep/input/ssep_2024_02_20_10_19_35_OUTYARD_output_hr_13_oy-rt-bf_0_nml_0_as.binary
The file was removedssep/conf/ssep_imv.yaml
The file was addedssep/offboard/conf/ssep.yaml
The file was removedssep/ssep_visualizer.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/regex.h
The file was addedssep/offboard/tools/executable/CMakeLists.txt
The file was removedssep/main_test/hdmap_interface/rapidjson/cursorstreamwrapper.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/object.h
The file was removedssep/main_test/hdmap_interface/rapidjson/document.h
The file was modifiedssep/common/utils/plotter.hpp
The file was addedssep/offboard/conf/ssep_imv.yaml
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/memorystream.h
The file was modifiedssep/ssep_heat_net/ssep_heat_net.cc
The file was modifiedhmi/widget/replayer_pnc_mat.cpp
The file was addedssep/data_structures/path_utils.h
The file was removedssep/demo/src/main_ssep_activation.cc
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/itoa.h
The file was removedssep/main_test/hdmap_interface/common/math/line_segment2d.hpp
The file was addedssep/offboard/main_test/main_test_dg.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was removedssep/tools/executable/third_party/json.hpp
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/biginteger.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/istreamwrapper.h
The file was addedssep/offboard/tools/scene_data_generator/data_structures.h
The file was removedssep/main_test/hdmap_interface/rapidjson/filewritestream.h
The file was addedssep/offboard/tools/executable/third_party/matlab_plot_cplusplus.hpp
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_tt.cc
The file was removedssep/main_test/hdmap_interface/rapidjson/istreamwrapper.h
The file was removedssep/cmake/FindMATLAB.cmake
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/stringbuffer.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/section_info.h
The file was removedssep/tools/executable/main_obstacle_publisher.cc
The file was addedssep/offboard/CMakeLists.txt
The file was removedssep/tools/executable/CMakeLists.txt
The file was removedssep/smoother/cg_smoother.cc
The file was removedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.h
The file was removedssep/images/init_result_comparison.png
The file was removedssep/main_test/hdmap_interface/common/math/geometry_utils.h
The file was addedssep/offboard/main_test/hdmap_interface/parser/interface_singleton.hpp
The file was addedssep/offboard/main_test/main_ssep.cc
The file was addedssep/offboard/ssep_visualizer.cc
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_car.h
The file was addedssep/offboard/main_test/hdmap_interface/common/math/math_utils.hpp
The file was removedssep/main_test/hdmap_interface/parser/interface_param_parser.h
The file was removedssep/main_test/hdmap_interface/map_elements/lane.h
The file was addedssep/offboard/tools/executable/third_party/json.hpp
The file was removedssep/main_test/hdmap_interface/map_elements/object_info.h
The file was removedssep/main_test/hdmap_interface/rapidjson/stringbuffer.h
The file was removedssep/main_test/hdmap_interface/parser/map_loader.h
The file was addedssep/offboard/third_party/matlab_plot_cplusplus.hpp
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was removedssep/ssep_visualizer.cc
The file was removedssep/ssep_activation_sdk.h
The file was addedssep/offboard/third_party/tabulate.hpp
The file was removedssep/CMakeLists.txt
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/pow10.h
The file was removedssep/influence_map/sl_projection_map.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/dtoa.h
The file was addedssep/offboard/conf/ssep/ssep_imv.yaml
The file was addedssep/maps/sl_projection_map.cc
The file was removedssep/smoother/fem_pos_deviation_sqp_osqp_interface.cc
The file was modifiedssep/keb_optimizer/cost_features/trailer_disk_collision_cost.h
The file was addedssep/offboard/third_party/json.hpp
The file was removedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.h
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_imv.h
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.h
The file was removedssep/tools/executable/main_obb.cc
The file was removedssep/smoother/cg_smoother.h
The file was removedssep/images/enviroment.png
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/ieee754.h
The file was removedssep/third_party/optional_lite.hpp
The file was removedssep/main_test/hdmap_interface/common/math/box2d.hpp
The file was removedssep/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cc
The file was removedssep/conf/ssep/ssep_imv.yaml
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/strfunc.h
The file was removedssep/conf/ssep_preprocess.yaml
The file was removedssep/smoother/fem_pos_smoother.cc
The file was removedssep/main_test/main_test_zhoushan.cc
The file was addedssep/offboard/tools/scene_data_generator/state_augment_util.h
The file was modifiedssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
The file was removedssep/conf/ssep_tt.yaml
The file was removedssep/tools/obstacle_penalty/penalty_func_fit_seaside.m
The file was addedssep/offboard/conf/ssep_imv_xugong.yaml
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was removedssep/smoother/cg_cost_function.hpp
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/fwd.h
The file was addedssep/offboard/senior.sh
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/msinttypes/stdint.h
The file was removedssep/cmake/Findosqp.cmake
The file was addedssep/offboard/tools/scene_data_generator/utils.h
The file was removedssep/influence_map/dubin_layer.h
The file was addedssep/maps/sl_projection_map.h
The file was addedssep/offboard/ssep_type_definition.h
The file was removedssep/tools/scene_data_generator/scene_yaml_reader.h
The file was addedssep/offboard/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/reader.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/clzll.h
The file was addedssep/offboard/main_test/hdmap_interface/common/glog_helper.h
The file was modifiedssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.h
The file was removedssep/main_test/main_ssep_input.cc
The file was removedssep/main_test/main_test_qhd.cc
The file was removedssep/main_test/hdmap_interface/common/math/linear_interpolation.hpp
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/strfunc.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/diyfp.h
The file was addedssep/offboard/third_party/optional_lite.hpp
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/filereadstream.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/prettywriter.h
The file was addedssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was removedssep/smoother/safety_corridor_smoother.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
The file was modifiedssep/coarse_search/disk_collision_checker.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/pow10.h
The file was addedssep/offboard/main_test/main_ssep_input.cc
The file was removedssep/main_test/hdmap_interface/common/math/math_utils.hpp
The file was removedssep/third_party/tabulate.hpp
The file was removedssep/main_test/hdmap_interface/rapidjson/pointer.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/ieee754.h
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_car.cc
The file was removedssep/main_test/hdmap_interface/map_elements/map.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/error/error.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/pointer.h
The file was removedssep/influence_map/sl_projection_map.cc
The file was removedssep/tools/scene_data_generator/utils.h
The file was removedssep/main_test/hdmap_interface/common/data_types.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/rapidjson.h
The file was removedssep/main_test/hdmap_interface/rapidjson/encodedstream.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/encodings.h
The file was modifiedssep/coarse_search/topology_analysis/barrier_detector.h
The file was removedssep/main_test/hdmap_interface/rapidjson/encodings.h
The file was addedssep/offboard/tools/obstacle_penalty/penalty_func_fit.asv
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/memorybuffer.h
The file was addedssep/coarse_search/evaluator/shortest_path_heur_table.h
The file was removedssep/smoother/fem_pos_deviation_osqp_interface.h
The file was addedssep/offboard/demo/src/main_ssep_activation.cc
The file was removedssep/main_test/hdmap_interface/hdmap_impl.h
The file was removedssep/main_test/hdmap_interface/rapidjson/memorybuffer.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/cursorstreamwrapper.h
The file was removedssep/influence_map/reference_line_layer.cc
The file was addedssep/offboard/main_test/hdmap_interface/parser/map_loader.h
The file was removedssep/tools/obstacle_penalty/createFit.m
The file was addedssep/offboard/main_test/hdmap_interface/common/math/linear_interpolation.hpp
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/object_info.h
The file was addedssep/offboard/main_test/hdmap_interface/common/math/polygon2d.hpp
The file was removedssep/main_test/hdmap_interface/rapidjson/writer.h
The file was addedssep/offboard/tools/executable/main_region_cut_apollo.cc
The file was removedssep/images/search_smooth_comparison.png
The file was addedssep/offboard/tools/executable/main_obb.cc
The file was addedssep/offboard/tools/scene_data_generator/conf/scene_conf.yaml
The file was addedssep/offboard/main_test/hdmap_interface/public_data_struct.h
The file was addedssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.h
The file was removedssep/main_test/hdmap_interface/common/glog_helper.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/writer.h
The file was removedssep/smoother/safety_corridor_smoother.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/clzll.h
The file was removedssep/smoother/fem_pos_deviation_sqp_osqp_interface.h
The file was addedssep/offboard/main_test/hdmap_interface/common/math/box2d.hpp
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/road_info.h
The file was modifiedCMakeLists.txt
The file was removedssep/main_test/hdmap_interface/map_elements/junction.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/swap.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/msinttypes/inttypes.h
The file was modifiedalgorithm/plan/plot_st_graph.cpp
The file was removedssep/main_test/hdmap_interface/map_elements/overlap.h
The file was removedssep/influence_map/layer_base.h
The file was removedssep/tools/scene_data_generator/conf/scene_conf.yaml
The file was addedssep/offboard/main_test/main_test_park.cc
The file was addedssep/offboard/main_test/hdmap_interface/parser/interface_param_parser.h
The file was removedssep/third_party/matplotlibcpp.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/error/en.h
The file was removedssep/demo/src/package.xml
The file was removedssep/tools/executable/main_obb_port.cc
The file was addedssep/offboard/main_test/main_test_diagonal.cc
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/filewritestream.h
The file was modifiedssep/ssep_planner.h
The file was removedssep/main_test/hdmap_interface/rapidjson/prettywriter.h
The file was removedssep/tools/executable/main_obb_vehicle.cc
The file was addedssep/offboard/main_test/hdmap_interface/common/data_types.h
The file was removedssep/main_test/hdmap_interface/public_data_struct.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/diyfp.h
The file was removedssep/install.sh
The file was removedssep/smoother/fem_pos_deviation_osqp_interface.cc
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/map.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/meta.h
The file was removedssep/main_test/hdmap_interface/rapidjson/ostreamwrapper.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/stack.h
The file was removedssep/tools/executable/main_clipper.cc
The file was modifiedssep/coarse_search/evaluator/trailer_shortest_path_heur_computer.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/stream.h
The file was addedssep/offboard/ReadMe.md
The file was removedssep/tools/imv/imv_kinematic.py
The file was removedssep/main_test/main_test_dg.cc
The file was addedssep/offboard/tools/obstacle_penalty/exp_test.m
The file was modifiedssep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.h
The file was removedssep/main_test/main_test_car.cc
The file was addedssep/offboard/main_test/hdmap_interface/libhdmap_interface.so
The file was removedssep/main_test/main_ssep.cc
The file was removedssep/influence_map/obstacle_dis_layer.cc
The file was removedssep/main_test/hdmap_interface/hdmap.h
The file was removedssep/main_test/hdmap_interface/map_elements/lane_info.h
The file was removedssep/main_test/main_ssep_test.cc
The file was addedssep/offboard/tools/executable/main_region_cut_boost.cc
The file was addedssep/offboard/main_test/hdmap_interface/libhdmap_interface_shm.so
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/lane_info.h
The file was addedssep/offboard/conf/ssep_tt.yaml
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/meta.h
The file was removedssep/tools/executable/main_region_cut_boost.cc
The file was removedssep/main_test/hdmap_interface/rapidjson/uri.h
The file was addedssep/offboard/ssep_activation_sdk.h
The file was removedssep/tools/executable/third_party/optional_lite.hpp
The file was removedssep/main_test/hdmap_interface/common/math/vec2d.hpp
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/junction_info.h
The file was removedssep/tools/executable/main_region_cut_apollo.cc
The file was removedssep/tools/scene_data_generator/ogm_builder/ogm_builder.cc
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/allocators.h
The file was addedssep/offboard/tools/executable/main_obb_vehicle.cc
The file was modifiedssep/coarse_search/topology_analysis/voronoi_graph_visualizer.h
The file was removedssep/influence_map/dubin_layer.cc
The file was removedssep/main_test/main_test_diagonal.cc
The file was removedssep/main_test/hdmap_interface/parser/interface_singleton.hpp
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/itoa.h
The file was addedssep/offboard/main_test/main_ssep_test.cc
The file was addedssep/offboard/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.cc
The file was removedssep/conf/ssep.yaml
The file was addedssep/offboard/demo/src/CMakeLists.txt
The file was removedssep/ssep_activation_sdk.cc
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/overlap.h
The file was removedssep/tools/executable/third_party/matplotlibcpp.h
The file was removedssep/tools/executable/main_translation.cc
The file was removedssep/tools/scene_data_generator/state_augment_util.h
The file was addedssep/offboard/tools/executable/third_party/tabulate.hpp
The file was removedssep/main_test/hdmap_interface/rapidjson/allocators.h
The file was removedssep/sdk/ssep_activation_impl.h
The file was removedssep/third_party/matlab_plot_cplusplus.hpp
The file was addedssep/offboard/tools/obstacle_penalty/createFit.m
The file was modifiedssep/coarse_search/evaluator/ref_line_cost_computer.h
The file was addedssep/offboard/ssep_visualizer.h
The file was removedssep/tools/scene_data_generator/ogm_builder/ogm_builder.h
The file was addedssep/offboard/tools/executable/liang_barsky_clipper.hpp
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.h
The file was addedssep/offboard/main_test/hdmap_interface/common/math/geometry_utils.h
The file was modifieddata/lattice/path_time_graph.cpp
The file was removedssep/influence_map/layer_base.cc
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/uri.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/stack.h
The file was removedssep/main_test/main_test_park.cc
The file was removedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.cc
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/swap.h
The file was removedssep/main_test/hdmap_interface/rapidjson/memorystream.h
The file was modifiedssep/coarse_search/evaluator/ref_line_heuristic_computer.h
The file was removedssep/ReadMe.md
The file was addedssep/offboard/demo/src/package.xml
The file was addedssep/offboard/tools/obstacle_penalty/penalty_func_fit_seaside.m
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/encodedstream.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/ostreamwrapper.h
The file was modifiedssep/keb_optimizer/keb_utils.h
The file was removedssep/main_test/hdmap_interface/rapidjson/error/error.h
The file was removedssep/sdk/ssep_activation_impl.cc
The file was addedssep/maps/ogm_builder.cc
The file was addedssep/maps/ogm_builder.h
The file was removedssep/tools/obstacle_penalty/penalty_func_fit_normal.m
The file was removedssep/main_test/hdmap_interface/rapidjson/fwd.h
The file was removedssep/tools/scene_data_generator/data_structures.h
The file was addedssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cc
The file was modifiedssep/ssep_planner.cc
The file was removedssep/smoother/smoother.h
The file was removedssep/main_test/hdmap_interface/map_elements/road.h
The file was removedssep/main_test/hdmap_interface/map_elements/object.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/section.h
The file was removedssep/main_test/hdmap_interface/rapidjson/rapidjson.h
The file was addedssep/offboard/ssep_activation_sdk.cc
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/dtoa.h
The file was modifiedhmi/widget/pnc_mat.cpp
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/road.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/strtod.h
The file was addedssep/offboard/conf/ssep_car.yaml
The file was addedssep/offboard/main_test/hdmap_interface/hdmap_impl.h
The file was removedssep/ogm_map/ogm.cc
The file was addedssep/offboard/tools/executable/inference_ml_trajectory_cli.cc
The file was addedssep/offboard/tools/scene_data_generator/scene_yaml_reader.h
The file was removedssep/tools/executable/inference_ml_trajectory_cli.cc
The file was addedssep/offboard/tools/scene_data_generator/generate_scene_data_cli.cc
The file was modifiedssep/coarse_search/geometric_search_visualizer.h
The file was addedssep/offboard/main_test/hdmap_interface/common/math/line_segment2d.hpp
The file was addedssep/offboard/main_test/main_test_tt.cc
Commit 7ae0972f4d80cd99916cd02d61c01515cd0ff0a8 by tangwenqing
Refactor: SSEP: minor updates

The file was modifiedssep/data_structures/path.h
The file was addedssep/data_structures/path.cc
Commit a070758b45d37f6151bcf4310817a1189f0a2135 by wuyanjun110
feat:整理安全防护

The file was modifiedhmi/widget/diagnose.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifiedsink/ros_sink_pnc_status.cpp
The file was modifiedtasks/deciders/other_decider/stop_decider.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifiedsink/ros_sink_ctrl_reference.cpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/vehicle/vehicle_status.hpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/other/flow_control.hpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifiedplan/prepare/prepare_ogm.hpp
The file was modifieddata/vehicle/vehicle_status.cpp
The file was modifieddata/lattice/ogm_crash_data.cpp
The file was modifieddata/plan/predict_path.cpp
The file was modifieddata/obstacle/obstacle_decider_attr.cpp
Commit 33839fa3fd7703979b0ba2219f2ba1365c6bdf39 by wuyanjun110
fix:修复距离超视距框过近，搜索失败的bug

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.cc
Commit 543ce03650538f03454ee3ae19b4413979c2a53b by wuyanjun110
fix:调整ttc 预测轨迹

The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/plan/predict_path.cpp
The file was modifieddata/config/cfg_safe_const.hpp
Commit 972b7f7ddbd40d0d7790bd2f397a966d463ea50b by wuyanjun110
feat: 太阳纸业场景适配

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit a4ea13640165e8f74f283cb643ff624931d7a14e by wuyanjun110
feat:wcba求解路径过短的问题修复

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit c6bfcc0b215f342209dda15c66761d51b47317fc by wuyanjun110
fix:wcba路径过短的问题

The file was modifieddata/plan/ssep_data.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 67c7f7b98cbe9ee15d506e15e55bebec1b4cdbc3 by 5081703.cr
fix: imv cost

The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit 6341363bd6f0200d42c967b920d429902d61a925 by tangwenqing
feat: SSEP: 前进/后退时使用不同的碰撞检测策略。增加前进方向的额外碰撞检测。

The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/data_structures/pose.h
The file was modifiedssep/data_structures/ssep_output.hpp
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/coarse_search/evaluator/collision_cost_computer.h
The file was modifiedssep/data_structures/type_definition.h
The file was modifiedssep/data_structures/map_element_polyline.hpp
The file was modifiedssep/data_structures/path.h
The file was modifiedssep/data_structures/ssep_input.hpp
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/data_structures/search_boundary.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/data_structures/directional_path.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
Commit 5413b860f2b300b25dcad25300eecba5a1eb7bfb by wuyanjun110
feat: SSEP: 前进/后退时使用不同的碰撞检测策略。增加前进方向的额外碰撞检测。

The file was modifiedssep/data_structures/pose.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/coarse_search/evaluator/collision_cost_computer.h
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/data_structures/path.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/data_structures/type_definition.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/data_structures/directional_path.h
The file was modifiedssep/data_structures/map_element_polyline.hpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/data_structures/search_boundary.h
The file was modifiedssep/data_structures/ssep_output.hpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/data_structures/ssep_input.hpp
Commit c24b7d04a7324e424b4542cea4f4e33b8e21350c by wuyanjun110
fix:参考线拼接的bug

The file was modifiedtasks/other_tasks/stitch_path_to_reference_line.cpp
Commit 114d5dcaed7d91629f8c8efe87a79d3571ac3ced by 5081703.cr
feat:wcba求解路径过短的问题修复

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 012f45533bb1d2beb5cb330355c3ac7992895458 by 5081703.cr
fix:wcba路径过短的问题

The file was modifieddata/plan/ssep_data.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit fa59b60ded3ea6f813d55fa15b94eefa4a050f08 by 5081703.cr
fix: using guide_line pt for smooth mode.

The file was modifiedtasks/plan/path_optimization_task.cpp
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 4a7760bed4eeaeaf47cefb31ab1d7f11e4754b22 by tangwenqing
feat: SSEP: IMV更换新的运动学模型，额外状态量从后轮转向更改为beta

The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was removedssep/keb_optimizer/cost_features/imv_center_curvature_constraint.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/offboard/ssep_visualizer.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was removedssep/keb_optimizer/cost_features/imv_center_curvature_cost.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/data_structure.h
The file was addedssep/keb_optimizer/cost_features/beta_dot_cost.h
The file was addedssep/keb_optimizer/cost_features/beta_cost.h
The file was modifiedssep/keb_optimizer/cost_features/imv_dynamic_constraint.h
The file was modifiedssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
The file was removedssep/keb_optimizer/cost_features/imv_rear_oversteer_cost.h
The file was removedssep/keb_optimizer/cost_features/imv_center_pinch_cost.h
The file was removedssep/keb_optimizer/cost_features/imv_rear_curvature_cost.h
The file was removedssep/keb_optimizer/cost_features/imv_rear_pinch_cost.h
Commit 34d64cccd76a784f90fdb03fcf0e466db9c9a3c9 by tangwenqing
Refactor: SSEP: 整理代码目录结构，分离onboard代码与offboard代码
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/lane_info.h
The file was removedssep/demo/src/main_ssep_activation.cc
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/meta.h
The file was addedssep/offboard/tools/obstacle_penalty/penalty_func_fit.asv
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/pow10.h
The file was removedssep/smoother/fem_pos_deviation_osqp_interface.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was removedssep/sdk/ssep_activation_impl.h
The file was removedssep/tools/executable/liang_barsky_clipper.hpp
The file was addedssep/offboard/main_test/hdmap_interface/libhdmap_interface.so
The file was removedssep/main_test/main_test_dg.cc
The file was addedssep/offboard/tools/scene_data_generator/generate_scene_data_cli.cc
The file was modifiedhmi/widget/replayer_pnc_mat.cpp
The file was removedssep/main_test/hdmap_interface/rapidjson/ostreamwrapper.h
The file was removedssep/main_test/hdmap_interface/rapidjson/error/error.h
The file was removedssep/main_test/hdmap_interface/rapidjson/pointer.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/error/en.h
The file was removedssep/CMakeLists.txt
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/section.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/section_info.h
The file was addedssep/offboard/main_test/main_test_park.cc
The file was removedssep/main_test/hdmap_interface/map_elements/lane_info.h
The file was addedssep/offboard/third_party/tabulate.hpp
The file was addedssep/offboard/conf/ssep_imv.yaml
The file was removedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.cc
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/stringbuffer.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/strtod.h
The file was removedssep/main_test/hdmap_interface/libhdmap_interface.so
The file was removedssep/smoother/cg_smoother.h
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The file was removedssep/main_test/hdmap_interface/rapidjson/memorybuffer.h
The file was removedssep/input/ssep_2024_02_20_10_19_35_OUTYARD_output_hr_13_oy-rt-bf_0_nml_0_as.binary
The file was removedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.h
The file was modifiedssep/common/utils/plotter.hpp
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/filereadstream.h
The file was addedssep/offboard/conf/ssep_tt.yaml
The file was removedssep/influence_map/layer_base.h
The file was removedssep/main_test/hdmap_interface/rapidjson/encodedstream.h
The file was removedssep/tools/scene_data_generator/conf/scene_conf.yaml
The file was removedssep/main_test/hdmap_interface/common/math/line_segment2d.hpp
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/filewritestream.h
The file was removedssep/tools/obstacle_penalty/exp_test.m
The file was addedssep/maps/ogm.h
The file was removedssep/images/init_result_comparison.png
The file was removedssep/main_test/hdmap_interface/rapidjson/allocators.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/reader.h
The file was removedssep/main_test/hdmap_interface/parser/interface_param_parser.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/swap.h
The file was addedssep/offboard/tools/executable/main_obb_port.cc
The file was modifieddata/lattice/path_time_graph.cpp
The file was removedssep/tools/obstacle_penalty/penalty_func_fit_normal.m
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_imv.h
The file was removedssep/ssep_visualizer.h
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
The file was removedssep/tools/executable/main_obb_port.cc
The file was removedssep/tools/obstacle_penalty/penalty_func_fit_seaside.m
Commit 12b0e620588a7ab3db97527f713595bcb508538f by tangwenqing
Refactor: SSEP: minor updates

The file was modifiedssep/data_structures/path.h
The file was addedssep/data_structures/path.cc
Commit 6e36aedad88b5865ef7af82b5c04642337dc8320 by tangwenqing
feat: SSEP: 前进/后退时使用不同的碰撞检测策略。增加前进方向的额外碰撞检测。
The file was modifiedssep/data_structures/search_boundary.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/data_structures/ssep_output.hpp
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/coarse_search/evaluator/collision_cost_computer.h
The file was modifiedssep/data_structures/map_element_polyline.hpp
The file was modifiedssep/data_structures/directional_path.h
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/data_structures/pose.h
The file was modifiedssep/data_structures/type_definition.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/data_structures/path.h
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/data_structures/ssep_input.hpp
Commit a0d264a66ed7d34e46c09b451ba582a5a0c69c94 by tangwenqing
feat: SSEP: IMV更换新的运动学模型，额外状态量从后轮转向更改为beta

The file was removedssep/keb_optimizer/cost_features/imv_center_curvature_cost.h
The file was addedssep/keb_optimizer/cost_features/beta_cost.h
The file was removedssep/keb_optimizer/cost_features/imv_rear_pinch_cost.h
The file was removedssep/keb_optimizer/cost_features/imv_center_pinch_cost.h
The file was modifiedssep/keb_optimizer/cost_features/imv_dynamic_constraint.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was removedssep/keb_optimizer/cost_features/imv_center_curvature_constraint.h
The file was removedssep/keb_optimizer/cost_features/imv_rear_oversteer_cost.h
The file was addedssep/keb_optimizer/cost_features/beta_dot_cost.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
The file was modifiedssep/keb_optimizer/data_structure.h
The file was modifiedssep/offboard/ssep_visualizer.cc
The file was removedssep/keb_optimizer/cost_features/imv_rear_curvature_cost.h
Commit d0fadc87730538548683cc2966d1c6bcc216b1e1 by 5081703.cr
fix: wbca smooth_mode path opt.

The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
Commit fc36a15194d428385393b0a1400b59a6bd831fda by tangwenqing
feat: 增加ssep-heatnet-2.0训练场景生成器

The file was addedssep/offboard/generate_scene_data/conf/scene_conf.yaml
The file was addedssep/offboard/generate_scene_data/CMakeLists.txt
The file was addedssep/offboard/generate_scene_data/trajectory_provider/search_based_trajectory_provider.cc
The file was modifiedssep/maps/ogm.h
The file was removedssep/offboard/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.h
The file was addedssep/offboard/generate_scene_data/data_structures.h
The file was removedssep/offboard/tools/scene_data_generator/generate_scene_data_cli.cc
The file was modifiedssep/coarse_search/evaluator/curvature_cost_computer.h
The file was modifiedssep/offboard/CMakeLists.txt
The file was addedssep/offboard/generate_scene_data/protos/path.proto
The file was removedssep/offboard/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.cc
The file was addedssep/offboard/generate_scene_data/utils.h
The file was addedssep/offboard/ssep_input_provider.cc
The file was addedssep/offboard/ssep_planner_wrapper.cc
The file was addedssep/offboard/generate_scene_data/protos/geometry.proto
The file was removedssep/offboard/tools/scene_data_generator/state_augment_util.h
The file was modifiedssep/maps/ogm.cc
The file was addedssep/offboard/ssep_planner_wrapper.h
The file was removedssep/offboard/tools/scene_data_generator/data_structures.h
The file was removedssep/offboard/tools/scene_data_generator/utils.h
The file was addedssep/offboard/generate_scene_data/state_augment_util.h
The file was removedssep/offboard/tools/scene_data_generator/scene_yaml_reader.h
The file was addedssep/offboard/generate_scene_data/protos/scene.proto
The file was addedssep/offboard/generate_scene_data/trajectory_provider/search_based_trajectory_provider.h
The file was modifiedssep/ssep_planner.h
The file was removedssep/offboard/tools/scene_data_generator/conf/scene_conf.yaml
The file was modifiedssep/ssep_planner.cc
The file was addedssep/offboard/ssep_input_provider.h
The file was addedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
Commit f4e6eeab76603fcafa435ec4d10fb7b6d51cc1e4 by tangwenqing
refactor: 将ssep的依赖改为sub_directory的形式，添加proto数据结构

The file was modifiedCMakeLists.txt
The file was addedssep/offboard/generate_scene_data/obstacle_polygon_extractor.h
The file was modifiedssep/data_structures/polyline.cc
The file was removedssep/offboard/generate_scene_data/protos/geometry.proto
The file was addedssep/offboard/generate_scene_data/obstacle_polygon_extractor.cc
The file was removedssep/offboard/generate_scene_data/protos/path.proto
The file was addedssep/protos/path.proto
The file was addedssep/CMakeLists.txt
The file was modifiedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was addedssep/protos/geometry.proto
The file was modifiedssep/data_structures/polyline.h
Commit 09dd79fe99c36b853d09d2682024347bc85b061e by tangwenqing
feat: SSEP增加IMV进堆场场景

The file was modifiedssep/offboard/CMakeLists.txt
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was addedssep/scenarios/imv_enter_yard_planner.h
The file was addedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
The file was addedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
Commit 2d87be158756a6bbced71e8e620cae86dfa1d273 by tangwenqing
feat: 增加ssep-heatnet-2.0训练场景生成器
The file was removedssep/offboard/tools/scene_data_generator/generate_scene_data_cli.cc
The file was removedssep/offboard/tools/scene_data_generator/state_augment_util.h
The file was addedssep/offboard/generate_scene_data/protos/geometry.proto
The file was addedssep/offboard/generate_scene_data/state_augment_util.h
The file was removedssep/offboard/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.h
The file was addedssep/offboard/generate_scene_data/protos/path.proto
The file was modifiedssep/ssep_planner.cc
The file was addedssep/offboard/generate_scene_data/trajectory_provider/search_based_trajectory_provider.h
The file was addedssep/offboard/generate_scene_data/utils.h
The file was modifiedssep/maps/ogm.cc
The file was addedssep/offboard/ssep_planner_wrapper.cc
The file was addedssep/offboard/generate_scene_data/CMakeLists.txt
The file was addedssep/offboard/generate_scene_data/data_structures.h
The file was removedssep/offboard/tools/scene_data_generator/scene_yaml_reader.h
The file was addedssep/offboard/generate_scene_data/trajectory_provider/search_based_trajectory_provider.cc
The file was addedssep/offboard/generate_scene_data/conf/scene_conf.yaml
The file was addedssep/offboard/generate_scene_data/protos/scene.proto
The file was modifiedssep/maps/ogm.h
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/offboard/CMakeLists.txt
The file was removedssep/offboard/tools/scene_data_generator/utils.h
The file was addedssep/offboard/ssep_input_provider.h
The file was removedssep/offboard/tools/scene_data_generator/conf/scene_conf.yaml
The file was modifiedssep/coarse_search/evaluator/curvature_cost_computer.h
The file was removedssep/offboard/tools/scene_data_generator/data_structures.h
The file was addedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was addedssep/offboard/ssep_planner_wrapper.h
The file was addedssep/offboard/ssep_input_provider.cc
The file was removedssep/offboard/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.cc
Commit 3f0dc285c62627cc4e97987d149fdf3b933870b5 by tangwenqing
refactor: 将ssep的依赖改为sub_directory的形式，添加proto数据结构

The file was addedssep/protos/geometry.proto
The file was modifiedssep/data_structures/polyline.cc
The file was removedssep/offboard/generate_scene_data/protos/path.proto
The file was removedssep/offboard/generate_scene_data/protos/geometry.proto
The file was addedssep/offboard/generate_scene_data/obstacle_polygon_extractor.h
The file was modifiedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was addedssep/protos/path.proto
The file was addedssep/offboard/generate_scene_data/obstacle_polygon_extractor.cc
The file was modifiedCMakeLists.txt
The file was addedssep/CMakeLists.txt
The file was modifiedssep/data_structures/polyline.h
Commit 6d8fef9e38e100908e1c7171fb4985a9d826a9a8 by tangwenqing
feat: SSEP增加IMV进堆场场景
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was addedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.h
The file was addedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
The file was addedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/offboard/CMakeLists.txt
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
Commit 21a0af3d66ac87da4dc368fb67239fdecf1482c0 by tangwenqing
chore: SSEP: 调试IMV路径

The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/coarse_search/legacy_searcher_adaptor.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
Commit dcd791fb65e0c212a659866bc865ed1dbb929349 by tangwenqing
chore: SSEP: 调试IMV路径

The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/coarse_search/legacy_searcher_adaptor.h
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
Commit ab11b4a40f4bab56714cc113091122842c75ca38 by tangwenqing
chore: Add proto converters.

The file was modifiedCMakeLists.txt
The file was modifiedssep/data_structures/polyline.cc
The file was modifiedssep/protos/geometry.proto
The file was modifiedssep/protos/path.proto
The file was modifiedssep/data_structures/path.cc
The file was modifiedssep/offboard/CMakeLists.txt
The file was modifiedssep/data_structures/path.h
The file was modifiedssep/data_structures/polyline.h
Commit 46a4529037e8de9cb729ed0f9db6adedf8e956c5 by wuyanjun110
feat:根据指令更改挂的尺寸

The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifieddata/app/cmd/cmd_set_target.cpp
The file was modifieddata/app/cmd/cmd_set_target.hpp
The file was modifieddata/config/cfg_static.cpp
The file was modifiedsink/ros_sink_pnc_status.cpp
The file was modifieddata/app/app_data.cpp
The file was modifieddata/app/reaction/app_reaction.cpp
The file was modifieddata/config/cfg_static.hpp
The file was modifiedplan/prepare/prepare_state.cpp
The file was modifieddata/app/reaction/app_reaction.hpp
Commit 7248cb161ef4f70732671c938cfd5c16fa470f52 by wuyanjun110
Revert "feat:暂时屏蔽container size 变量"

This reverts commit 39185fee5b5f13e40dbab72d65d0ed72c169107e.
The file was modifieddata/app/app_data.cpp
Commit b7d46a53ed7dfc59017559b8d8500c1040fd8ca7 by tangwenqing
refactor: 去除SSEP中不再用到的参数与相关处理。

The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifiedssep/ssep_planner.h
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/reverse_ec.cpp
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_imv.cc
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/maps/ogm_builder.cc
The file was modifieddata/ssep/ex_lane_change_ec.cpp
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedhmi/draw/draw_ssep.cpp
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_car.h
The file was modifieddata/ssep/ssep_util.cpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp
The file was modifieddata/ssep/ssep_util.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/ssep/reverse_ec.hpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_tt.cc
The file was modifieddata/ssep/bridge_junction_ec.cpp
The file was modifieddata/ssep/ssep_activation.hpp
The file was modifiedssep/param_loader/param.h
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_car.cc
The file was modifiedssep/maps/ogm_builder.h
The file was modifiedssep/data_structures/ssep_input.hpp
The file was modifieddata/ssep/normal_junction_ec.cpp
The file was modifieddata/config/cfg_ssep.cpp
The file was modifieddata/ssep/seaside_junction_ec.cpp
The file was modifiedssep/param_loader/yaml_loader.cc
The file was modifiedssep/offboard/main_test/main_ssep_input.cc
Commit 97eb270b8cfb619396d49fddd9942152c8dd3218 by wuyanjun110
fix:太阳纸业 出库， ssep路径匹配的bug

The file was modifiedtasks/deciders/lat_decider/path_direction_decider.cpp
Commit 09b5db88ef67201a1558e30e8d6b16840d5e2299 by wuyanjun110
fix:太阳纸业 出库， ssep路径匹配的bug

The file was modifiedtasks/deciders/lat_decider/path_direction_decider.cpp
Commit c085a6c4c4aeeb58856f07723a75607d6fd1578d by tangwenqing
fix: SSEP 修复proto版本不兼容的问题

The file was modifiedssep/offboard/generate_scene_data/protos/scene.proto
The file was modifiedssep/protos/geometry.proto
The file was modifiedssep/protos/path.proto
Commit a901c32ec5f6d217ff45aff3e69df04c93ea28d5 by tangwenqing
fix: SSEP 修复proto版本不兼容的问题

The file was modifiedssep/protos/geometry.proto
The file was modifiedssep/protos/path.proto
The file was modifiedssep/offboard/generate_scene_data/protos/scene.proto
Commit 6baa0c258115a23ceef0bc2fd88f5e19afcbfd6e by wuyanjun110
fix:修复ttc预测的bug

The file was modifieddata/plan/predict_path.cpp
The file was modifiedhmi/draw/draw_pose_predict.cpp
The file was modifiedalgorithm/vehicle_model/kinematic_bicycle_model.cpp
Commit fdf7f852c0106c6a3b58f718e9b004178f1895d5 by wuyanjun110
fix:修复ttc预测的bug

The file was modifiedhmi/draw/draw_pose_predict.cpp
The file was modifieddata/plan/predict_path.cpp
The file was modifiedalgorithm/vehicle_model/kinematic_bicycle_model.cpp
Commit a3617580835c6e4a93d437ed914fa63c5a9c37ee by wuyanjun110
Revert "feat:暂时屏蔽container size 变量"

This reverts commit 39185fee5b5f13e40dbab72d65d0ed72c169107e.
The file was modifieddata/app/app_data.cpp
Commit 1460dad8f30ac58ef79ded9771914f43c54fdc00 by tangwenqing
chore: SSEP: 改进多段路径 - 短路径去除的逻辑

The file was modifiedssep/data_structures/path.cc
The file was modifiedssep/data_structures/directional_path.cc
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/data_structures/ssep_output.hpp
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was modifiedssep/data_structures/path.h
The file was modifiedssep/data_structures/directional_path.h
Commit 0739709559720286660e8bdb05063be1799b229e by 5081703.cr
fix: reversing car bulk scenario.

The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
Commit 587391b431f0144b50e404fd07bb72f8356f8461 by wuyanjun110
fix:修复程序运行的bug

The file was modifiedssep/CMakeLists.txt
Commit 7c0da0ede13ce7df504dd66c355dfd526048487b by wuyanjun110
feat:搜索尺寸参数赋值

The file was modifieddata/ssep/ssep_activation.cpp
The file was modifieddata/ssep/ssep_activation.hpp
The file was modifiedtasks/plan/ssep_task.cpp
Commit e3a58321953f8b4ab0b6ce3ea0e3ae9a1635d416 by wuyanjun110
fix:车辆参数赋值错误的bug

The file was modifieddata/ssep/ssep_activation.cpp
Commit eec9c972b05ae26f7ce8b0e4c600a5e8603f7068 by tangwenqing
refactor: update cmakelist

The file was modifiedCMakeLists.txt
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was modifiedssep/CMakeLists.txt
Commit 41ccb16f66de254cd3517e72840d53f32f590efa by 5081703.cr
fix: reversing crash.

The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
Commit 1889b02696df313fa483f4df25a9c5f69ad30c79 by 5081703.cr
feat: convert cloud_obstacles to cloud points.

The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifiedplan/prepare/prepare_ogm.hpp
Commit 8a307a64fe2763be6e85162bf5b6bc09a4d5ec2e by tangwenqing
chore: 改进出堆场搜索，调整offboard部分代码
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/object.h
The file was addedssep/offboard/hdmap_interface/common/math/vec2d.hpp
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/stack.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/meta.h
The file was removedssep/offboard/main_test/hdmap_interface/common/math/linear_interpolation.hpp
The file was addedssep/offboard/hdmap_interface/rapidjson/error/en.h
The file was modifiedssep/offboard/generate_scene_data/CMakeLists.txt
The file was addedssep/offboard/hdmap_interface/rapidjson/pointer.h
The file was addedssep/offboard/hdmap_interface/map_elements/overlap_info.h
The file was addedssep/offboard/hdmap_interface/rapidjson/filereadstream.h
The file was removedssep/offboard/main_test/hdmap_interface/public_data_struct.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/cursorstreamwrapper.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/lane_info.h
The file was addedssep/offboard/scene_replay/CMakeLists.txt
The file was addedssep/offboard/hdmap_interface/hdmap.h
The file was addedssep/offboard/hdmap_interface/map_elements/map_info.h
The file was addedssep/offboard/hdmap_interface/rapidjson/writer.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/regex.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/encodings.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/pointer.h
The file was addedssep/scenarios/planner_utils.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/error/en.h
The file was modifiedssep/offboard/ssep_planner_wrapper.h
The file was addedssep/offboard/hdmap_interface/rapidjson/ostreamwrapper.h
The file was addedssep/offboard/hdmap_interface/rapidjson/stringbuffer.h
The file was removedssep/offboard/main_test/hdmap_interface/libhdmap_interface.so
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/offboard/ssep_visualizer.h
The file was addedssep/offboard/hdmap_interface/parser/map_loader.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/dtoa.h
The file was addedssep/protos/scene.proto
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/map.h
The file was removedssep/offboard/main_test/hdmap_interface/hdmap.h
The file was addedssep/offboard/hdmap_interface/map_elements/section_info.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/msinttypes/stdint.h
The file was addedssep/offboard/hdmap_interface/common/math/math_utils.hpp
The file was removedssep/offboard/main_test/hdmap_interface/common/math/geometry_utils.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/reader.h
The file was modifiedssep/offboard/generate_scene_data/obstacle_polygon_extractor.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/ieee754.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/regex.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/schema.h
The file was removedssep/offboard/main_test/hdmap_interface/common/math/line_segment2d.hpp
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/lane.h
The file was removedssep/offboard/main_test/hdmap_interface/parser/interface_param_parser.h
The file was addedssep/offboard/hdmap_interface/common/math/line_segment2d.hpp
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/map_info.h
The file was addedssep/offboard/hdmap_interface/rapidjson/allocators.h
The file was addedssep/offboard/hdmap_interface/rapidjson/stream.h
The file was addedssep/offboard/hdmap_interface/map_elements/overlap.h
The file was addedssep/offboard/hdmap_interface/rapidjson/memorybuffer.h
The file was addedssep/offboard/hdmap_interface/rapidjson/encodedstream.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/fwd.h
The file was addedssep/offboard/hdmap_interface/map_elements/road_info.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/swap.h
The file was addedssep/offboard/hdmap_interface/rapidjson/prettywriter.h
The file was addedssep/offboard/hdmap_interface/map_elements/road.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/strtod.h
The file was addedssep/offboard/hdmap_interface/rapidjson/istreamwrapper.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/ostreamwrapper.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/stream.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/meta.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/clzll.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/junction.h
The file was removedssep/offboard/main_test/hdmap_interface/common/math/box2d.hpp
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was addedssep/offboard/hdmap_interface/rapidjson/encodings.h
The file was addedssep/offboard/hdmap_interface/rapidjson/cursorstreamwrapper.h
The file was addedssep/offboard/hdmap_interface/rapidjson/schema.h
The file was removedssep/offboard/main_test/hdmap_interface/common/math/math_utils.hpp
The file was addedssep/offboard/hdmap_interface/rapidjson/reader.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/diyfp.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/writer.h
The file was addedssep/offboard/hdmap_interface/public_data_struct.h
The file was addedssep/offboard/hdmap_interface/parser/interface_param_parser.h
The file was addedssep/offboard/hdmap_interface/map_elements/map.h
The file was modifiedssep/coarse_search/conditions/along_lane_condition.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/ieee754.h
The file was addedssep/offboard/hdmap_interface/rapidjson/msinttypes/inttypes.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/rapidjson.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/pow10.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/document.h
The file was removedssep/offboard/main_test/hdmap_interface/libhdmap_interface_shm.so
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/itoa.h
The file was addedssep/offboard/hdmap_interface/common/math/polygon2d.hpp
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/strtod.h
The file was addedssep/offboard/hdmap_interface/map_elements/junction_info.h
The file was removedssep/offboard/main_test/hdmap_interface/common/glog_helper.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/istreamwrapper.h
The file was addedssep/offboard/hdmap_interface/hdmap_impl.h
The file was addedssep/offboard/hdmap_interface/map_elements/lane.h
The file was addedssep/offboard/hdmap_interface/rapidjson/uri.h
The file was addedssep/offboard/hdmap_interface/rapidjson/filewritestream.h
The file was addedssep/offboard/hdmap_interface/rapidjson/rapidjson.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/overlap.h
The file was addedssep/offboard/hdmap_interface/libhdmap_interface_shm.so
The file was addedssep/offboard/hdmap_interface/map_elements/object.h
The file was addedssep/offboard/scene_replay/replay_ssep_input_cli.cc
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/swap.h
The file was modifiedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/biginteger.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/itoa.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/strfunc.h
The file was removedssep/offboard/main_test/hdmap_interface/parser/map_loader.h
The file was addedssep/offboard/hdmap_interface/rapidjson/document.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/dtoa.h
The file was addedssep/scenarios/planner_utils.cc
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/clzll.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/junction_info.h
The file was addedssep/offboard/hdmap_interface/map_elements/section.h
The file was removedssep/offboard/generate_scene_data/protos/scene.proto
The file was removedssep/offboard/main_test/hdmap_interface/parser/interface_singleton.hpp
The file was addedssep/offboard/hdmap_interface/common/glog_helper.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/section.h
The file was removedssep/offboard/main_test/hdmap_interface/hdmap_impl.h
The file was removedssep/offboard/main_test/hdmap_interface/common/math/vec2d.hpp
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/biginteger.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/strfunc.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/uri.h
The file was removedssep/offboard/main_test/hdmap_interface/common/data_types.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/stringbuffer.h
The file was addedssep/offboard/hdmap_interface/rapidjson/error/error.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/prettywriter.h
The file was addedssep/offboard/hdmap_interface/map_elements/object_info.h
The file was addedssep/offboard/hdmap_interface/common/math/geometry_utils.h
The file was addedssep/offboard/hdmap_interface/common/math/linear_interpolation.hpp
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/encodedstream.h
The file was addedssep/offboard/hdmap_interface/rapidjson/fwd.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/overlap_info.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/stack.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/msinttypes/inttypes.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/road_info.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/road.h
The file was addedssep/offboard/hdmap_interface/rapidjson/memorystream.h
The file was addedssep/offboard/hdmap_interface/parser/interface_singleton.hpp
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/error/error.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/filereadstream.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/memorybuffer.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/diyfp.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/object_info.h
The file was addedssep/offboard/hdmap_interface/common/data_types.h
The file was addedssep/offboard/hdmap_interface/rapidjson/msinttypes/stdint.h
The file was addedssep/offboard/hdmap_interface/map_elements/junction.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/memorystream.h
The file was addedssep/offboard/hdmap_interface/common/math/box2d.hpp
The file was addedssep/offboard/hdmap_interface/libhdmap_interface.so
The file was modifiedssep/offboard/ssep_visualizer.cc
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/section_info.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/pow10.h
The file was removedssep/offboard/main_test/hdmap_interface/common/math/polygon2d.hpp
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/filewritestream.h
The file was addedssep/offboard/hdmap_interface/map_elements/lane_info.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/allocators.h
Commit c3a407ca35fa669580fa5fe14e2fc1dff1852ba9 by wuyanjun110
refactor:调整末端的限速

The file was modifieddata/constrain/speed_hard_constrain.cpp
Commit 0196b7d55751661b434ffd02e66c428756418d21 by tangwenqing
chore: 改进友谊关多段倒车路径形状

The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
Commit a53416264813d3a7f1e887ebd6223ea1d43b38ab by tangwenqing
chore: 改进友谊关多段倒车路径形状

The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
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/keb_optimizer/tractor_trailer_keb_optimizer.cc
Commit ac3e99a1d2d7e89983c1c3fb6f9de370f8d9f00b by wuyanjun110
feat:breakpad 崩溃

The file was modifiedtasks/plan/ssep_task.cpp
The file was modifiednode/logic.cpp
The file was modifiednode/main.cpp
The file was modifiedreplayer/main.cpp
Commit 4ef7071694508f6effda4cfe8a21a21cad697030 by wuyanjun110
feat:删除终点后的不可绕行

The file was modifieddata/boundary/road_boundary.cpp
Commit 898942a39735b519b4eba6c5300eb9a559770ec1 by wuyanjun110
feat:上引导不变道的bug

The file was modifieddata/plan/switch_data.cpp
The file was modifieddata/plan/guide_line_base.cpp
Commit 45147da4b856fa3a9a6359469f1c5a6007fb7661 by wuyanjun110
feat:draw ssep崩溃的防护

The file was modifiedhmi/draw/draw_ssep.cpp
Commit 9633e87c4b913f072ddf0c960357854d0a0c35b0 by wuyanjun110
feat:删除打印日志

The file was modifiedssep/maps/sl_projection_map.cc
Commit f3debdb7a23bf618791c8cc091e56d8ca474ad05 by wuyanjun110
fix:replayer编译失败的bug

The file was modifiedreplayer/main.cpp
Commit cc2f3fa98fba14b74f786899f2b138d217ff4677 by wuyanjun110
fix:breakpad编译失败的bug

The file was modifiedreplayer/main.cpp
Commit 73ba9eb3ea01c3ecb1f733b48be0b0d18b3c526d by tangwenqing
fix: SSEP: proto去除optional关键字

The file was modifieddata/plan/ssep_data.cpp
The file was modifiedssep/protos/scene.proto
Commit 5563be7741c3e258e70799faa932f2f4e6596bb3 by 5081703.cr
fix: motion_fsm to_normal bug.

The file was modifieddata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp
Commit 4d0bb553a1f262d32c060b54c440602a396af343 by tangwenqing
feat: SSEP: 完成ssep相关的proto定义。

The file was modifiedssep/protos/scene.proto
The file was modifiedssep/CMakeLists.txt
The file was addedssep/protos/object.proto
The file was modifieddata/plan/ssep_data.hpp
The file was modifieddata/ssep/forward_ec.hpp
The file was modifieddata/ssep/forward_ec.cpp
The file was addedssep/protos/params.proto
The file was addedssep/protos/ssep_scenario_type.proto
The file was modifiedssep/protos/geometry.proto
The file was modifiedssep/protos/path.proto
The file was addedssep/protos/map_element.proto
Commit b5e1fcf682a37641e855aad606e45900f23af207 by tangwenqing
fix: fix building issue

The file was modifieddata/plan/ssep_data.hpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/ssep/ssep_ec.hpp
Commit 8b25d72c0b8580de808cdd4b2288fb9ab7eb5584 by tangwenqing
fix: 修复imv优化器斜行代价太小的问题

The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/maps/ogm.cc
The file was modifiedssep/offboard/generate_scene_data/obstacle_polygon_extractor.cc
The file was modifiedssep/param_loader/param.h
The file was modifiedssep/maps/ogm.h
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
Commit fe79f04a178dc104ef47b0c7982d90456d5da2dc by wuyanjun110
fix: 修复imv优化器斜行代价太小的问题

The file was modifiedssep/maps/ogm.h
The file was modifiedssep/offboard/generate_scene_data/obstacle_polygon_extractor.cc
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedssep/maps/ogm.cc
The file was modifiedssep/param_loader/param.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
Commit ad6ce86814302e4e6d0769134de820ba50f489b0 by wuyanjun110
Revert "fix: 修复imv优化器斜行代价太小的问题"

This reverts commit fe79f04a178dc104ef47b0c7982d90456d5da2dc.
The file was modifiedssep/maps/ogm.cc
The file was modifiedssep/offboard/generate_scene_data/obstacle_polygon_extractor.cc
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/maps/ogm.h
The file was modifiedssep/param_loader/param.h
Commit 18dd6b332a9504cc4969e5ecff261f16b536cc79 by wuyanjun110
fix:修复imv优化器斜行代价太小的问题

The file was modifiedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
Commit ea741cf40281c03fab8e7a1ab312a8abcdbeb248 by 5081703.cr
fix: first_frame smooth mode except in_yard

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 8daff57aba21216dc6c56d8ef5f1ecc1ed5db757 by wuyanjun110
refactor:优化进苏溪停车位的搜索

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifieddata/ssep/forward_ec.cpp
Commit dd5fd681aae51116a9520425bf8354ad3c195617 by wuyanjun110
refactor:优化进苏溪停车位的搜索

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifieddata/ssep/forward_ec.cpp
Commit 9740bf0d913ffc59a3aa7d72814d7b186b8b6205 by 5081703.cr
fix: clear route in smooth mode when large deviation.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit ef70b93f146073c7ba3c3c69fbe4fd97ba2dd177 by 5081703.cr
fix: clear route in smooth mode when large deviation.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit c24c1e0ae23a88963514c92f79cb56e73d7b8994 by tangwenqing
chore: SSEP: 实现SceneFrame的构建

The file was modifiedssep/data_structures/ssep_input.hpp
The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.h
The file was removedssep/offboard/generate_scene_data/obstacle_polygon_extractor.cc
The file was addedssep/common/utils/obstacle_polygon_extractor.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was removedssep/offboard/generate_scene_data/obstacle_polygon_extractor.h
The file was addedssep/common/object_manager.cc
The file was modifiedssep/data_structures/path.h
The file was modifiedssep/common/math/aabox2d.h
The file was addedssep/data_structures/ssep_input.cc
The file was modifiedssep/offboard/generate_scene_data/CMakeLists.txt
The file was addedssep/common/utils/obstacle_polygon_extractor.h
The file was modifiedssep/protos/geometry.proto
The file was addedssep/data_structures/map_element_polyline.h
The file was removedssep/data_structures/map_element_polyline.hpp
The file was addedssep/data_structures/object.h
The file was addedssep/common/object_manager.h
The file was addedssep/common/utils/proto_converters.hpp
The file was addedssep/data_structures/map_element_polyline.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
The file was modifiedssep/coarse_search/topology_analysis/candidate_goals_generator.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/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/topology_analysis/bulk_yard_reasoner.h
The file was modifiedssep/protos/scene.proto
The file was modifiedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was modifiedssep/coarse_search/conditions/inside_yard_condition.h
The file was modifiedssep/common/math/aabox2d.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/maps/ogm.h
The file was modifiedssep/maps/ogm.cc
Commit 3b08bf2c422b284cb3131c7392d288b38e55e8cc by 5081703.cr
fix: wbca smoth_mode route interval

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 5664a16cb1ef60c133d8324d0472d96b1f8109b5 by 5081703.cr
fix: wbca smoth_mode route interval

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit a9e02a3b741c153a024f2ea67e08d2bd91a8687f by wuyanjun110
feat:适配梁山港

The file was modifieddata/config/cfg_region.hpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/config/cfg_region.cpp
Commit 25b2d8ea1a6626a842cfc7e678df3525280ddaf6 by wuyanjun110
factor:添加搜索途径点的绘制

The file was modifiedhmi/draw/draw_map.cpp
The file was modifieddata/ssep/ssep_ec.cpp
Commit 4c2234d4bc9febdf9576e4cd8bdcbf59611f4ae5 by wuyanjun110
feat:适配梁山港

The file was modifieddata/config/cfg_region.hpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/config/cfg_region.cpp
Commit 1c4ee37b876de9762d752b4a01d0ea8143e9f725 by wuyanjun110
factor:添加搜索途径点的绘制

The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedhmi/draw/draw_map.cpp
Commit e1ed6c866dbc4d1354f50f122d6138193543fd27 by tangwenqing
feat: SSEP: 1. 增加集卡进停车位场景。2. 集卡出停车位场景倒车时增加额外后向检测。

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was addedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
The file was modifiedssep/ssep_planner.cc
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/coarse_search/multi_stage_hybrid_astar_search_engine.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/offboard/ssep_input_provider.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/coarse_search/evaluator/trailer_collision_cost_computer.h
The file was modifiedssep/coarse_search/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/protos/ssep_scenario_type.proto
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifiedssep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/offboard/scene_replay/replay_ssep_input_cli.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
Commit f6fe4b920847b0ca9468af0e3b3bbef48f2e6ae6 by tangwenqing
chore: ssep: yangpu enter yard

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit b995fc59c39e0629be12eff76fb9e5cd2c0d3dbe by wuyanjun110
refactor:优化序列化的显示

The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifiedhmi/widget/diagnose.cpp
The file was modifieddata/vehicle/vehicle_state.hpp
The file was modifieddata/app/reaction/app_reaction.hpp
The file was modifiedplan/prepare/prepare_status.cpp
Commit 5f9f6a8c5418090c6c5ae4ad004c9a6cd87de69a by tangwenqing
chore: SSEP: 改进杨浦进堆场路径

The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 23f63b480da14edc9f172246f8ba8d63047b2cd3 by 5081703.cr
feat: add KappaRateCost.

The file was modifieddata/config/cfg_lat_plan.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/path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.hpp
Commit 8caa6ef83a3ee518a3662fa918db2d83f8094bc1 by 5081703.cr
fix: add use_func_stationary_steering_activation

The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedplan/prepare/prepare_status.cpp
Commit 9f6b2f85171a9b42427e304c4d59e1485dfc34ea by tangwenqing
chore: SSEP: yangpu进堆场路径调试

The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/legacy_planner.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 695942a1d3efbd942ae8516e6f56069f4600e725 by wuyanjun110
fix:宽度补偿的bug

The file was modifiedsink/ros_sink_pnc_status.cpp
The file was modifieddata/config/cfg_static.cpp
Commit 99aae8fc414bc26092774f480bdb9abdffe9e765 by wuyanjun110
fix:宽度补偿的bug
The file was modifiedsink/ros_sink_pnc_status.cpp
The file was modifieddata/config/cfg_static.cpp
Commit c538dbb450ff756ab96beff1209800b012457d68 by wuyanjun110
fix:参考线拼接的问题

The file was modifieddata/map/reference/reference_segment.cpp
The file was modifiedtasks/other_tasks/stitch_path_to_reference_line.cpp
Commit 6acf1ca859658c5f3461cb71e94a243a7444ba56 by wuyanjun110
feat:对准指令校验的阈值参数化

The file was modifieddata/app/cmd/cmd_align.cpp
Commit 6075481ceaa8cfba027fc8f8b128cb0e8d5d35a3 by wuyanjun110
feat:优化counter的绘制

The file was modifiedhmi/draw/draw_path.cpp
Commit 127483f8c24a6389f4d4c62feaa69a8a547b82a5 by wuyanjun110
feat:ssep的优化

The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/offboard/scene_replay/CMakeLists.txt
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 0f56dcb888aa35d65b48d043aa4a416bba123ff4 by wuyanjun110
feat:杨浦进堆场口搜索约束的优化

The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 13a75f9ab0d7b3556b785ce2f139ca02b28c427e by wuyanjun110
feat:wcba的优化

The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit b5928ec7e9bd62b896f96b8c27ff60461df3fa7b by wuyanjun110
refactor:优化序列化的显示

The file was modifieddata/app/reaction/app_reaction.hpp
The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/vehicle/vehicle_state.hpp
The file was modifiedhmi/widget/diagnose.cpp
Commit c867b744c704809e43590516fbbea1f0999e342a by wuyanjun110
refactor:调整末端的限速

The file was modifieddata/constrain/speed_hard_constrain.cpp
Commit 57e9eea24717f86249c2aa0070d17cc2eb8c0a0a by 5081703.cr
fix: smooth path opt.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/plan/start_point_data.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit bba600a1c384e64ab37e01139408290bac7ba3eb by wuyanjun110
fix:参考线拼接的问题

The file was modifieddata/map/reference/reference_segment.cpp
The file was modifiedtasks/other_tasks/stitch_path_to_reference_line.cpp
Commit 679699d6e2624aec436d5e51add95c3fdabaadce by wuyanjun110
feat:ssep的优化

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/offboard/scene_replay/CMakeLists.txt
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 78b0a4e33f8374a4c6e5decb9ca0b9d534daa1ce by wuyanjun110
feat:杨浦进堆场口搜索约束的优化

The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit aea57547b55447a2c909ef3ada293799868c7195 by wuyanjun110
fix:参考线拼接的问题

The file was modifiedtasks/other_tasks/stitch_path_to_reference_line.cpp
The file was modifieddata/map/reference/reference_segment.cpp
Commit 3791763c8530050119196c4217c6c1a208a0b8f5 by wuyanjun110
feat:对准指令校验的阈值参数化

The file was modifieddata/app/cmd/cmd_align.cpp
Commit c3c61f30f30b9b51b1bcd38353b29ced4fafd3e8 by wuyanjun110
feat:优化counter的绘制

The file was modifiedhmi/draw/draw_path.cpp
Commit fae2e1aea2430367e771061a0f487b22ea060456 by wuyanjun110
feat:ssep的优化
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 modifiedssep/keb_optimizer/keb_problem.cc
Commit cdfa0f85fa6b1a87a9a1c691a8fba7c2a467bff6 by wuyanjun110
feat:杨浦进堆场口搜索约束的优化

The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit a2bba411236ff04c445a82688dbec5f5fd0c52d1 by wuyanjun110
feat:wcba的优化

The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit ffa060a6e14e96f3ef232bfb9393a929c4d60478 by tangwenqing
feat: SSEP: 跑通offboard数据生成工具

The file was modifiedssep/data_structures/object.h
The file was addedssep/common/utils/scene_frame_visualization.h
The file was modifiedssep/data_structures/polyline.h
The file was modifiedssep/data_structures/ssep_input.cc
The file was modifiedssep/common/utils/obstacle_polygon_extractor.cc
The file was modifiedssep/data_structures/ssep_input.hpp
The file was modifiedssep/common/object_manager.cc
The file was modifiedssep/maps/ogm.cc
The file was modifiedssep/common/object_manager.h
The file was modifiedssep/data_structures/polyline.cc
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was addedssep/common/utils/proto_io.h
The file was removedssep/offboard/generate_scene_data/conf/scene_conf.yaml
The file was modifiedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was modifiedssep/common/utils/obstacle_polygon_extractor.h
Commit 90bae44baaec01ccae17bd75fa8e928bf460c960 by 5081703.cr
fix:smooth_mode connection.

The file was modifiedtasks/plan/path_optimization_task.cpp
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 0b0c388561fa90e7d0a927c0f18aaf5c416952a8 by tangwenqing
feat: SSEP: Add SceneFrame Replayer.

The file was modifiedssep/data_structures/path.cc
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/maps/ogm_builder.cc
The file was modifiedssep/data_structures/path.h
The file was modifiedssep/ssep_planner.h
The file was addedssep/common/utils/scene_frame_visualization.cc
The file was modifiedssep/maps/ogm_builder.h
The file was addedssep/offboard/scene_replay/replay_scene_frame_cli.cc
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/common/utils/proto_converters.hpp
The file was addedssep/offboard/scene_frame_provider.cc
The file was addedssep/offboard/scene_frame_provider.h
The file was modifiedssep/param_loader/param.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/offboard/scene_replay/CMakeLists.txt
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/offboard/ssep_planner_wrapper.h
The file was modifiedssep/protos/scene.proto
The file was modifiedssep/common/utils/scene_frame_visualization.h
The file was modifiedssep/common/utils/proto_io.h
The file was modifiedssep/ssep_planner.cc
Commit 4e02907cc5bfddf8a751c72769f81fb71747191c by 5081703.cr
fix: wbca using history exception.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit a246a018d91f6abac6e164f87d8e9da6c6cd75f1 by 5081703.cr
fix: stitch path data failed.

The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
Commit e7b5b13d6f5e5900f6c06f0f66131625d1ae9e21 by wuyanjun110
fix:苏溪进停车的bug

The file was modifiedalgorithm/vehicle_model/kinematic_bicycle_model.cpp
The file was modifiedalgorithm/vehicle_model/kinematic_bicycle_model.hpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedhmi/draw/draw_ssep.cpp
Commit 8aac9d0b216d5d8fb8506eefe6e173586a199f4d by wuyanjun110
fix:苏溪进停车的bug

The file was modifiedhmi/draw/draw_ssep.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedalgorithm/vehicle_model/kinematic_bicycle_model.hpp
The file was modifiedalgorithm/vehicle_model/kinematic_bicycle_model.cpp
Commit f70f24cf55da840f2ccf3d7d626283c681abf3ae by wuyanjun110
feat:添加绕行障碍物的速度参数

The file was modifieddata/config/cfg_lat_decide.cpp
The file was modifieddata/config/cfg_lat_decide.hpp
The file was modifieddata/obstacle/obstacle_decider_attr.cpp
Commit c02e3c4b4bb30af85e4760d2c160f628d84ded33 by wuyanjun110
feat:添加绕行障碍物的速度参数

The file was modifieddata/config/cfg_lat_decide.hpp
The file was modifieddata/config/cfg_lat_decide.cpp
The file was modifieddata/obstacle/obstacle_decider_attr.cpp
Commit 48c60244d685ed4a8ca292bece8f72a2c515490d by wuyanjun110
feat:优化绕行判断

The file was modifieddata/obstacle/obstacle_decider_attr.cpp
Commit ef9209a9ea7559e7d8037b389ecfd8b0cf89f83e by wuyanjun110
feat:优化绕行判断

The file was modifieddata/obstacle/obstacle_decider_attr.cpp
Commit 77986b785650dde8717c21d26fefbc372340813b by tangwenqing
feat: SSEP: offboard: Add scene frame vis server.

The file was addedssep/offboard/servers/crow/ci_map.h
The file was addedssep/offboard/servers/crow/http_server.h
The file was addedssep/offboard/servers/crow/middlewares/utf-8.h
The file was addedssep/offboard/servers/crow/TinySHA1.hpp
The file was addedssep/offboard/servers/crow/http_response.h
The file was addedssep/offboard/servers/crow/socket_adaptors.h
The file was addedssep/offboard/servers/crow/logging.h
The file was addedssep/offboard/servers/crow/multipart.h
The file was modifiedssep/CMakeLists.txt
The file was addedssep/offboard/servers/crow/settings.h
The file was addedssep/offboard/servers/crow/http_parser_merged.h
The file was addedssep/offboard/servers/crow/socket_acceptors.h
The file was addedssep/offboard/servers/crow/version.h
The file was addedssep/offboard/servers/scene_vis_server.cc
The file was addedssep/offboard/servers/crow/json.h
The file was addedssep/offboard/servers/crow/multipart_view.h
The file was addedssep/offboard/servers/crow/returnable.h
The file was addedssep/offboard/servers/crow/compression.h
The file was addedssep/offboard/servers/scene_vis_html_template.h
The file was addedssep/offboard/servers/crow/exceptions.h
The file was addedssep/offboard/servers/crow/http_connection.h
The file was addedssep/offboard/servers/crow/query_string.h
The file was addedssep/offboard/servers/crow/common.h
The file was addedssep/offboard/servers/crow/task_timer.h
The file was addedssep/offboard/servers/crow/middlewares/session.h
The file was addedssep/offboard/servers/crow/middlewares/cors.h
The file was addedssep/offboard/servers/crow.h
The file was addedssep/offboard/servers/crow/parser.h
The file was addedssep/offboard/servers/crow/http_request.h
The file was addedssep/offboard/servers/CMakeLists.txt
The file was addedssep/offboard/servers/crow/routing.h
The file was addedssep/offboard/servers/crow/app.h
The file was addedssep/offboard/servers/crow/websocket.h
The file was addedssep/offboard/servers/crow/middlewares/cookie_parser.h
The file was addedssep/offboard/servers/scene_vis_html_template.cc
The file was addedssep/offboard/servers/crow/mime_types.h
The file was addedssep/offboard/servers/crow/mustache.h
The file was addedssep/offboard/servers/crow/middleware.h
The file was addedssep/offboard/servers/crow/middleware_context.h
The file was addedssep/offboard/servers/crow/utility.h
Commit 21848465c07d036b88fccbf78c6c9df5526bca38 by 5081703.cr
fix: extract path and trajectory in replayer.

The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
Commit 0e9f2b6bd58dc0c27cb17ca4181a8cdc7c1956fa by 5081703.cr
fix: extract path and trajectory in replayer.

The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
Commit 77abbad3d5dc0a0cc78b878295e91bf56f4af513 by 5081703.cr
fix: wbca start_pos bug.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 100a79d156d69e936b33968284b0c134883e3051 by wuyanjun110
feat:杨浦进堆场优化

The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.hpp
The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifieddata/config/cfg_func_sw.hpp
Commit 393dbad559f894e299f9b7201e507682657d990d by tangwenqing
chore: SSEP: update OG polygon extraction algr.

The file was modifiedssep/data_structures/path.cc
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit 1a0927e94de5cc5ded8226debc9f00463fc461e3 by wuyanjun110
feat:杨浦进堆场优化
The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.hpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/config/cfg_func_sw.cpp
Commit 0cdb2dc3bec41ed7200d2161f4df3dbaac37a61c by tangwenqing
feat: SSEP: Viz server add download button.

The file was modifiedssep/offboard/servers/scene_vis_html_template.cc
The file was modifiedssep/offboard/servers/scene_vis_server.cc
Commit 901d7f793823d44c2d04a56c664a226acf7dccb2 by tangwenqing
feat: SSEP: Add rigid truck general scenario planner.

The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was modifiedssep/scenarios/legacy_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/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.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/scenarios/truck_u_turn_planner.h
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/scenarios/stitching_replanner.h
The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was addedssep/scenarios/truck_general_planner.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
Commit cb8cab9c9d1015b3bfc08c347b6093783a23bd99 by 5081703.cr
fix: clear history_pts when wbca opt failed.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 1974812a4b09c6067fb1130cb70b2578764da810 by 5081703.cr
fix: replayer wbca debug.

The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit e2376cff05d8cf483bf3c7c398829e239ab68ff2 by tangwenqing
fix: SSEP: 修复SSEP内存泄漏问题

The file was modifiedssep/coarse_search/evaluator/cost_feature_computer.h
The file was modifiedssep/coarse_search/motion_primitive_sampler/motion_primitive_sampler.h
The file was modifiedssep/offboard/ssep_planner_wrapper.h
The file was modifiedssep/offboard/generate_scene_data/CMakeLists.txt
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was modifiedssep/coarse_search/search_engine_interface.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/coarse_search/conditions/search_condition_interface.h
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.cc
The file was modifiedssep/coarse_search/evaluator/heuristic_feature_computer.h
The file was modifiedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.h
Commit f52ba2ef1fb5346eec142290ac4398d58ce79fcb by tangwenqing
chore: 保存ssep scene frame 到本地

The file was modifieddata/ssep/ssep_activation.hpp
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.h
The file was modifieddata/ssep/ssep_activation.cpp
Commit 7dc8a003ba5d2e4ab15970147d5e8b2094fea5d2 by tangwenqing
fix: SSEP: Fix crashing issues

The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
Commit a1d1e8387aa3581123309ca99cbfe867f81e69e6 by wuyanjun110
fix:上引桥极限变道的bug

The file was modifieddata/ssep/ex_lane_change_ec.cpp
The file was modifieddata/plan/switch_data.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit c69714450e69cbcd131885615d8231e63d5397ee by tangwenqing
chore: SSEP web 可视化增加【上一个】【下一个】按钮

The file was modifiedssep/offboard/servers/scene_vis_server.cc
The file was modifiedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was modifiedssep/offboard/servers/scene_vis_html_template.cc
Commit 46435604fde44c426485e7d93ad3df04ac126948 by tangwenqing
feat: Pnc Cmakelist中增加scene_vis_server(编译和打包)

The file was modifiedssep/offboard/servers/scene_vis_server.cc
The file was modifiedCMakeLists.txt
Commit c3d6743944820dd1fa0cc800742e0d5c2be544c5 by tangwenqing
chore: minor update

The file was modifiedssep/offboard/servers/scene_vis_server.cc
Commit 472010096107bb3e3a3675a11adcf4bdfdfa0b9c by 5081703.cr
fix: wbca debug

The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
Commit 675f481ef462bf6f9173a488e2ec17f356e17869 by tangwenqing
feat: SSEP: visualization show trailer contour

The file was modifiedssep/common/utils/scene_frame_visualization.cc
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/offboard/servers/scene_vis_html_template.cc
Commit b44d16096f20b7e2593b57d0255917184bb88c4e by wuyanjun110
feat:杨浦进堆场优化

The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
The file was modifiedhmi/draw/draw_path_boundary.hpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifiedscenarios/scenario_interface.hpp
The file was modifiedtasks/deciders/lat_decider/path_bounds_decider.cpp
The file was modifieddata/plan/guide_line_base.hpp
The file was modifiedscenarios/scenario.cpp
The file was modifiedhmi/draw/draw_path_boundary.cpp
The file was modifieddata/boundary/road_boundary.hpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/plan/guide_line_base.cpp
The file was modifieddata/plan/guide_line.cpp
Commit 5abc2c82fd145c2da9b039242f5de7997cd6a84e by wuyanjun110
feat:最近车道匹配的bug

The file was modifieddata/map/reference/reference_road_section.cpp
Commit 51bb3c33540d362c1f6f8c6f957fc12d6b37c2ff by tangwenqing
feat: OG点挡停重规划

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
Commit 96dd770176e26228fd29c61cc02026715172f539 by wuyanjun110
fix:修复连续普通路口搜索的bug
The file was modifieddata/scenario/scenario_manager.cpp
The file was modifieddata/scenario/scenario_manager.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedtasks/deciders/search_decider/normal_junction_search_decider.cpp
The file was modifieddata/decide/decide_reaction.hpp
Commit 16bf9f7fe7e9a2a79536097a7b00aeced82e22ef by wuyanjun110
feat:杨浦进堆场优化

The file was modifiedhmi/draw/draw_path_boundary.hpp
The file was modifiedhmi/draw/draw_path_boundary.cpp
The file was modifieddata/plan/guide_line_base.cpp
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
The file was modifieddata/boundary/road_boundary.hpp
The file was modifiedtasks/deciders/lat_decider/path_bounds_decider.cpp
The file was modifiedscenarios/scenario.cpp
The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
The file was modifieddata/plan/guide_line_base.hpp
The file was modifiedscenarios/scenario_interface.hpp
The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifieddata/plan/guide_line.cpp
Commit 9cd3a8dd3a5dbe950895e50a7cfb5fc8a3ae057d by wuyanjun110
feat:最近车道匹配的bug

The file was modifieddata/map/reference/reference_road_section.cpp
Commit 6d9811fec49e2c949719c1c0b71537a3afe9a012 by tangwenqing
fix: SSEP: 修复car search + optimize相关问题

The file was modifiedssep/scenarios/planner_utils.cc
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/data_structures/polyline.cc
The file was modifiedssep/data_structures/map_element_polyline.cc
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was modifiedssep/data_structures/map_element_polyline.h
The file was modifiedssep/data_structures/polyline.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/ssep_planner.cc
Commit 7f290155bdb140fa1624ecbf603de3580ef7d4f4 by 5081703.cr
fix: active curvature speed limit.

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit ddb43002871d24041e8189943f6b08725f3bd436 by 5081703.cr
fix: wbca debug in replayer.

The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit 9776ea9c14130026cc8d3826c0acba00ade11d3d by 5081703.cr
fix: kappa_softmax and kappa_rate_softmax

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.hpp
Commit 8f88e0d857eb01b955dc5783b7af4c9dcd2f5680 by 5081703.cr
fix: win = 4 for kappa speed limit

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 4528c3efdb7b7dd7cbf041df6b079965cbb91c0e by tangwenqing
chore: SSEP: 改进低贝位进堆场效果

The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was addedssep/keb_optimizer/cost_features/soft_trailer_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit 67c5536ea4b8ecc2783fee6f04801e9fe54bb568 by tangwenqing
chore: SSEP: Remove unused offline files.

The file was removedssep/offboard/generate_scene_data/trajectory_provider/search_based_trajectory_provider.cc
The file was removedssep/offboard/generate_scene_data/trajectory_provider/search_based_trajectory_provider.h
The file was removedssep/offboard/generate_scene_data/utils.h
The file was removedssep/offboard/generate_scene_data/data_structures.h
The file was removedssep/offboard/generate_scene_data/state_augment_util.h
Commit 695fff64fa4736d07866e890a724c343583c5bbd by wuyanjun110
fix:身后障碍物过滤的bug

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/obstacle/ogm.cpp
Commit d247bb339222e350fd787a71a479568bf0ed31ef by wuyanjun110
fix:replan逻辑的优化

The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit d42bda70f0ad41a8101e4fc2330c3a4ec654043d by wuyanjun110
refacor:搜索的优化

The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/ssep_planner.cc
The file was modifieddata/ssep/forward_ec.hpp
The file was modifieddata/ssep/normal_junction_ec.cpp
The file was modifiedssep/maps/ogm_builder.h
The file was modifieddata/obstacle/obstacle.hpp
The file was modifieddata/ssep/forward_ec.cpp
Commit b10720a08427bb000d2576bfd3ab0f314f536e90 by wuyanjun110
fix:修复连续普通路口搜索的bug
The file was modifiedtasks/deciders/other_decider/replan_decider.hpp
The file was modifieddata/scenario/scenario_manager.cpp
The file was modifiedtasks/deciders/search_decider/normal_junction_search_decider.cpp
The file was modifieddata/decide/decide_reaction.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/scenario/scenario_manager.hpp
Commit 5be095107f0cdfe70efef60b738602b4d3f04d97 by wuyanjun110
fix:身后障碍物过滤的bug

The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/obstacle/ogm.cpp
Commit 77b55ece453551fb79e7191ed4b2ed16a842c61b by wuyanjun110
fix:replan逻辑的优化
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/config/cfg_func_sw.cpp
Commit 5b01e8a5427151e7e8f78e9259be130b3533712c by wuyanjun110
refacor:搜索的优化

The file was modifieddata/ssep/normal_junction_ec.cpp
The file was modifieddata/ssep/forward_ec.hpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/maps/ogm_builder.h
The file was modifieddata/obstacle/obstacle.hpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/ssep_planner.cc
Commit 64fc8eb7b5a7cb2e7bbf128e5a507e50d84fc72f by wuyanjun110
fix:编译的bug

The file was modifieddata/ssep/ssep_activation.cpp
Commit f01be4fe8e5cd29ed7e8ebaeb4a4a8cd2f0abc7d by wuyanjun110
fix:编译的bug

The file was modifieddata/ssep/ssep_activation.cpp
Commit 5e5442bf1f8dd2ac3de2f4d336d847b450dc180d by tangwenqing
chore:  SSEP: Improve keb car optimization process

The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/data_structures/path.cc
The file was modifiedssep/data_structures/path.h
Commit 398972de257a136937f1cdcbe9d27dd874aafda6 by tangwenqing
feat: SSEP add scene data augmentation scripts.

The file was addedssep/offboard/generate_scene_data/trim_scene_paths_cli.cc
The file was addedssep/offboard/generate_scene_data/resample_scene_paths_cli.cc
The file was modifiedssep/offboard/generate_scene_data/CMakeLists.txt
Commit c5ec059a40128c5ebc4e9e9bd7ebd9c091f823b5 by tangwenqing
feat: 添加git push-notify功能，可以联动钉钉机器人发送推送通知，并调用大模型自动编辑周报

The file was addedGIT_PUSH_NOTIFY_README.md
The file was addeddingtalk_notify_config.json
The file was addedgit_push_with_notify.sh
The file was addeddingtalk_notify.py
Commit e39dcd6e348848c6b5dc2a9693d2a2c5935ee8bb by wuyanjun110
fix:重复规划的bug

The file was modifieddata/decide/decide_reaction.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/decide/decide_reaction.cpp
Commit 80a3a731804faad34751f3f8f417278758bad999 by wuyanjun110
fix:出堆场，误进平滑模式的bug

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 8be78d94c2366b47fc8121f90d10b04f533d2327 by wuyanjun110
fix:优化出堆场的搜索

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/ssep_planner.cc
Commit cbc8ec5c4d9cc09ae3b66ff7a092d40e51859412 by wuyanjun110
fix:重复规划的bug

The file was modifieddata/decide/decide_reaction.cpp
The file was modifieddata/decide/decide_reaction.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit 231805897b1ac3919a39c4574adaaaef84e87e68 by wuyanjun110
fix:出堆场，误进平滑模式的bug

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 3fd692c61f7e6e4819728ad8d1796c85bb1a48ad by wuyanjun110
fix:优化出堆场的搜索

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedssep/ssep_planner.cc
The file was modifieddata/ssep/forward_ec.cpp
Commit b83f53bc1af49b0ab48a2ac8bad499378cb28ce4 by tangwenqing
chore: git push notify config脱敏
The file was removeddingtalk_notify_config.json
The file was modified.gitignore
The file was addeddingtalk_notify_config_example.json
Commit 684a0cfe925b1a9ad2d2f6eaf1a6c0e56926afd4 by wuyanjun110
fix:修复replayer内存泄漏的问题

The file was modifiedreplayer/main.cpp
Commit dcf463d91c95bac43a392620025407dab430a91a by tangwenqing
feat: SSEP: 自卸车进出堆场时忽略起点终点附近的碰撞

The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/coarse_search/evaluator/trailer_collision_cost_computer.h
The file was modifiedssep/offboard/scene_frame_provider.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/coarse_search/evaluator/collision_cost_computer.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/coarse_search/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/motion_primitive.h
The file was modifiedssep/maps/ogm_builder.cc
The file was addedssep/data_structures/range.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/coarse_search/search_graph.h
Commit d55b405a33d8327773ced43547553021ac1fcf4d by tangwenqing
fix: SSEP:  解决太阳纸业路口转弯距离参考线太远的问题

The file was modifiedssep/scenarios/truck_general_planner.h
Commit 2896a9016ab589ca6cfc634f92743e89d3c30768 by wuyanjun110
fix:防护half to float 到 inf的场景

The file was modifiedmath/util/math_utils.h
The file was modifiedmath/util/vec_2d.cpp
The file was modifiedmath/util/math_utils.cc
The file was modifieddata/common/point.cpp
Commit 24b6f3f043057424f7f360b558666e51feda4912 by 5081703.cr
fix: smooth_mode for bulk_load

The file was modifieddata/boundary/road_boundary.cpp
The file was modifiedtasks/deciders/lat_decider/wbca_path_boundary_decider.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 75887057ea21be1ced848f5999ea08ff77ccf013 by wuyanjun110
feat:翻斗角度过大停车值在bulkload场景下生效

The file was modifiedplan/prepare/prepare_status.cpp
Commit 659d2f18a0f20bb48ed019343106a16ebbf89240 by wuyanjun110
feat:翻斗角度过大停车值在bulkload场景下生效

The file was modifiedplan/prepare/prepare_status.cpp
Commit 3f2d0f9e82bed5c22b15cfffd4e07646880af8e3 by tangwenqing
fix: SSEP: 修复苏溪出停车位时先往前走一段的问题。

The file was modifiedssep/common/utils/map_element_utils.hpp
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
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
Commit bd4c9ce5154ceaa5cbc66533a1cf25f1faaab991 by wuyanjun110
fix: SSEP路径当前段匹配的bug

The file was modifieddata/plan/ssep_data.cpp
Commit f4848bdc4b44c7ba76bd4a53e765d80b8b2fa6a6 by wuyanjun110
fix: SSEP路径当前段匹配的bug

The file was modifieddata/plan/ssep_data.cpp
Commit eef8c7f5d131720b27e7968cb465c86942318c00 by 5081703.cr
fix: wbca debug

The file was modifiedalgorithm/wbca/occupancy_grid_map/data_render.hpp
The file was modifiedalgorithm/wbca/occupancy_grid_map/data_render.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit a2d46ddf2992606d6614efbb6ed0c17b60dc2c59 by wuyanjun110
fix:修复正常跟踪场景使用pjpo的bug

The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
Commit e9b2003611915baddbc07faba87249a728053be1 by wuyanjun110
fix:修复正常跟踪场景使用pjpo的bug

The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
Commit 28297f795caf72d646798903d3fd083ba1deb925 by wuyanjun110
fix:ssep replan崩溃的bug

The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit a2280fbda04c00660fb164010a98d11170518d9b by wuyanjun110
fix:ssep replan崩溃的bug

The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit 6ab8c4a5ece5a97023fa9a54e5c96d85f96ce8aa by 5081703.cr
fix: keep history when wbca failed.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit e1fe2a07e0db74892ba0be64b5a4f9a8abde9931 by tangwenqing
fix: SSEP: 解决苏溪进停车位搜索失败的问题

The file was addedssep/offboard/generate_scene_data/transform_to_body_frame_cli.cc
The file was modifiedssep/offboard/generate_scene_data/CMakeLists.txt
The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
Commit c16b73e94c97f0ec3e0f03cedbc3eebe84ae943f by wuyanjun110
fix:完善搜索失败临时停车的功能

The file was modifieddata/constrain/disable_stop_range.cpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/app/fsm/stop_reason.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifiedhmi/widget/distance.cpp
Commit b60e5edd5c9e5e787270b2730add4e5e536cea96 by wuyanjun110
fix:完善搜索失败临时停车的功能

The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/app/fsm/stop_reason.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/constrain/disable_stop_range.cpp
The file was modifieddata/constrain/block_data.cpp
The file was modifiedhmi/widget/distance.cpp
Commit b4d91bfa686aa2fb4f1117ebf89916980d892750 by wuyanjun110
fix:修复崩溃的bug

The file was modifieddata/constrain/block_data.cpp
Commit 60722bedb0bfe876115ab368323bfe425bc0ed18 by wuyanjun110
fix:修复崩溃的bug

The file was modifieddata/constrain/block_data.cpp
Commit 70769c56ebcce7a4768efb56a29b7c3df6b486dc by wuyanjun110
fix:修复太阳路口搜索失败的bug

The file was modifiedssep/ssep_planner.cc
Commit d4f5d00556593f1966db336ac44f7fb2137db11d by wuyanjun110
fix:修复太阳路口搜索失败的bug

The file was modifiedssep/ssep_planner.cc
Commit 6d8b01b90a73e83c5d63dc153ef5c7171781ec23 by tangwenqing
fix: SSEP: 1. 修复accurate reversing场景倒车最后三米忽略碰撞未触发的问题。2.提升苏溪进停车位成功率

The file was modifiedssep/offboard/scene_frame_provider.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_enter_parking_spot_planner.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
Commit c9a462d299b107c5dc45f46d0722aa40ee5d6ea0 by tangwenqing
chore: SSEP: minor update

The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
Commit b4f7c119b49d613073d9d3b375ca6b588186a6ff by tangwenqing
chore: SSEP: minor updates

The file was modifieddingtalk_notify.py
The file was modifiedssep/scenarios/legacy_planner.h
Commit cf395aeeaac1c1cdd3d51a189434dd3703f8681c by wuyanjun110
feat:car类型的普通路口搜索考虑边界

The file was modifiedssep/ssep_planner.cc
Commit 44151439a0e53cc667b17e07254129dbde278706 by wuyanjun110
feat:car类型的普通路口搜索考虑边界

The file was modifiedssep/ssep_planner.cc
Commit 229c800ba4352945a799a8491da2b71f7c1f65e4 by wuyanjun110
fix:修复可能崩溃的bug

The file was modifieddata/map/envelop/map_envelops.cpp
Commit aef344cb0dd0624163466efc632ceed2629d8760 by wuyanjun110
refactor:优化太阳卸料区挡停的重搜索逻辑

The file was modifiedssep/ssep_planner.cc
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit 61a5434182f70c1dfa39f7d13cd3f1a41abc94ae by tangwenqing
fix: SSEP: 修复优化器中起点曲率没有初始化的问题

The file was modifiedssep/maps/ogm.cc
The file was modifiedssep/keb_optimizer/data_structure.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit 3618fa7db514a6bc6eb98a54a3a3c8b7d7b5963d by wuyanjun110
fix:修复可能崩溃的bug

The file was modifieddata/map/envelop/map_envelops.cpp
Commit f127eeb730dda2de1945eb08c3ed59c44414776e by wuyanjun110
refactor:优化太阳卸料区挡停的重搜索逻辑

The file was modifiedssep/ssep_planner.cc
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit a1e87467a1da5bc638192f250825135cdaa70087 by 5081703.cr
fix: start_pt from last_path.

The file was modifieddata/plan/start_point_data.cpp
Commit 338a769cbefaa2e74bc5d68bd4a38dbf2113ba3c by tangwenqing
feat: SSEP: 集卡多段倒车搜索器改进为双向搜索。复测威海、友谊关的问题场景，成功率100%

The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/offboard/generate_scene_data/transform_to_body_frame_cli.cc
The file was modifiedssep/offboard/scene_frame_provider.cc
The file was modifiedssep/offboard/generate_scene_data/trim_scene_paths_cli.cc
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was addedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was addedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.h
Commit 2fa77475c73f757e92ca48b6d2c4f689e7376fdc by wuyanjun110
fix:连续载入快照崩溃的bug

The file was modifiedcommon/util/hdmap_wrapper.cpp
The file was modifiedreplayer/replayer_data_process/load_snap_data.cpp
The file was modifiedreplayer/logic.cpp
Commit 6d14adbd2676b9f700514425d7b866434ef14a37 by tangwenqing
fix: SSEP: 修复IMV PULLOVER场景最后一段不走直线的问题。

The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/scenarios/legacy_planner.h
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
Commit 8f80031d0d7637e98c5c75d87998ead69c977688 by wuyanjun110
fix: start_pt from last_path.

The file was modifieddata/plan/start_point_data.cpp
Commit 2dd84a30e8bc4d52ef1d2a64dd5dcc33bd1685dd by wuyanjun110
feat: SSEP: 集卡多段倒车搜索器改进为双向搜索。复测威海、友谊关的问题场景，成功率100%

The file was modifiedssep/offboard/scene_frame_provider.cc
The file was modifiedssep/offboard/generate_scene_data/trim_scene_paths_cli.cc
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was modifiedssep/offboard/generate_scene_data/transform_to_body_frame_cli.cc
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was addedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.h
The file was addedssep/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
Commit 8c6ef2c84e5d34a150d3a1551045e2fa440c642d by wuyanjun110
fix:连续载入快照崩溃的bug

The file was modifiedcommon/util/hdmap_wrapper.cpp
The file was modifiedreplayer/logic.cpp
The file was modifiedreplayer/replayer_data_process/load_snap_data.cpp
Commit 1d03336637287a2db83e7072e91334373502b167 by wuyanjun110
fix: SSEP: 修复IMV PULLOVER场景最后一段不走直线的问题。

The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/scenarios/legacy_planner.h
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
Commit 789ec4028b2a33883c841842faf1686cf1fe3b05 by wuyanjun110
fix:董家口靠边作业的问题

The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/plan/ssep_data.cpp
Commit 3ed68f77cd804238028515bf5a7aa49b385c324d by wuyanjun110
feat:wbca求解失败后，使用ssep路径带来的路径跳变问题

The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
Commit ac5fec5eea7a6a9c3520ba21ae2028944e7452bf by 5081703.cr
fix: add curvature over limit temp stop.

The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/constrain/disable_stop_range.cpp
The file was modifieddata/constrain/disable_stop_range.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/constrain/block_data.hpp
The file was modifieddata/constrain/temporary_stop_data.cpp
Commit 4a6df680159317e1c86c6b862322ee527d587dd1 by 5081703.cr
fix: curvature_over_limit_stop_coefficient 10.0

The file was modifieddata/config/cfg_safe_const.cpp
Commit 6f9d548a5a62a2c5dbbb473030c494fa41068025 by tangwenqing
chore: SSEP minor updates

The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/common/utils/scene_frame_visualization.cc
Commit e44350fef4a97e9401ba111fe8f1724a0f67adc6 by 5081703.cr
fix: truck start_pt exception.

The file was modifieddata/plan/start_point_data.cpp
Commit ba992138c997f6f6b70328429e12c07c9aa28d7a by wuyanjun110
feat:曲率超限停车优化

The file was modifiedhmi/widget/distance.cpp
The file was modifieddata/constrain/block_data.cpp
Commit 603d6e35a3c1e774ef27fad9e031f796025ab64a by wuyanjun110
feat:travel out 没有一次规划的适配

The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedtasks/other_tasks/create_reference_line.cpp
The file was modifieddata/plan/guide_line.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/app/fsm/task_fsm/task_travel/task_travel_fsm.cpp
Commit c8f1bbf9716afdacb9b3cd0748ed279c3e163e75 by wuyanjun110
fix:董家口靠边作业的问题

The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/plan/ssep_data.cpp
Commit 020e0a83e2c76c9a584702ba9d3b745906d9ee74 by wuyanjun110
feat:wbca求解失败后，使用ssep路径带来的路径跳变问题

The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
Commit 76de2323c82763fdcbf6900399338d7b1b57918e by wuyanjun110
feat:曲率超限停车优化

The file was modifiedhmi/widget/distance.cpp
The file was modifieddata/constrain/block_data.cpp
Commit 5d51162a1acdd29317bf8299acf79949442d35f8 by wuyanjun110
fix:调整曲率超限的滤波参数

The file was modifieddata/constrain/block_data.cpp
Commit 491e5cdfcf5b781a314a2af34c5d16281c770781 by wuyanjun110
fix:调整曲率超限的滤波参数

The file was modifieddata/constrain/block_data.cpp
Commit 565ab8b5d3779b6f0ebbb412cbb3d25c6d314237 by wuyanjun110
fix:曲率超限停车的bug

The file was modifieddata/constrain/block_data.cpp
Commit 6515c57d59de9c9707105252942d22ed57da8796 by wuyanjun110
fix:曲率超限停车的bug

The file was modifieddata/constrain/block_data.cpp
Commit 3ec02093369f59536c96444dc56f85a199a177c3 by 5081703.cr
feat: add CalcKappaCostSigmoid.

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.hpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit 2ca8c001689f3a35984187de05139b029c6d403a by tangwenqing
fix: SSEP: 集卡进停车位时时候更严格的挂车角度

The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/data_structures/map_element_polyline.cc
The file was modifiedssep/offboard/generate_scene_data/transform_to_body_frame_cli.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
Commit f2290108ddf908793c546086114606cf3e5a07b3 by wuyanjun110
fix:travel out 没有一次规划，状态机切换的bug

The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
Commit 380a90acdb674c672070c41c2a087bc073a91bf5 by wuyanjun110
feat:travel out 没有一次规划的适配

The file was modifieddata/app/fsm/task_fsm/task_travel/task_travel_fsm.cpp
The file was modifieddata/plan/guide_line.cpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifiedtasks/other_tasks/create_reference_line.cpp
The file was modifieddata/ssep/forward_ec.cpp
Commit f1f39985c7264f69556adc16422a74a2ace4819d by wuyanjun110
fix:travel out 没有一次规划，状态机切换的bug

The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
Commit e8a521b796411bce06e7845a12f3d25ba4131d12 by tangwenqing
fix: SSEP: 修正Rigid truck general builder搜索参数，确保搜索器能具有搜出最大曲率路径的能力。

The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/scenarios/truck_general_planner.h
Commit c58bac22add22aa38736d83891440c3b7512e214 by wuyanjun110
feat:万道内pjpo路径跳变以及变道的bug修复

The file was modifieddata/map/reference/center_line.cpp
The file was modifieddata/plan/guide_line_base.cpp
The file was modifieddata/plan/switch_data.cpp
The file was modifiedtasks/deciders/lat_decider/path_bounds_decider.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 modifiedCMakeLists.txt
The file was modified.gitignore
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 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/boundary/road_boundary.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/other_tasks/stitch_path_data_to_path.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/plan/start_point_data.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit ce1f133cbc198256362e293b470d0155c9c6ee9d by 5081703.cr
fix: wbca reversing bug.

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifiedtasks/plan/path_optimization_task.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 modifiedalgorithm/plan/ego_expanding.cpp
The file was modifiedhmi/draw/draw_constrain.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 modifiedalgorithm/plan/ego_expanding.cpp
The file was modifiedhmi/draw/draw_constrain.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 modifieddata/config/cfg_lat_plan.cpp
The file was modifiedsink/ros_sink_plan_debug.cpp
The file was modifiedalgorithm/wbca/occupancy_grid_map/data_render.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/truck_path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.hpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.hpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifieddata/wbca/wbca_data.cpp
The file was modifiedalgorithm/wbca/path_optimization/truck_path_optimization.hpp
The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedalgorithm/wbca/wbca_manager.hpp
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/evaluator.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 addedssep/coarse_search/evaluator/collision_constraint_type.h
The file was modifiedssep/coarse_search/evaluator/collision_cost_computer.h
The file was modifiedssep/coarse_search/evaluator/cost_feature_computer.h
The file was modifiedssep/offboard/ssep_input_provider.cc
Commit 09e9a02563d1847ca03a767e851cec4af0dc1dfc by wuyanjun110
feat:进堆场边界优化

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

The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/wbca/grid_map/esdf_map.cpp
The file was modifieddata/wbca/grid_map/esdf_map.hpp
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/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_exit_parking_spot_planner.h
The file was modifiedssep/keb_optimizer/cost_features/state_constraint.h
The file was modifiedssep/coarse_search/evaluator/trailer_collision_cost_computer.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.cc
The file was modifiedssep/scenarios/truck_general_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/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/scenarios/truck_multi_segment_parking_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 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 addedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
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/plan/guide_line_base.hpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp
The file was modifieddata/ctrl/lka_start_up.cpp
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 53fce25be88b2b4069f31d2bc6e69d90a6ae4bdc by wuyanjun110
feat:动态搜索考虑不可形式区域

The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/ssep/open_space_ec.hpp
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_frame_provider.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/offboard/scene_replay/replay_ssep_input_cli.cc
The file was modifiedssep/offboard/ssep_planner_wrapper.h
The file was addedssep/test/ssep_planner_test.cc
The file was addedssep/test/CMakeLists.txt
The file was modifiedssep/common/utils/proto_io.h
The file was modifiedssep/offboard/scene_replay/replay_scene_frame_cli.cc
The file was addedssep/common/utils/path_utils.cc
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was modifiedssep/CMakeLists.txt
The file was addedssep/common/utils/path_utils.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/test/ssep_planner_test.cc
The file was modifiedssep/common/utils/scene_frame_visualization.cc
The file was modifiedssep/offboard/servers/scene_vis_html_template.cc
Commit 122508031b8e5752da73c47360865aca40f4699c by liuhongshuo
feat: add repowiki by qoder
The file was added.qoder/repowiki/en/content/SSEP (Specialized Scenario Execution Planning)/Data Structures and Input_Output/Output Data Model.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\347\202\271\346\225\260\346\215\256\347\273\223\346\236\204.md"
The file was added".qoder/repowiki/zh/content/\345\267\245\345\205\267\345\222\214\350\204\232\346\234\254/\350\260\203\350\257\225\345\267\245\345\205\267.md"
The file was added.qoder/repowiki/en/content/SSEP (Specialized Scenario Execution Planning)/SSEP Architecture/Input_Output Handling/Input Handling.md
The file was added.qoder/repowiki/en/content/Mathematical Foundations/Curve Mathematics/Bezier Polynomials.md
The file was added.qoder/repowiki/en/content/Scenario Management/Junction Scenarios/Junction Scenarios.md
The file was added".qoder/repowiki/zh/content/\345\234\272\346\231\257\347\256\241\347\220\206/\347\212\266\346\200\201\346\234\272\350\256\276\350\256\241/\345\234\272\346\231\257\351\230\266\346\256\265\345\256\236\347\216\260/\346\241\245\346\242\201\350\277\236\346\216\245\345\234\272\346\231\257\351\230\266\346\256\265\345\256\236\347\216\260.md"
The file was added".qoder/repowiki/zh/content/\346\225\260\345\255\246\347\256\227\346\263\225\345\272\223/\344\274\230\345\214\226\347\256\227\346\263\225/\344\274\230\345\214\226\347\256\227\346\263\225.md"
The file was added".qoder/repowiki/zh/content/\346\225\260\345\255\246\347\256\227\346\263\225\345\272\223/\346\273\244\346\263\242\347\256\227\346\263\225/\346\273\244\346\263\242\347\256\227\346\263\225.md"
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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/PlanFrame\346\225\260\346\215\256\347\273\223\346\236\204.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/Decision System/Decision Architecture/Decision Architecture.md
The file was added.qoder/repowiki/en/content/Developer Guide/Testing and Debugging.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\345\210\207\346\215\242\346\234\272\345\210\266/\345\234\272\346\231\257\345\206\263\347\255\226\346\265\201\347\250\213/\346\241\245\346\216\245\350\267\257\345\217\243\345\234\272\346\231\257\345\206\263\347\255\226.md"
The file was added.qoder/repowiki/en/content/HMI (Human-Machine Interface)/Control Interfaces/Player Controls.md
The file was added.qoder/repowiki/en/content/Mathematical Foundations/Trajectory Smoothing/Trajectory Smoothing.md
The file was added.qoder/repowiki/en/content/Mathematical Foundations/Curve Mathematics/Curve Mathematics.md
The file was added".qoder/repowiki/zh/content/\345\267\245\345\205\267\345\222\214\350\204\232\346\234\254/\345\267\245\345\205\267\345\222\214\350\204\232\346\234\254.md"
The file was added".qoder/repowiki/zh/content/\346\240\270\345\277\203\346\250\241\345\235\227\350\257\246\350\247\243/\350\247\204\345\210\222\346\250\241\345\235\227/\350\247\204\345\210\222\346\250\241\345\235\227.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/HmiFrame\346\225\260\346\215\256\347\273\223\346\236\204.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\247\204\345\210\222\351\205\215\347\275\256/\347\272\265\345\220\221\350\247\204\345\210\222\351\205\215\347\275\256.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/\345\234\272\346\231\257\351\205\215\347\275\256/\346\211\247\350\241\214\345\217\202\346\225\260.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/\350\260\203\345\272\246\346\234\272\345\210\266/\345\220\214\346\255\245\345\216\237\350\257\255.md"
The file was added.qoder/repowiki/en/content/Mathematical Foundations/Mathematical Utilities.md
The file was added.qoder/repowiki/en/content/SSEP (Specialized Scenario Execution Planning)/Data Structures and Input_Output/Data Structures and Input_Output.md
The file was added.qoder/repowiki/en/content/Error Handling and Diagnostics/Error System.md
The file was added.qoder/repowiki/en/content/Planning System/Obstacle Risk Evaluation.md
The file was added.qoder/repowiki/en/content/HMI (Human-Machine Interface)/Visualization Components/Ego Vehicle and State Visualization.md
The file was added".qoder/repowiki/zh/content/\345\267\245\345\205\267\345\222\214\350\204\232\346\234\254/\345\274\200\345\217\221\345\267\245\345\205\267.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/zh/content/\345\234\272\346\231\257\347\256\241\347\220\206/\345\234\272\346\231\257\345\210\207\346\215\242\346\234\272\345\210\266/\345\234\272\346\231\257\345\206\263\347\255\226\346\265\201\347\250\213/\345\200\222\350\275\246\345\234\272\346\231\257\345\206\263\347\255\226.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/SSEP (Specialized Scenario Execution Planning)/Data Structures and Input_Output/Input Data Model.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/\345\206\263\347\255\226\346\225\260\346\215\256\345\244\204\347\220\206/\345\206\263\347\255\226\346\225\260\346\215\256\345\244\204\347\220\206.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/HMI (Human-Machine Interface)/Control Interfaces/Command System.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\231\256\351\200\232\350\267\257\345\217\243\345\234\272\346\231\257.md"
The file was added.qoder/repowiki/en/content/Scenario Management/Maneuver Scenarios/Lane Change Scenario.md
The file was added.qoder/repowiki/en/content/HMI (Human-Machine Interface)/Control Interfaces/Control Interfaces.md
The file was added.qoder/repowiki/en/content/Planning System/Path Smoothing/Smoothing Strategies/AllSmooth Strategy.md
The file was added.qoder/repowiki/en/content/Project Overview.md
The file was added".qoder/repowiki/zh/content/\346\225\260\345\255\246\347\256\227\346\263\225\345\272\223/\344\274\230\345\214\226\347\256\227\346\263\225/\346\261\202\350\247\243\345\231\250\345\256\236\347\216\260.md"
The file was added.qoder/repowiki/en/content/SSEP (Specialized Scenario Execution Planning)/Path Optimization and Refinement/Cost Functions and Constraints.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/\350\260\203\345\272\246\346\234\272\345\210\266/\350\260\203\345\272\246\346\234\272\345\210\266.md"
The file was added.qoder/repowiki/en/content/Error Handling and Diagnostics/Logging.md
The file was added.qoder/repowiki/en/content/HMI (Human-Machine Interface)/Visualization Components/Collision Detection Visualization.md
The file was added.qoder/repowiki/en/content/SSEP (Specialized Scenario Execution Planning)/Coarse Search Algorithms/Motion Primitive Samplers.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/\345\234\272\346\231\257\351\205\215\347\275\256/\345\234\272\346\231\257\347\261\273\345\236\213.md"
The file was added.qoder/repowiki/en/content/Developer Guide/Building the System.md
The file was added".qoder/repowiki/zh/content/\346\240\270\345\277\203\346\250\241\345\235\227\350\257\246\350\247\243/\350\247\204\345\210\222\346\250\241\345\235\227/\350\275\250\350\277\271\344\274\230\345\214\226/\350\267\257\345\276\204\344\274\230\345\214\226.md"
The file was added.qoder/repowiki/en/content/HMI (Human-Machine Interface)/Control Interfaces/Switch Controls.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/\345\234\272\346\231\257\347\261\273\345\236\213.md"
The file was added.qoder/repowiki/en/content/SSEP (Specialized Scenario Execution Planning)/Path Optimization and Refinement/Path Optimization and Refinement.md
The file was added.qoder/repowiki/en/content/HMI (Human-Machine Interface)/HMI (Human-Machine Interface).md
The file was added.qoder/repowiki/en/content/Planning System/Planning Architecture.md
The file was added.qoder/repowiki/en/content/Mathematical Foundations/Trajectory Smoothing/QP Spline Smoothing.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/\350\275\246\345\236\213\347\211\271\345\214\226\351\205\215\347\275\256.md"
The file was added.qoder/repowiki/en/content/SSEP (Specialized Scenario Execution Planning)/Scenario-Specific Planners/Multi-Segment Parking Planners.md
The file was added".qoder/repowiki/zh/content/\346\240\270\345\277\203\346\250\241\345\235\227\350\257\246\350\247\243/\345\206\263\347\255\226\346\250\241\345\235\227/\346\250\252\345\220\221\345\206\263\347\255\226/\344\276\247\345\220\221\351\201\277\350\256\251\345\206\263\347\255\226.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/\346\250\241\345\235\227\345\210\235\345\247\213\345\214\226.md"
The file was added".qoder/repowiki/zh/content/\351\205\215\347\275\256\347\256\241\347\220\206/\346\234\200\344\275\263\345\256\236\350\267\265.md"
The file was added.qoder/repowiki/en/content/SSEP (Specialized Scenario Execution Planning)/SSEP Architecture/Input_Output Handling/Input_Output Handling.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/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/SSEP (Specialized Scenario Execution Planning)/Coarse Search Algorithms/Coarse Search Algorithms.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\345\210\207\346\215\242\346\234\272\345\210\266/\345\234\272\346\231\257\345\206\263\347\255\226\346\265\201\347\250\213/\345\274\200\346\224\276\347\251\272\351\227\264\345\234\272\346\231\257\345\206\263\347\255\226.md"
The file was added.qoder/repowiki/en/content/Developer Guide/Adding New Scenarios.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/\345\274\202\346\255\245\346\241\206\346\236\266/\345\274\202\346\255\245\346\241\206\346\236\266.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/\347\272\277\347\250\213\345\256\211\345\205\250\346\234\272\345\210\266.md"
The file was added.qoder/repowiki/en/content/SSEP (Specialized Scenario Execution Planning)/Configuration and Parameter Management.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\217\202\346\225\260\351\252\214\350\257\201/\345\217\202\346\225\260\351\252\214\350\257\201.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"
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/\347\212\266\346\200\201\347\256\241\347\220\206/\347\212\266\346\200\201\346\250\241\345\236\213.md"
The file was added.qoder/repowiki/en/content/SSEP (Specialized Scenario Execution Planning)/SSEP Architecture/Planner Core/Path Optimizer.md
The file was added.qoder/repowiki/en/content/Decision System/Decision Architecture/Decision Data Flow.md
The file was added.qoder/repowiki/en/content/Error Handling and Diagnostics/Error Handling and Diagnostics.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\266\210\346\201\257\346\234\272\345\210\266/\346\266\210\346\201\257\346\234\272\345\210\266.md"
The file was added".qoder/repowiki/zh/content/\346\240\270\345\277\203\346\250\241\345\235\227\350\257\246\350\247\243/\345\206\263\347\255\226\346\250\241\345\235\227/\346\250\252\345\220\221\345\206\263\347\255\226/\345\217\230\351\201\223\345\206\263\347\255\226.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\247\204\345\210\222\351\205\215\347\275\256/\350\247\204\345\210\222\351\205\215\347\275\256.md"
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The file was added.qoder/repowiki/en/content/System Architecture/Planning Architecture.md
The file was added.qoder/repowiki/en/content/Planning System/Path Smoothing/Path Smoothing.md
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The file was added.qoder/repowiki/en/content/SSEP (Specialized Scenario Execution Planning)/SSEP Architecture/Planner Core/Collision Checking.md
The file was added.qoder/repowiki/en/content/Replayer System.md
The file was added.qoder/repowiki/en/content/SSEP (Specialized Scenario Execution Planning)/Data Structures and Input_Output/Serialization and Protobuf Definitions.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/\345\274\202\346\255\245\346\241\206\346\236\266/\345\274\202\346\255\245\344\273\273\345\212\241\346\250\241\345\236\213.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\346\225\260\346\215\256\347\273\223\346\236\204.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\351\207\207\351\233\206.md"
The file was added.qoder/repowiki/en/content/Planning System/Path Planning/Path Data Handling.md
The file was added".qoder/repowiki/zh/content/\346\240\270\345\277\203\346\250\241\345\235\227\350\257\246\350\247\243/\345\206\263\347\255\226\346\250\241\345\235\227/\345\206\263\347\255\226\346\250\241\345\235\227.md"
The file was added.qoder/repowiki/en/content/Vehicle Models/Vehicle Models.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/HMI (Human-Machine Interface)/Visualization Components/SSEP Planning Visualization.md
The file was added.qoder/repowiki/en/content/Configuration Guide/Configuration Guide.md
The file was added.qoder/repowiki/en/content/Scenario Management/Junction Scenarios/Out-Yard Junction.md
Commit 69ce5b9b7f598fe8746dd73da02093fb97586351 by wuyanjun110
fix:终点在堆场出口，边界的bug

The file was modifieddata/boundary/road_boundary.cpp
The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
The file was modifiedhmi/draw/draw_path_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.hpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
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/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/coarse_search/preprocessed_curves/tt_curve_manager.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/coarse_search/preprocessed_curves/trajectories_reader.cc
The file was modifiedssep/test/ssep_planner_test.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/coarse_search/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/maps/sl_projection_map.h
The file was modifiedssep/maps/sl_projection_map.cc
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
Commit 62b8bbef96257f4cef348be22831f2c4e5cd96b1 by tangwenqing
Refactor: SSEP: 用aabox替换vector<double>表示search bounds

The file was modifiedssep/data_structures/ssep_input.cc
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/maps/sl_projection_map.cc
The file was modifiedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_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/bulk_yard_in_out_path_searcher_builder.h
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifiedssep/coarse_search/legacy_searcher_adaptor.h
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/data_structures/search_boundary.h
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/scenarios/truck_u_turn_planner.h
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/evaluator/ref_line_cost_computer.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/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
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/back_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/scenarios/imv_general_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.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/scenarios/legacy_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.h
The file was modifiedssep/offboard/main_test/main_test_park.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/offboard/ssep_visualizer.h
The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.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_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.h
The file was modifiedssep/coarse_search/evaluator/ref_line_heuristic_computer.h
The file was modifiedssep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/data_structures/ssep_input.hpp
The file was modifiedssep/maps/sl_projection_map.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/offboard/ssep_visualizer.cc
The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was modifiedssep/scenarios/truck_accurate_reversing_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/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/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/state_hasher.h
Commit af737dee0680b4bc1a1a604c8c6551bd24e25ee8 by tangwenqing
fix: fix compile errors

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

The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
The file was modifiedhmi/widget/diagnose.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedtasks/plan/path_optimization_task.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/scenarios/imv_pullover_planner.h
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/scenarios/imv_enter_station_planner.h
The file was modifiedssep/scenarios/imv_general_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/ssep_ec.cpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/ssep/forward_ec.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 modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/boundary/driving_corridor.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 modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/plan/guide_line.hpp
The file was modifieddata/vehicle/vehicle_status.hpp
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifieddata/map/pnc_map/path_overlap.hpp
The file was modifieddata/plan/guide_line_base.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/ssep/forward_ec.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/plan/ssep_data.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/boundary/driving_corridor.cpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifiedplan/prepare/prepare_ogm.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/coarse_search/gpu_batch_expander.cc
The file was modifiedssep/CMakeLists.txt
The file was addedssep/gpu/memory_pool.h
The file was modifiedssep/test/CMakeLists.txt
The file was addedssep/gpu/samplers/multi_curvature_sampler.cuh
The file was addedssep/test/gpu_collision_test_kernel.cuh
The file was addedssep/gpu/memory_pool.cu
The file was addedssep/test/gpu_sampler_test_kernel.cuh
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was addedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was addedssep/coarse_search/gpu_batch_expander.h
The file was addedssep/gpu/heur_table_loader.cu
The file was addedssep/gpu/device_map_data.h
The file was addedssep/gpu/samplers/sampler_params.h
The file was addedssep/test/gpu_heuristic_test_kernel.cuh
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 addedssep/test/gpu_sampler_test.cc
The file was addedssep/gpu/device_map_data.cu
The file was addedssep/test/gpu_collision_test.cc
The file was addedssep/gpu/device_map_data.cuh
The file was addedssep/gpu/kernels/batch_expand_kernel.h
The file was modifiedssep/ssep_planner.cc
The file was addedssep/gpu/collision/collision_checker.cuh
The file was addedssep/test/gpu_data_convert_test.cc
The file was addedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.h
The file was addedssep/test/gpu_collision_test_kernel.cu
The file was addedssep/gpu/batch_expander_bridge.h
The file was addedssep/test/gpu_heuristic_test_kernel.cu
The file was addedssep/gpu/kernels/batch_expand_kernel.cu
The file was addedssep/gpu/heur_table_loader.cc
The file was addedssep/gpu/device_utils.cuh
The file was addedssep/gpu/device_types.h
The file was addedssep/gpu/heuristics/heuristic_computer.cuh
The file was addedssep/test/gpu_heuristic_test.cc
The file was addedssep/test/gpu_sampler_test_kernel.cu
The file was addedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.h
The file was addedssep/gpu/heur_table_loader.h
The file was addedssep/gpu/batch_expander_bridge.cu
Commit 4c7f0eea0f20d2774a07379f9c04cc1777d498e6 by tangwenqing
chore: SSEP-GPU: 通过所有测试用例

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

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

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/keb_optimizer/cost_features/state_constraint.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
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/ssep/ssep_ec.hpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/other/flow_control.hpp
The file was modifieddata/plan/guide_line.cpp
The file was modifieddata/plan/guide_line.hpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/ssep/ssep_common.hpp
Commit 3ff24dd7981ebec1880deb8a64977317b60a826d by 5081703.cr
fix: clear path_optimization_task esdf his.

The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifiedalgorithm/wbca/wbca_manager.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.hpp
The file was modifiedssep/protos/scene.proto
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/data_structures/ssep_input.cc
The file was modifiedssep/ssep_planner.cc
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
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/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
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/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
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/bridge_junction_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/open_space_search_decider.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedtasks/deciders/search_decider/seaside_junction_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/into_yard_junction_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/normal_junction_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/reverse_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/out_yard_junction_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/scenario/scenario_region_bt.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/ssep/ssep_common.hpp
The file was modifieddata/map/pnc_map/pnc_map_path.hpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/scenario/scenario_region_condition.cpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifieddata/obstacle/obstacle.hpp
The file was modifieddata/ssep/into_yard_junction_ec.hpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/plan_frame.hpp
The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifieddata/other/flow_control.hpp
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/ssep/ex_lane_change_ec.cpp
The file was addedcommon/util/flag_register.hpp
The file was modifieddata/obstacle/obstacle.cpp
The file was modifieddata/ssep/field_junction_ec.hpp
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 modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifiedhmi/draw/draw_ssep.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_scenario_config.hpp
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifieddata/ssep/ssep_scenario_config_loader.cpp
The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
The file was modifieddata/ssep/into_yard_junction_ec.hpp
The file was modifieddata/ssep/ssep_scenario_config_loader.hpp
The file was modifiedhmi/draw/draw_ssep.cpp
The file was modifieddata/ssep/base_stop_line_filter.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/ssep_ec.cpp
Commit 4be06fa6f13fb7a0a2593c20819438c6853d7feb by wuyanjun110
feat:适配clang

The file was modifiedCMakeLists.txt
The file was modifiedssep/offboard/CMakeLists.txt
The file was modifiedssep/offboard/servers/CMakeLists.txt
The file was modifiedssep/offboard/generate_scene_data/CMakeLists.txt
The file was modifiedssep/common/log/log_config.cc
The file was modifiedcommon/log/log_config.cpp
The file was modifiedssep/offboard/scene_replay/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/map/envelop/map_envelop.cpp
The file was modifiedcommon/util/hdmap_wrapper.hpp
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifiedhmi/draw/draw_map.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifieddata/constrain/longitude_constrain.hpp
The file was modifieddata/ctrl/lka_start_up.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_help.cpp
The file was modifiedCMakeLists.txt
The file was modifieddata/plan/guide_line_base.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/constrain/pnc_junction.cpp
The file was modifieddata/map/pnc_map/pnc_map.cpp
The file was modifiedcommon/util/hdmap_wrapper.cpp
The file was modifieddata/app/cmd/cmd_set_target.cpp
The file was modifieddata/ssep/region_builder.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.hpp
The file was modifieddata/map/pnc_map/road_segments.cpp
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifiedreplayer/replayer_data_process/load_snap_data.cpp
The file was modifieddata/map/reference/reference_road_section.cpp
The file was modifieddata/vehicle/request_routing_data.cpp
The file was modifiedsink/ros_sink_ads_hfsm_state.cpp
The file was modifiedsink/ros_sink_snapshot.cpp
The file was modifieddata/map/reference/center_line.cpp
The file was modifieddata/ssep/field_junction_ec.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/ssep/out_yard_junction_ec.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/other/flow_control.cpp
Commit 4ba94c3523bead83b3c8474daeb637a970cf413a by tangwenqing
fix:修复甩正点的bug
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.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
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/path_collision_detection.cpp
The file was modifieddata/config/cfg_decision.cpp
The file was modifiedalgorithm/decision/semantic_set_transformation_2.cpp
The file was modifiedalgorithm/decision/simulator/forward_simulation.cpp
The file was modifieddecision/process/proc_longitudinal_decision.cpp
The file was modifiedalgorithm/decision/simulator/forward_simulation.hpp
The file was modifiedalgorithm/decision/longitudinal_decision_3.cpp
The file was modifieddata/semantic/semantic_description.hpp
The file was modifieddata/semantic/semantic.cpp
The file was modifieddata/semantic/semantic.hpp
The file was modifiedhmi/draw/draw_constrain.cpp
The file was modifiedalgorithm/decision/risk_aware_contingency_planning.hpp
The file was modifieddata/config/cfg_decision.hpp
The file was modifiedalgorithm/decision/risk_aware_contingency_planning.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedalgorithm/decision/rule_base_behavior.cpp
The file was modifiedalgorithm/decision/longitudinal_decision_3.hpp
The file was modifieddata/semantic/semantic_description.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 modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.cc
The file was modifieddata/ssep/forward_ec.hpp
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifieddata/plan/guide_line.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/protos/ssep_scenario_type.proto
The file was addedssep/scenarios/tractor_trailer_single_segment_parking_planner.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
Commit b8e9cb38a01dbffa996c2dcfd50193f8981466a5 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 69a3f62b7e082cc088f5c611c52af7be70ca6dbf 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 17faf7af8cf2e711f6573e55c046a82c8f662cac 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.hpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/boundary/road_boundary.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/legacy_searchers/dubin_path.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
Commit 3a8d1adfc7e724c32174d160b34780e24b429f39 by wuyanjun110
feat:搜索尺寸参数赋值

The file was modifiedtasks/plan/ssep_task.cpp
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifieddata/ssep/ssep_activation.hpp
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 modifieddata/config/cfg_lat_plan.hpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modified.gitignore
The file was modifieddata/boundary/road_boundary.hpp
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/CMakeLists.txt
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.h
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifieddata/ssep/ssep_common.hpp
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
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/ssep_planner.cc
The file was modifiedssep/keb_optimizer/cost_features/curvature_cost.h
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 0918edea4764dc1622e26b61c27bf4d746ed1e1d by wuyanjun110
feat:适配 utrun掉头
The file was modifieddata/ssep/ssep_common.hpp
The file was modifieddata/plan/guide_line.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/ssep/open_space_ec.cpp
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/ssep/online_region_contour_creator.cpp
The file was modifiedplan/prepare/prepare_state.cpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/vehicle/vehicle_destination.cpp
The file was modifieddata/plan/ssep_data.hpp
The file was modifieddata/ssep/open_space_ec.hpp
The file was modifieddata/plan/path_direction_data.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 modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was modifieddata/ssep/ssep_common.hpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
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/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/keb_optimizer/cost_features/curvature_cost.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
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/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 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/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/plan/ssep_data.hpp
The file was modifieddata/ssep/online_region_contour_creator.cpp
The file was modifiedplan/prepare/prepare_state.cpp
The file was modifieddata/plan/path_direction_data.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/plan/guide_line.cpp
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/ssep/open_space_ec.hpp
The file was modifieddata/vehicle/vehicle_destination.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/boundary/road_boundary.cpp
The file was modifieddata/config/cfg_env_const.hpp
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
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 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 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/offboard/scene_replay/CMakeLists.txt
The file was modifiedssep/CMakeLists.txt
The file was modifiedCMakeLists.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 modifiedreplayer/replayer_data_process/load_snap_data.cpp
The file was modifieddata/app/cmd/cmd_dead_lock.hpp
The file was modifiedhmi/common/status_sign.hpp
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_car.cc
The file was modifieddata/config/iconfig.hpp
The file was modifiedhmi/draw/draw_perception.cpp
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_tt.cc
The file was modifieddata/app/cmd/cmd_cancel_safe.hpp
The file was modifieddata/app/cmd/cmd_fsm/ifsm.hpp
The file was modifiedmath/curve2d/icurve.hpp
The file was modifieddata/obstacle/occupy_grid.hpp
The file was modifiedsource/ros_source_ads_command.cpp
The file was modifieddata/app/cmd/cmd_set_target.cpp
The file was modifiedalgorithm/plan/plot_st_graph.cpp
The file was modifieddata/app/cmd/cmd_remote.cpp
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedhmi/node_hmi.hpp
The file was modifieddata/app/cmd/cmd_set_target.hpp
The file was modifiedmath/curve2d/curve2d.hpp
The file was modifiedreplayer/logic.cpp
The file was modifiedmath/smoothing/fem_pos_deviation_interface.h
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was modifiedsource/ros_source_ads_target.cpp
The file was modifieddata/plan/reference_line_info.hpp
The file was modifieddata/app/app_data.cpp
The file was modifieddata/app/cmd/cmd_fsm/fsm_base.hpp
The file was modifieddata/vehicle/related_offset.cpp
The file was modifieddata/ssep/reverse_ec.cpp
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_imv.cc
The file was modifieddata/app/cmd/cmd_traffic_light.hpp
The file was modifieddata/app/cmd/cmd_cancel_lock.hpp
The file was modifiedcommon/behaviour_tree/bt_composite.hpp
The file was modifieddata/app/cmd/cmd_nstop.hpp
The file was modifieddata/app/fsm/task_command_type.cpp
The file was modifieddata/snapshot_data.hpp
The file was modifieddata/app/cmd/cmd_cancel_expand.hpp
The file was modifieddata/app/cmd/cmd_align.cpp
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/ssep_planner.cc
The file was modifiedssep/coarse_search/evaluator/evaluator.h
Commit 31851ec9d69d2ed7443eb19fdff3d3d6425cc657 by tangwenqing
chore: SSEP: update unit tests

The file was modifiedssep/test/ssep_planner_test.cc
The file was modifiedssep/test/CMakeLists.txt
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/data_structures/map_element_polyline.cc
The file was modifiedssep/common/utils/map_element_utils.hpp
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/scenario/scenario_manager.cpp
The file was modifieddata/vehicle/lock_station_data.cpp
The file was modifieddata/scenario/scenario_manager.hpp
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/scenario_planner_factory.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.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/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 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/imv_enter_station_planner.h
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
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/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/topology_analysis/candidate_goals_generator.cc
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/data_structures/polyline.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/scenarios/truck_fuzzy_reversing_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/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 modifiedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/offboard/servers/CMakeLists.txt
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
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 modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/ssep/ssep_common.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.hpp
The file was modifiedplan/prepare/prepare_objs.cpp
The file was modifieddata/other/flow_control.cpp
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 modifiedhmi/widget/distance.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.hpp
The file was modifieddata/ssep/ssep_common.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/other/flow_control.cpp
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/evaluator.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/evaluator/cost_feature_computer.h
The file was addedssep/coarse_search/evaluator/heading_cost_computer.h
Commit 43e3450d4cf462098cf5609e6229f39e596ac70b by wuyanjun110
feat:缩短跟车距离的优化
The file was modifieddata/constrain/longitude_constrain.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/other/flow_control.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.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/pnc_map/pnc_map.cpp
The file was modifieddata/map/reference/reference_road_section.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/truck_general_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
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/imv_enter_yard_planner.h
The file was modifiedssep/scenarios/legacy_planner.h
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/scenarios/stitching_replanner.h
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/scenarios/tractor_trailer_single_segment_parking_planner.h
The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
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_accurate_reversing_planner.cc
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/scenarios/imv_general_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.cc
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/common/utils/path_utils.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/ssep_planner.cc
The file was modifiedssep/protos/ssep_scenario_type.proto
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/scenarios/scenario_planner_factory.h
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/scenarios/truck_general_planner.h
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_multi_segment_parking_planner.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/scenarios/truck_multi_seg_general_planner.h
The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.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 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 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/utils.h
The file was modifiedssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.h
The file was addedssep/coarse_search/motion_primitive_sampler/const_pinch_motion_primitive_sampler.h
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.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/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
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.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/config/cfg_func_sw.hpp
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/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/common/utils/scene_frame_visualization.h
The file was modifiedssep/common/utils/scene_frame_visualization.cc
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.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/searcher_builders/tractor_trailer_bidirectional_searcher_builder.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.cc
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
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/scenarios/tractor_trailer_enter_yard_planner.h
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 modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/config/cfg_long_plan.hpp
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/tractor_trailer_general_planner.h
The file was modifiedssep/scenarios/scenario_planner_factory.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/ssep/seaside_junction_ec.cpp
The file was modifieddata/scenario/scenario_planner_condition.cpp
The file was modifieddata/scenario/scenario_planner_action.cpp
The file was modifieddata/scenario/scenario_region_condition.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/other/flow_control.hpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/map/reference/reference_segment.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.hpp
The file was modifiedcommon/util/crash_helper.hpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/scenario/scenario_region_bt.cpp
The file was modifieddata/scenario/scenario_region_condition.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.hpp
The file was modifieddata/map/reference/reference_segment.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedcommon/util/crash_helper.cpp
The file was modifieddata/config/cfg_env_const.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/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit 70170322e94d0f01081e7a8f38ff85dfb226c67e by tangwenqing
feat: SSEP: 非低贝位进堆场使用拉直点逻辑

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/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.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/tractor_trailer_general_planner.h
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/scenarios/scenario_planner_factory.h
Commit 50290228fcb6d8b16bc6ea8dfd4cd2ba9eba4c50 by wuyanjun110
fix:无法三次对准的bug
The file was modifieddata/vehicle/related_offset.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 modifiedcommon/util/crash_helper.hpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifiedcommon/util/crash_helper.cpp
The file was modifieddata/lattice/ogm_crash_data.cpp
The file was modifieddata/plan/predict_path.cpp
The file was modifieddata/lattice/ogm_crash_data.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/scenarios/tractor_trailer_enter_yard_planner.h
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.cc
The file was modifiedssep/scenarios/scenario_planner_factory.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/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/common/utils/path_utils.h
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/common/utils/scene_frame_visualization.cc
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
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 modifiedhmi/draw/draw_contour.cpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifiedhmi/draw/draw_contour.hpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/plan/predict_path.cpp
The file was modifieddata/config/cfg_long_plan.hpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifiedhmi/draw/draw_pose_predict.cpp
The file was modifieddata/lattice/ogm_crash_data.cpp
The file was modifieddata/plan/guide_line_base.cpp
The file was modifieddata/lattice/ogm_crash_data.hpp
The file was modifieddata/plan/guide_line_base.hpp
The file was modifiedplan/prepare/prepare_ogm.hpp
The file was modifiedtasks/deciders/lat_decider/path_bounds_decider.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifiedtasks/deciders/lat_decider/path_bounds_decider.hpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.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/keb_optimizer/tractor_trailer_keb_optimizer.cc
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/scenarios/tractor_trailer_enter_yard_planner.h
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 modifiedhmi/draw/draw_perception.cpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/obstacle/ogm.hpp
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.h
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.cc
Commit 9deba718267a35d12d01a970f688b7e9264e00d2 by wuyanjun110
feat:杨浦适配B场
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/ssep/field_junction_ec.hpp
The file was modifieddata/boundary/road_boundary.hpp
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.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/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
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 modifieddata/other/flow_control.cpp
The file was modifiedcommon/util/crash_helper.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifiedplan/prepare/prepare_ogm.hpp
The file was modifieddata/obstacle/ogm.cpp
Commit 6fa7889e24cc21d00f6c5db01ba7db1b5c47bb98 by wuyanjun110
feat:进堆场的优化
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
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_html_template.cc
The file was modifiedssep/offboard/servers/CMakeLists.txt
The file was addedssep/offboard/servers/scene_editor_html_template.h
The file was addedssep/offboard/servers/scene_editor_server.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 modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifiedplan/prepare/prepare_objs.hpp
The file was modifieddata/config/cfg_long_plan.hpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifiedplan/prepare/prepare_objs.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/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 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/searcher_builders/back_insertion_maneuver_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/evaluator/evaluator.h
The file was modifiedssep/ssep_planner.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/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/ssep/normal_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/config/cfg_func_sw.hpp
Commit 9eb6a23d27a51b50abc4551e2f77e805f5f31c2d by tangwenqing
chore: SSEP: Fix mult-segment searching params.

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
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
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/map/reference/reference_road_section.hpp
The file was modifieddata/map/reference/reference_road_section.cpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifiedplan/prepare/prepare_objs.hpp
The file was modifiedplan/prepare/prepare_objs.cpp
The file was modifieddata/config/cfg_safe_const.hpp
Commit c4de19b7d9d140ad782aef87dc88d7bd43c07a89 by wuyanjun110
feat:修改对准数据的打印
The file was modifiedcommon/util/express.cpp
The file was modifiedsource/ros_source_offset.cpp
Commit a4a70c8cc13449cc12587345ac23584c4cf64b50 by tangwenqing
feat: SSEP: 使用多项式采样器生成变道路径

The file was modifiedssep/test/ssep_planner_test.cc
The file was modifiedssep/coarse_search/multi_stage_hybrid_astar_search_engine.cc
The file was addedssep/coarse_search/motion_primitive_sampler/quintic_polynomial_motion_primitive_sampler.h
The file was modifiedssep/coarse_search/search_graph.h
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was addedssep/scenarios/tractor_trailer_lane_change_planner.h
The file was addedssep/test/quintic_polynomial_sampler_test.cc
The file was addedssep/coarse_search/motion_primitive_sampler/quintic_polynomial_motion_primitive_sampler.cc
The file was modifiedssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/coarse_search/stage_transition_controller.h
The file was addedssep/coarse_search/conditions/node_level_condition.h
The file was addedssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.cc
The file was modifiedssep/test/CMakeLists.txt
The file was modifiedssep/coarse_search/conditions/search_condition_interface.h
The file was modifiedssep/common/utils/scene_frame_visualization.cc
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 addedssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.h
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 modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/config/cfg_func_sw.cpp
Commit 346b3313849cd4c2a92ff2eae1281fefa17c6bdf by wuyanjun110
refactor:优化打印日志
The file was modifiedtasks/deciders/lat_decider/path_bounds_decider.cpp
The file was modifieddata/lattice/trajectory_evaluator.cpp
Commit 69059fafedde839874b5b77734462e62795eb3b3 by chenran
fix: send 50m path to control in bulk state.
The file was modifiedsink/ros_sink_path.hpp
The file was modifiedsink/ros_sink_path.cpp
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/scenarios/tractor_trailer_lane_change_planner.h
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/coarse_search/evaluator/curvature_cost_computer.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/field_junction_ec.cpp
The file was modifieddata/ssep/out_yard_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/wbca/wbca_data.hpp
The file was modifieddata/config/cfg_lat_plan.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 modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifiedhmi/draw/draw_collision_detection.hpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.hpp
The file was modifiedhmi/draw/draw_collision_detection.cpp
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_html_template.h
The file was modifiedssep/offboard/servers/scene_vis_server.cc
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/common/utils/path_utils.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
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/common/utils/path_utils.h
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 modifieddata/config/cfg_static.cpp
The file was modifiedhmi/draw/draw_ego.cpp
The file was modifieddata/config/cfg_static.hpp
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 modifieddata/config/cfg_stage.hpp
The file was modifiedtasks/task_factory.cpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifieddata/config/cfg_stage.cpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was addedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/data_structures/path.h
The file was addedtasks/plan/keb_path_optimize_task.hpp
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/ssep/online_region_contour_creator.cpp
The file was modifieddata/map/envelop/map_envelop.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 modifiedalgorithm/plan/sweep_area.cpp
The file was modifiedalgorithm/wbca/truck_wbca_manager.cpp
The file was modifiedcommon/util/crash_helper.cpp
The file was modifiedhmi/draw/draw_constrain.cpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifiedalgorithm/vehicle_model/kinematic_bicycle_model.cpp
The file was modifiedalgorithm/plan/ego_expanding.cpp
The file was modifieddata/config/cfg_static.hpp
The file was modifieddata/lattice/collision_checker.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifieddata/config/cfg_static.cpp
The file was modifiedhmi/draw/draw_ego.cpp
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 modifiedhmi/widget/replayer_pnc_mat.cpp
The file was modifiedhmi/widget/replayer_pnc_mat.hpp
The file was modifiedhmi/replayer_hmi.cpp
The file was modifiedhmi/node_hmi.cpp
The file was modifiedhmi/widget/pnc_mat.hpp
The file was addedhmi/common/pnc_graphics_view.cpp
The file was modifiedhmi/common/image_viewer.cpp
The file was modifiedhmi/widget/pnc_mat.cpp
The file was addedhmi/common/pnc_graphics_view.hpp
The file was modifiedCMakeLists.txt
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/replayer_hmi.cpp
The file was modifiedhmi/draw/draw_ssep.cpp
The file was modifiedhmi/common/pnc_graphics_view.cpp
The file was modifiedhmi/common/pnc_graphics_view.hpp
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/plan/ego_expanding.cpp
The file was modifiedalgorithm/vehicle_model/kinematic_bicycle_model.cpp
Commit 993c574f08c46cf65f6b891f0e920b196809a7f3 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 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/config/cfg_lat_plan.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifieddata/plan/start_point_data.hpp
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/plan/reference_line_info.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.hpp
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.cpp
The file was modifieddata/ssep/ex_lane_change_ec.cpp
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/ssep/ssep_util.cpp
The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifiedhmi/draw/draw_map_envelpos.cpp
The file was modifieddata/map/envelop/map_envelop.cpp
The file was modifieddata/ssep/online_region_contour_creator.cpp
The file was modifieddata/map/envelop/map_envelops.hpp
The file was modifieddata/ssep/online_region_contour_creator.hpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/ssep/seaside_junction_ec.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 modifiedtasks/plan/path_optimization_task.cpp
The file was modifieddata/plan/start_point_data.hpp
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/open_space_ec.cpp
The file was modifieddata/ssep/online_region_contour_creator.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/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/imv_general_planner.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/scenarios/imv_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.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/trajectory_combiner.cpp
The file was modifiedmath/curve1d/curve1d.hpp
The file was modifieddata/lattice/piecewise_acc_traj1d.hpp
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/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/imv_general_planner.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.cpp
The file was modifiedmath/curve1d/curve1d.hpp
The file was modifieddata/lattice/trajectory_combiner.cpp
The file was modifieddata/lattice/piecewise_acc_traj1d.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.cpp
The file was modifiedhmi/common/pnc_graphics_view.hpp
The file was modified.clangd
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 modifieddata/config/cfg_lat_plan.hpp
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 modified.clangd
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 modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/data_structures/path.cc
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/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/scenarios/imv_enter_station_planner.h
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/scenarios/imv_enter_station_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
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 modifiedCMakeLists.txt
The file was modifiedcommon/other/version.hpp
The file was modifiedreplayer/main.cpp
The file was modifiednode/main.cpp
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_interface.hpp
The file was modifiedscenarios/scenario.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.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
The file was modifiedscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.hpp
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.cpp
The file was modifiedscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.hpp
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 modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
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_road_section.cpp
The file was modifieddata/map/reference/reference_segment.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 modifiednode/main.cpp
The file was modifiedCMakeLists.txt
The file was modifiedcommon/other/version.hpp
The file was modifiedreplayer/main.cpp
Commit 771e068e36b299ceb0ee0718cd9eb38dda67c5e7 by tangwenqing
chore: keb-path-optimize-task finetune.

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 68884d9316d33b45fc13365f4ffaf29e9a7e481e by tangwenqing
chore: 优化keb-path-optimize-task进堆场效果

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
Commit aafa159991f4a48c9ef692f1a8e047e7c424afb6 by tangwenqing
chore: keb param adjust

The file was modifiedtasks/plan/keb_path_optimize_task.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.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
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 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.hpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/config/cfg_env_const.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/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
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/constrain/disable_stop_range.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifieddata/constrain/block_data.cpp
The file was modifiedhmi/draw/draw_map.cpp
The file was modifieddata/map/pnc_map/path_overlap.cpp
The file was modifieddata/map/pnc_map/path_overlap.hpp
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.cpp
The file was addeddata/app/cmd/cmd_reduce_safe_distance.hpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/app/app_data.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifieddata/app/reaction/app_reaction.hpp
The file was modifieddata/constrain/longitude_constrain.cpp
The file was modifieddata/app/app_data.cpp
The file was modifieddata/app/reaction/app_reaction.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/map/envelop/map_envelops.hpp
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.cpp
The file was modifieddata/ssep/online_region_contour_creator.cpp
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifiedplan/prepare/prepare_map_related.cpp
The file was modifieddata/plan_frame.hpp
Commit 58293034061f9aa3edd075764961740dcf23e6c8 by wuyanjun110
fix:修复guidelien 中 overlap计算的bug
The file was modifieddata/common/path.cpp
The file was modifieddata/plan/guide_line.cpp
Commit 419f75f12ec66fbea96fb469cb3cd0e5e4c742c3 by chenran
fix: imv smooth_mode bug
The file was modifieddata/wbca/grid_map/esdf_map.hpp
The file was modifieddata/wbca/grid_map/esdf_map.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifiedalgorithm/wbca/occupancy_grid_map/data_render.cpp
The file was modifiedalgorithm/wbca/imv_wbca_manager.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/other/flow_control.hpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
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 modifiedssep/data_structures/path.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 addedssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.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/test/ssep_planner_test.cc
The file was addedssep/common/utils/reference_line_stitcher.h
The file was addedssep/common/utils/reference_line_stitcher.cc
The file was modifiedssep/data_structures/path.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/ssep_planner.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
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 modifiedssep/common/utils/path_utils.cc
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
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 modifiedssep/data_structures/path.h
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/data_structures/path.cc
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/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/scenario_planner_factory.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/test/ssep_planner_test.cc
The file was addedssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.cc
The file was addedssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was addedssep/common/utils/reference_line_stitcher.h
The file was modifiedssep/data_structures/path.h
The file was addedssep/common/utils/reference_line_stitcher.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/data_structures/path.cc
Commit c3a7a1c91bcb80596ed9371ab46d60af714681a3 by tangwenqing
feat: SSEP: 进堆场跑通无搜索规划

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/data_structures/path.h
The file was modifiedssep/data_structures/path.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/common/utils/reference_line_stitcher.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 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 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.cc
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/data_structures/path.h
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/common/utils/path_utils.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.cc
The file was modifiedssep/common/utils/path_utils.cc
Commit 1bdae8ae7d8ca3cd49b96dab5d54998d211a6f8c by wuyanjun110
fix: SSEP: 提升新版进堆场搜索的成功率

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 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/ctrl/lka_start_up.hpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/ctrl/lka_start_up.cpp
The file was modifiedhmi/widget/diagnose.cpp
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 848e7e9667e7e592c8ed63ddffe0a6fe77666f13 by wuyanjun110
chore: keb task 增加最大转向角余量

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

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

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

The file was modifieddata/config/cfg_lat_plan.hpp
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.cpp
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/scenarios/imv_enter_station_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
Commit 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/ssep_planner.cc
The file was modifiedssep/maps/ogm_builder.cc
The file was modifiedssep/maps/ogm_builder.h
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 bc071e41f2a92b8798ca568a10d6d7ebe6a4cb02 by wuyanjun110
feat: align move 状态下，假如挂的角度大于一定值，不倒车。 倒车的时候限制速度
The file was modifieddata/plan/path_direction_data.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 9da2dbb539fbd9991221ecec7ed1b5ab5dcf5756 by wuyanjun110
feat: 杨浦 B003 B004适配
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 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 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/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
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/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/scenarios/planner_utils.h
The file was modifiedssep/common/utils/path_utils.cc
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/scenarios/planner_utils.cc
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.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/pnc_mat.cpp
The file was modifiedhmi/common/pnc_graphics_view.hpp
The file was modifiedhmi/common/pnc_graphics_view.cpp
The file was modifiedhmi/widget/replayer_pnc_mat.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.hpp
The file was modifieddata/ctrl/lka_start_up.cpp
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 modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/boundary/driving_corridor.cpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifieddata/obstacle/ogm.cpp
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 addedssep/protos/path_repository.proto
The file was addedssep/offboard/generate_path_repository/CMakeLists.txt
The file was modifiedssep/offboard/servers/CMakeLists.txt
The file was addedssep/protos/state_match_condition.proto
The file was modifiedssep/CMakeLists.txt
The file was addedssep/offboard/servers/path_repository_vis_server.cc
The file was addedssep/offboard/generate_path_repository/generate_path_repository_cli.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
The file was addedssep/data_structures/state_match_condition.cc
The file was addedssep/data_structures/state_match_condition.h
The file was modifiedssep/ssep_planner.h
The file was addedssep/offboard/servers/path_repository_vis_html_template.cc
The file was addedssep/offboard/servers/path_repository_vis_html_template.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_bidirectional_searcher_builder.h
The file was modifiedssep/ssep_planner.cc
The file was addedssep/data_structures/path_repository_manager.h
The file was addedssep/data_structures/path_repository_manager.cc
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.hpp
The file was modifiedalgorithm/wbca/path_optimization/car_path_optimization.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedhmi/widget/diagnose.cpp
Commit 6dcf15351db344dcd55fc9aab5b4752d79ece05c by chenran
fix: add switch for lbfgs to lbfgs_new
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.cpp
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 modifiedthirdparty/lbfgs/lbfgs.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/wbca_manager.cpp
The file was modifiedalgorithm/wbca/imv_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
The file was modifiedalgorithm/wbca/path_optimization/truck_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 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 modifieddata/vehicle/vehicle_status.cpp
The file was modifieddata/vehicle/vehicle_status.hpp
The file was modifiedhmi/widget/command.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/prepare_status.cpp
The file was modifieddata/app/cmd/cmd_align.cpp
Commit 485ee6c90f4b6efd1d8e6ac773ad61e1f3b27331 by chenran
fix: cloud areas avoidence.
The file was modifieddata/obstacle/ogm.cpp
The file was added.codex
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 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/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
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
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/plan/predict_path.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 5c4149dd9698cce4e2acddfa62c1fe81793d7c60 by wuyanjun110
feat: 添加忽略障碍物的阈值配置并优化相关逻辑
The file was modifieddata/config/cfg_lat_decide.cpp
The file was modifieddata/vehicle/cloud_pnc_config.cpp
The file was modifieddata/config/cfg_lat_decide.hpp
The file was modifieddata/vehicle/cloud_pnc_config.hpp
The file was modifiedsink/ros_sink_ads_hfsm_state.cpp
The file was modifieddata/obstacle/obstacle_decider_attr.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.h
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/ssep_planner.cc
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/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.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 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/common/image_viewer.hpp
The file was modifiedhmi/widget/map.cpp
The file was modifiedhmi/widget/replayer_map.hpp
The file was modifiedhmi/widget/replayer_map.cpp
The file was modifiedhmi/widget/map.hpp
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/draw/draw_map.cpp
The file was modifiedhmi/replayer_hmi.cpp
The file was modifiedhmi/node_hmi.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 c3f3ff4d3bed402ebd88287f3bdb3dbc64ac6002 by wuyanjun110
feat:接受云端的发送的终点前N米障碍不绕行的参数
The file was modifieddata/vehicle/cloud_pnc_config.cpp
The file was modifieddata/obstacle/obstacle_decider_attr.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 modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
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 modifiedalgorithm/wbca/path_optimization/imv_path_optimization.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was addedthirdparty/trust-region/truncated_cg_trust_region.hpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.hpp
Commit 8ac969a8781279ff5844967394890d8214fff0a7 by chenran
fix: max_ref_len 60
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedalgorithm/wbca/wbca_manager.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/task_fsm/task_align_fsm/task_align_fsm.cpp
The file was modifieddata/app/fsm/task_motion_fsm.hpp
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.hpp
The file was modifieddata/app/fsm/task_motion_fsm.cpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.hpp
The file was modifieddata/app/fsm_interface.hpp
The file was modifieddata/app/fsm_interface.cpp
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/fsm/task_command_type.cpp
The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
The file was modifiedhmi/widget/command.cpp
The file was modifieddata/app/cmd/cmd_align.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifiedplan/prepare/module.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_env_const.hpp
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedplan/prepare/prepare_status.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
Commit d30d6299d2fb251ac8aee52fca49b70da0214e63 by wuyanjun110
feat:1.添加耗时显示2.优化绘制界面 map的绘制
The file was modifiedhmi/draw/draw_map.cpp
The file was modifiednode/main.cpp
The file was modifiedhmi/widget/replayer_pnc_mat.hpp
The file was modifiedreplayer/main.cpp
The file was modifiedhmi/replayer_hmi.cpp
The file was modifiedhmi/node_hmi.hpp
The file was modifieddata/hmi_frame.hpp
The file was modifiedhmi/node_hmi.cpp
The file was modifiedhmi/replayer_hmi.hpp
The file was modifiedhmi/draw/draw_map.hpp
The file was modifiedhmi/widget/pnc_mat.cpp
The file was modifieddata/plan_frame.hpp
The file was addedhmi/widget/pnc_mat_shared.hpp
The file was addedhmi/widget/pnc_mat_shared.cpp
The file was modifiedreplayer/logic.cpp
The file was addedhmi/widget/perf_cost_detail.hpp
The file was modifiedCMakeLists.txt
The file was modifiednode/logic.hpp
The file was modifiedreplayer/logic.hpp
The file was addedhmi/widget/perf_cost_detail.cpp
The file was modifiedhmi/widget/pnc_mat.hpp
The file was modifiednode/logic.cpp
The file was modifiedhmi/widget/replayer_pnc_mat.cpp
Commit 3421d2be0ff961c640228f3b8f049880a1ea10d6 by wuyanjun110
fix:一次规划，单个车道分段时， 路径冲突判断的bug
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 68dc456383bcadb79d2867775c57e5b14742dae0 by wuyanjun110
refactor: 注释掉不必要的代码，简化判断逻辑
The file was modifieddata/ssep/open_space_ec.cpp
Commit b63375377c7e33d1f9b90bf0e4d35ca8059bdddc by wuyanjun110
refactor:优化ssep passing pt的赋值
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/ssep/ssep_ec.hpp
Commit 42b099371f6e8a99b001977dbb062ad6d7e8d5ad by chenran
fix: wbca smooth path is exception in align state
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 28bbba1eee60507ba6de0414eb33da590f7d0b29 by wuyanjun110
feat: 添加性能成本详细信息分组显示，优化绘制面板更新逻辑
The file was modifiedhmi/widget/perf_cost_detail.cpp
The file was modifiedhmi/node_hmi.cpp
Commit 62e19231bf61aa89eb3cdda3e31b9c4b109d844d by wuyanjun110
refactor: 简化pass_posture_的赋值逻辑
The file was modifieddata/ssep/ssep_ec.cpp
Commit 953da3561df41d78a5c16c24cf4e1fdd591c0457 by chenran
fix: straight lane near crane and lock_station
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifiedplan/prepare/prepare_status.hpp
Commit 203a8c94f9f82ad344f7fe502faefaa1619c9065 by wuyanjun110
refactor:优化界面耗时
The file was modifiedhmi/common/chart.cpp
The file was modifiedhmi/widget/brake_chart.cpp
The file was modifiedhmi/widget/command.hpp
The file was modifiedhmi/widget/velocity_chart.hpp
The file was modifiedhmi/widget/velocity_chart.cpp
The file was modifiedhmi/widget/brake_chart.hpp
The file was modifiedhmi/widget/perf_cost_detail.hpp
The file was modifiedhmi/widget/diagnose.hpp
The file was modifiedhmi/widget/command.cpp
The file was modifiedhmi/widget/perf_cost_detail.cpp
The file was modifiedhmi/widget/steer_chart.cpp
The file was modifiedhmi/widget/steer_chart.hpp
The file was modifiedhmi/widget/throttle_chart.cpp
The file was modifiedhmi/common/chart.hpp
The file was modifiedhmi/widget/diagnose.cpp
The file was modifiedhmi/widget/throttle_chart.hpp
Commit 0198be79704a47a8a105d4f73816753ec663224c by wuyanjun110
feat:调整9861的跟车距离
The file was modifieddata/constrain/longitude_constrain.hpp
The file was modifieddata/constrain/longitude_constrain.cpp