Changes

Summary

1. feat:wcba的优化 (details)
2. feat: SSEP: 跑通offboard数据生成工具 (details)
3. fix:smooth_mode connection. (details)

Commit a2bba411236ff04c445a82688dbec5f5fd0c52d1 by wuyanjun110 feat:wcba的优化
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit ffa060a6e14e96f3ef232bfb9393a929c4d60478 by tangwenqing feat: SSEP: 跑通offboard数据生成工具
	ssep/common/utils/obstacle_polygon_extractor.cc
	ssep/maps/ogm.cc
	ssep/common/utils/scene_frame_visualization.h
	ssep/data_structures/ssep_input.cc
	ssep/offboard/ssep_input_provider.cc
	ssep/data_structures/ssep_input.hpp
	ssep/offboard/generate_scene_data/generate_scene_data_cli.cc
	ssep/offboard/generate_scene_data/conf/scene_conf.yaml
	ssep/common/utils/proto_io.h
	ssep/common/object_manager.h
	ssep/common/object_manager.cc
	ssep/common/utils/obstacle_polygon_extractor.h
	ssep/data_structures/object.h
	ssep/data_structures/polyline.cc
	ssep/data_structures/polyline.h
Commit 90bae44baaec01ccae17bd75fa8e928bf460c960 by 5081703.cr fix:smooth_mode connection.
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/wbca_manager.cpp