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Changes

Summary

  1. feat(pnc): support end-only straddle carrier open-space commands (details)
  2. fix(pnc): complete straddle carrier endpoint rotation (details)
Commit 32fa74850301ac57941254fdb315fd5fa6951a93 by chenran
feat(pnc): support end-only straddle carrier open-space commands

Use ego as the missing search start and reuse existing SSEP turn-in-place planning. Select approach operation from the endpoint bearing and account for reverse operation when exiting open space so routing destination distance resumes updating.

Validation: 32 SC tests passed; affected PNC sources passed syntax compilation checks. Full simulation replay remains unverified.
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/vehicle/request_routing_data.cpp
The file was modifiedssep/scenarios/straddle_carrier_pick_vehicle_planner.h
The file was modifieddata/app/reaction/app_reaction.hpp
The file was addedTesting/sc_end_only_planner_test.cpp
The file was modifiedTesting/sc_turn_in_place_mode_test.cpp
The file was modifieddata/scenario/scenario_region_condition.cpp
The file was modifiedCMakeLists.txt
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/vehicle/sc_turn_in_place_mode.cpp
The file was modifieddata/vehicle/sc_turn_in_place_mode.hpp
Commit e3718467e806aed280aed7f3f4febce6a25bda11 by chenran
fix(pnc): complete straddle carrier endpoint rotation

Preserve end-only endpoint stops, align the physical command heading across planning and control publication, and allow guide heading mismatch during active rotation. Show the endpoint heading in HMI and retain open-space mode until alignment completes.

Check straight approaches across lane boundaries and move HD-map helper definitions into cpp. Add publisher/control boundary regression coverage.

Validation: 43 targeted tests, 19 publisher scenarios, 13 control heading checks, and a negative control reproducing the former relative-heading failure passed offline.
The file was modifiedcommon/util/hdmap_wrapper.hpp
The file was modifiedsink/ros_sink_ctrl_reference.cpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/vehicle/sc_turn_in_place_mode.hpp
The file was addedTesting/run_sc_rotation_publish_replay.py
The file was modifiedTesting/sc_end_only_planner_test.cpp
The file was modifiedTesting/sc_turn_in_place_mode_test.cpp
The file was modifieddata/vehicle/sc_turn_in_place_mode.cpp
The file was modifieddata/plan/predict_path.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifiedsink/ros_sink_path.cpp
The file was modifiedtasks/other_tasks/create_guide_line.cpp
The file was modifiedCMakeLists.txt
The file was addedTesting/sc_rotation_control_check.cpp
The file was addedTesting/sc_rotation_publish_replay.cpp
The file was modifiedhmi/draw/draw_ego.cpp
The file was modifiedcommon/util/hdmap_wrapper.cpp