[Jenkins]Jenkins

Progress:
Changes

Summary

  1. feat:扩多个lane的region，只获取一段的bug (details)
  2. feat: SSEP: 倒车出停车位多段路径 (details)
  3. feat: SSEP: mult-seg path to exit parking space (details)
  4. chore: fix merge conflicts (details)
  5. feat: Tractor-trailer出停车位 (details)
  6. chore: remove 1 line (details)
  7. feat: ssep: 跑通苏溪多段路径出停车位 (details)
  8. feat: reversing creep block. (details)
  9. chore: ssep: minor param updates (details)
  10. feat:出堆场的时候， 搜索起点一段距离内忽略安全 (details)
  11. feat:适配tcu消息 (details)
  12. fix:适配imv出停车位 (details)
  13. merge latest ssep (details)
  14. feat: SSEP: 增加IMV-either-facing-goal搜索功能（可以头朝前也可以尾朝前） (details)
  15. feat: 适配IMV-either-facing-goal搜索。苏溪去除冗余的end theta加减PI处理 (details)
  16. fix:修复快照里面dp path 计算错误的bug (details)
  17. feat:原地打方向盘时，方向盘校验的阈值参数化 (details)
  18. 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)
  19. chore: 适配新版本ssep (details)
  20. fix: SSEP: Resolve crashing issue. (details)
  21. fix: wbca debug mode. (details)
  22. fix: replace IsInLat/Lon with is_bend. (details)
  23. feat: ogm聚类时使用多边形代替原来的线段障碍物 (details)
  24. chore: SSEP: (details)
  25. 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)
  26. chore: SSEP: imv optimizer参数调试 (details)
  27. fix: 救援模式下，无法取消任务的bug (details)
  28. fix:状态机切换的bug (details)
  29. fix:修复带有bulk 途经点， opensspce 不搜索的bug (details)
  30. 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)
  31. chore: 适配ssep重构 (details)
  32. chore: SSEP: minor adjustments (details)
  33. 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)
  34. chore: SSEP: 增加打印信息，修复一些小错误。 (details)
  35. feat:适配直线步进，根据ttc进行碰撞检测的功能 (details)
  36. fix:1.修复fall back 重搜索的bug 2.fallback自动起步的bug (details)
  37. fix:向后直线步进的bug (details)
  38. fix:向后直线步进的bug (details)
  39. fix:修复合并的bug (details)
  40. feat:cheackout ssep (details)
  41. feat:release (details)
  42. fix:出停车位,不拼接参考线的bug (details)
  43. fix: 拖车路径延长初始角度错误 (details)
  44. fix:travel out 退出的bug (details)
  45. 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)
  46. fix: SSEP: 修复碰撞检测参数错误 (details)
  47. fix:ttc计算的bug (details)
  48. fix:优化云端轨迹的转向赋值 (details)
  49. fix:ttc计算的bug (details)
  50. fix:修复平行驾驶出堆堆场不退出travel out 场景的bug (details)
  51. fix:修复直道标志位传输错误的bug (details)
  52. refactor:优化救援模式下的跟车距离 (details)
  53. feat: add drving_corridor_ogm_dilate_size_in_yard (details)
Commit a403a21e47108fb83f74b0f85fe3769010d9df88 by wuyanjun110
feat:扩多个lane的region，只获取一段的bug

The file was modifieddata/map/pnc_map/pnc_map_path.cpp
Commit 7b4d499d87b58898b3d3e7c14c071b717b73bd94 by tangwenqing
feat: SSEP: 倒车出停车位多段路径
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedCMakeLists.txt
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifieddata/ssep/field_junction_ec.cpp
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/tractor_trailer_general_searcher_builder.cc
The file was modifiedscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
The file was modifiedssep/CMakeLists.txt
Commit fa09c0c04c49fc9b36b1d1840f50123f4b7c8014 by tangwenqing
feat: SSEP: mult-seg path to exit parking space

The file was modifiedssep/ssep_planner.cc
The file was modifiedtasks/plan/ssep_task.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/ssep_planner.h
The file was modifieddata/plan/ssep_data.cpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifieddata/plan/ssep_data.hpp
The file was modifiedssep/common/def/map_element_polyline.hpp
Commit 0b848aff8a9a79716c833675e461c26686b78f44 by tangwenqing
chore: fix merge conflicts

The file was modifieddata/ssep/ssep_ec.hpp
The file was modifieddata/ssep/ssep_ec.cpp
Commit 89172924cd85482b9af9ef669f46c895b8100ca2 by tangwenqing
feat: Tractor-trailer出停车位

The file was modifiedssep/coarse_search/geometric_searcher/evaluator/jackknife_cost_computer.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.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/coarse_search/geometric_searcher/motion_primitive_sampler/multi_curvature_motion_primitive_sampler.cc
Commit d5d2919e5677b247e8f7dd912bdc5cebbdd0f6a4 by tangwenqing
chore: remove 1 line

The file was modifiedssep/main_test/main_ssep_input.cc
Commit 38dab5b56090f2f0e209824a8d31ec8fc2f4d09b by tangwenqing
feat: ssep: 跑通苏溪多段路径出停车位
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedCMakeLists.txt
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/ssep_heat_net/ssep_heat_net_trt.cc
The file was modifiedssep/common/def/type_definition.cc
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/ssep_heat_net/inference_ml_trajectory_cli.cc
The file was modifiedssep/common/def/type_definition.h
The file was modifieddata/plan/ssep_data.cpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.h
The file was addedssep/ssep_heat_net/ssep_heat_net_trt.h
The file was modifiedssep/common/def/ssep_scenario_type.hpp
Commit 3a105c2016eef27a6aacefcb614dee47ea1997a9 by 5081703.cr
feat: reversing creep block.

The file was modifieddata/scenario/scenario_planner_condition.cpp
The file was modifiedplan/prepare/prepare_status.hpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_env_const.hpp
Commit 21b9a299d14fcda945c5750364e85bd17716c734 by tangwenqing
chore: ssep: minor param updates

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
Commit 007208fea0c51484da44773da9698c77b51acdc7 by wuyanjun110
feat:出堆场的时候， 搜索起点一段距离内忽略安全

The file was modifieddata/other/flow_control.cpp
Commit e169c4705d8be1c4c538cc68bf13617cb809f340 by wuyanjun110
feat:适配tcu消息

The file was modifieddata/config/cfg_topic.cpp
The file was modifieddata/plan_frame.hpp
The file was addeddata/vehicle/tuc_info.hpp
The file was modifiedpackage.xml
The file was addedsource/ros_source_tuc_info.cpp
The file was modifiedsource/module.cpp
The file was addedsource/ros_source_tuc_info.hpp
The file was modifiedtasks/deciders/other_decider/stop_decider.cpp
The file was modifieddata/config/cfg_topic.hpp
The file was addeddata/vehicle/tuc_info.cpp
Commit c5c807593f13a94cd959cfc9c1c4a4df694a170f by wuyanjun110
fix:适配imv出停车位

The file was modifieddata/other/flow_control.cpp
The file was modifiedplan/prepare/prepare_state.cpp
Commit 6004f24187d389f3795255926f57a66b05379b61 by tangwenqing
merge latest ssep
The file was modifiedssep/keb_optimizer/keb_problem.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.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedCMakeLists.txt
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was addedssep/keb_optimizer/cost_features/soft_disk_collision_cost.h
The file was addedssep/keb_optimizer/cost_features/tractor_trailer_kinematic_constraint.h
The file was addedssep/keb_optimizer/keb_utils.cc
The file was addedssep/keb_optimizer/keb_utils.h
The file was removedssep/keb_optimizer/cost_features/kinematic_constraint.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/demo/src/main_ssep_activation.cc
The file was addedssep/keb_optimizer/cost_features/truck_kinematic_constraint.h
The file was modifiedssep/ssep_planner.cc
The file was removedssep/common/def/basic.hpp
The file was addedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was addedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/sdk/ssep_activation_impl.cc
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.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifiedssep/ssep_heat_net/inference_ml_trajectory_cli.cc
The file was modifiedssep/common/def/type_definition.h
The file was addedssep/keb_optimizer/cost_features/curvature_cost.h
The file was addedssep/keb_optimizer/cost_features/heading_constraint.h
The file was modifiedssep/keb_optimizer/data_structure.h
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was addedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.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.h
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_multi_segment_parking_bidirectional_searcher_builder.cc
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/ssep_planner.cc
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 modifiedssep/ssep_planner.h
The file was addedssep/coarse_search/geometric_searcher/conditions/path_direction_condition.h
The file was modifiedssep/coarse_search/geometric_searcher/conditions/along_lane_condition.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
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 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/config/cfg_env_const.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.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/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_collision_cost_computer.h
The file was modifiedssep/influence_map/sl_projection_map.cc
The file was modifiedssep/smoother/safety_corridor_smoother.cc
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/back_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/influence_map/sl_projection_map.h
The file was addedssep/keb_optimizer/cost_features/path_length_cost.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/collision_cost_computer.h
The file was removedssep/common/def/basic.hpp
The file was addedssep/ssep_heat_net/ssep_heat_net.h
The file was addedssep/ssep_heat_net/inference_ml_trajectory_cli.cc
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/ogm_map/ogm.cc
The file was modifiedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cc
The file was addedssep/ssep_heat_net/ssep_heat_net_trt.cc
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was addedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was addedssep/tools/scene_data_generator/state_augment_util.h
The file was modifiedssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.cc
The file was modifiedssep/coarse_search/data_structure/polyline.h
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.cc
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/reverse_primitive_decorator.h
The file was modifiedssep/coarse_search/geometric_searcher/state_hasher.h
The file was addedssep/keb_optimizer/cost_features/disk_collision_cost.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/jackknife_cost_computer.h
The file was addedssep/keb_optimizer/keb_utils.h
The file was modifiedssep/sdk/ssep_activation_impl.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.h
The file was addedssep/keb_optimizer/cost_features/trailer_disk_collision_cost.h
The file was modifiedssep/common/def/ssep_input.hpp
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was addedssep/keb_optimizer/cost_features/dynamic_constraint.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was addedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
The file was addedssep/keb_optimizer/cost_features/soft_disk_collision_cost.h
The file was modifiedssep/tools/scene_data_generator/generate_scene_data_cli.cc
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/general_hybrid_astar_searcher_builder.h
The file was addedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/diagnal_motion_primitive_sampler.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive.h
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was addedssep/coarse_search/geometric_searcher/search_engine_interface.h
The file was addedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was addedssep/coarse_search/geometric_searcher/evaluator/diagonal_cost_computer.h
The file was modifiedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.h
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.cc
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/demo/src/main_ssep_activation.cc
The file was modifiedssep/coarse_search/hybrid_a_star_tt.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/diagnal_motion_primitive_sampler.cc
The file was addedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was modifiedssep/common/def/type_definition.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/general_hybrid_astar_searcher_builder.cc
The file was addedssep/keb_optimizer/cost_features/jet_access.h
The file was modifiedssep/ssep_planner.h
The file was addedssep/ssep_heat_net/standarization_params.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/common/def/type_definition.cc
The file was modifiedssep/common/def/map_element_polyline.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/conditions/along_lane_condition.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_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/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
The file was addedssep/keb_optimizer/data_structure.h
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.h
The file was addedssep/keb_optimizer/keb_problem.h
The file was addedssep/keb_optimizer/cost_features/curvature_cost.h
The file was modifiedssep/ogm_map/ogm.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/bulk_yard_reasoner.h
The file was modifiedssep/conf/ssep_preprocess.yaml
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/searcher_builders/rigid_truck_general_searcher_builder.h
The file was addedssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
The file was addedssep/keb_optimizer/cost_features/pinch_cost.h
The file was addedssep/keb_optimizer/cost_features/tractor_trailer_kinematic_constraint.h
The file was addedssep/keb_optimizer/keb_utils.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/ilqr_motion_primitive_sampler.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/cost_feature_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/composed_motion_primitive_sampler.h
The file was addedssep/ssep_heat_net/ssep_heat_net_trt.h
The file was addedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was addedssep/coarse_search/geometric_searcher/conditions/trailer_relative_angle_condition.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/ref_line_cost_computer.h
The file was addedssep/keb_optimizer/cost_features/state_constraint.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/motion_primitive_sampler.h
The file was modifiedssep/coarse_search/hybrid_a_star.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/evaluator/ref_line_heuristic_computer.h
The file was addedssep/keb_optimizer/cost_features/heading_constraint.h
The file was modifiedssep/tools/scene_data_generator/ogm_builder/ogm_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
The file was modifiedssep/coarse_search/data_structure/polyline.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/curvature_cost_computer.h
The file was addedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/coarse_search/geometric_searcher/indexed_priority_queue.h
The file was addedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cc
The file was modifiedssep/coarse_search/geometric_searcher/geometric_search_visualizer.cc
The file was addedssep/ssep_heat_net/ssep_heat_net.cc
The file was addedssep/keb_optimizer/cost_features/truck_kinematic_constraint.h
The file was addedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
Commit 9647b79751bcdc27546afd6933d05b87fedc4c14 by tangwenqing
chore: 适配新版本ssep

The file was modifiedCMakeLists.txt
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/ssep/ssep_activation.cpp
Commit ccbe0ff61a1f49f9e0e60bcdf8b332985a8e03c5 by tangwenqing
fix: SSEP: Resolve crashing issue.

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit 1ee467f0cb57f7f6ddf2986a1bb3a293b04b09fb by 5081703.cr
fix: wbca debug mode.

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

The file was modifieddata/boundary/road_boundary.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 modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/ssep/ssep_util.cpp
The file was modifiedsink/ros_sink_og_line_segments.cpp
The file was modifieddata/ssep/reverse_ec.cpp
The file was modifieddata/ssep/ssep_util.hpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifieddata/ssep/forward_ec.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/main_test/main_ssep_input.cc
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.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/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/common/def/ssep_input.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/ssep_planner.cc
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_activation.cpp
The file was modifieddata/ssep/ssep_ec.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/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/ssep_planner.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/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/scenario/scenario_planner_condition.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 addedssep/ssep_visualizer.h
The file was modifiedssep/coarse_search/hybrid_a_star_tt.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/sdk/ssep_activation_impl.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/hybrid_a_star_car.cc
The file was modifiedssep/CMakeLists.txt
The file was addedssep/ssep_visualizer.cc
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/coarse_search/hybrid_a_star_tt.cc
The file was modifiedssep/coarse_search/hybrid_a_star_car.h
The file was modifiedssep/coarse_search/hybrid_a_star_imv.cc
The file was addedssep/keb_optimizer/cost_features/imv_center_curvature_constraint.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was addedssep/coarse_search/geometric_searcher/legacy_searcher_adaptor.h
The file was modifiedssep/coarse_search/geometric_searcher/data_structure.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/hybrid_a_star_imv.h
The file was modifiedssep/common/def/type_definition.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/keb_optimizer/rigid_truck_keb_optimizer.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
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/keb_optimizer/cost_features/imv_dynamic_constraint.h
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
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/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/common/utils/common.hpp
The file was modifiedssep/coarse_search/geometric_searcher/conditions/along_lane_condition.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/kinematic_heuristic_computer.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/motion_primitive_sampler/reeds_shepp_path.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/data_structure.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifieddata/ssep/ssep_util.cpp
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 modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_fsm.cpp
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.hpp
The file was modifiedtasks/deciders/other_decider/stop_decider.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/fsm/motion_fsm/motion_remote_fsm/motion_remote_fsm.hpp
The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_state.hpp
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/motion_fsm/motion_fsm.cpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp
Commit 1c889f2d1cf1b5736ae5473b81d72bf57f46a95b 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 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/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/conf/ssep_preprocess.yaml
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.cc
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
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/motion_primitive_sampler/dubins_path_motion_primitive_sampler.h
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/sdk/ssep_activation_impl.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/tools/executable/inference_ml_trajectory_cli.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/common/def/ssep_input.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_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/keb_optimizer/data_structure.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.h
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 modifiedplan/prepare/prepare_status.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
The file was modifieddata/config/cfg_func_sw.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 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 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 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