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Summary

  1. feat: fill reversing WBCA obstacle-to-corridor gaps (details)
Commit 1084b7392cc4b7b48e68e532845c75782e04ab75 by chenran
feat: fill reversing WBCA obstacle-to-corridor gaps

Close effective SSEP obstacle segments to the outward corridor boundary and retain the connected reference-side free region. Keep filled occupancy even where it overlaps the reference envelope, preserving source obstacles and clearing rules.

Add production SSEP-to-ESDF comparison and plotting tools, documentation, and regressions. Validated with distributed compilation and 46 passing WBCA tests.
The file was modifiedtools/wbca_debug/CMakeLists.txt
The file was addedtools/wbca_debug/compare_ssep_esdf.cpp
The file was modifiedTesting/reversing_path_wbca_test.cpp
The file was modifiedalgorithm/wbca/reversing_truck_wbca_manager.hpp
The file was addedtools/wbca_debug/plot_esdf_comparison.py
The file was modifiedtools/wbca_debug/README.md
The file was modifiedalgorithm/wbca/reversing_truck_wbca_manager.cpp