[Jenkins]Jenkins

Changes

Summary

  1. Update vehicleInfo.groovy (details)
Commit 91ebd84f6b1850f3589a56e0a3beacadebc5f9b3 by weilikang
Update vehicleInfo.groovy
The file was modifiedsrc/org/devops/vehicleInfo.groovy

Summary

  1. Update jining-liangshan-submodule.jenkinsfile (details)
  2. Update jining-liangshan-submodule.jenkinsfile (details)
Commit 45aa9344e20fc2b93be3cfda0c0ff1270e83cb73 by weilikang
Update jining-liangshan-submodule.jenkinsfile
The file was modifiedparams/jining-liangshan-submodule.jenkinsfile
Commit 02ae2d0f8ccac9b2cd922b947fc7b270032072bc by weilikang
Update jining-liangshan-submodule.jenkinsfile
The file was modifiedparams/jining-liangshan-submodule.jenkinsfile

Summary

  1. Publish og line segments (details)
  2. chore: 重新定义Og line segment msg (details)
  3. feat:在pnc_debug中增加observer_debug (details)
  4. feat:lonmpc (details)
  5. feat: mass estimation debug (details)
  6. fix:调整pnc_debug观测项 (details)
  7. feat:油门标定消息 (details)
  8. feat:增加观测 (details)
  9. feat_out:外设操作命令修改 (details)
  10. feat:添加挂尺寸相关字段 (details)
  11. feat:删除多余的字段 (details)
  12. feat_out:增加夹爪控制及反馈 (details)
  13. fix:pnc_debug/observer_debug更改 (details)
  14. feat_out:增加剩余续航里程字段 (details)
  15. fix: 统一pnc_debug_msg/ObesrverDebug.msg (details)
  16. feat: 增加字段是否忽略交通管制 (details)
  17. feat: 加入lane的长度描述字段 (details)
  18. feat: 更改length_s和total_length_s为float32类型 (details)
Commit 8164471355763d16bf47ba3b6ba94e6d7655160b by wuyanjun110
Publish og line segments
The file was modifiedpnc_debug_msgs/CMakeLists.txt
The file was addedpnc_debug_msgs/msg/OgLineSegment.msg
The file was addedpnc_debug_msgs/msg/OgLineSegments.msg
Commit 995d2f70d145e971e6b16a086c18503d2882fefc by wuyanjun110
chore: 重新定义Og line segment msg
The file was modifiedpnc_debug_msgs/msg/OgLineSegment.msg
Commit 3334c4581b4794355e678d586eaf5bb46eccefe1 by liuhongshuo
feat:在pnc_debug中增加observer_debug
The file was addedpnc_debug_msgs/msg/ObserverDebug.msg
The file was modifiedpnc_debug_msgs/CMakeLists.txt
The file was modifiedpnc_debug_msgs/msg/CtrlDebug.msg
Commit bb357d9f55de56ffb8e81a618ae4d17e70403914 by wuyanjun110
feat:lonmpc
The file was modifiedpnc_debug_msgs/msg/LongitudinalDebug.msg
The file was addedpnc_debug_msgs/msg/LonMpcDebug.msg
The file was modifiedpnc_debug_msgs/CMakeLists.txt
The file was addedpnc_debug_msgs/msg/MPCReference.msg
Commit 8a9957037de066d3d4cdf82cbad7fdd3c8959c6a by wuyanjun110
feat: mass estimation debug
The file was modifiedpnc_debug_msgs/msg/ObserverDebug.msg
Commit bda37c1664a0b2e9597e3bccc1de248377a604a9 by wuyanjun110
fix:调整pnc_debug观测项
The file was modifiedpnc_debug_msgs/msg/ObserverDebug.msg
Commit 2b71c0304054364d87f064dcf43f568a81ed11e0 by wuyanjun110
feat:油门标定消息
The file was modifiedpnc_debug_msgs/msg/LonMpcDebug.msg
Commit 3fb873095fdaf1350fb114c2b530852ba9f8924d by wuyanjun110
feat:增加观测
The file was modifiedpnc_debug_msgs/msg/LonMpcDebug.msg
The file was modifiedpnc_debug_msgs/msg/ObserverDebug.msg
Commit ee5ec3ea666c480e474733ecd3aca542268b29f0 by zhaojianfeng2
feat_out:外设操作命令修改
The file was modifiedtos_msgs/msg/PeripheralCmd.msg
Commit bdd9c2a5bd21c5215d8218a6b49e878c70d1de48 by 5081703.cr
feat:添加挂尺寸相关字段

The file was modifiedvehicle_msgs/msg/PncStatus.msg
Commit b0dc167a0d703b582578476c1eb328f91db48e72 by 5081703.cr
feat:删除多余的字段

The file was modifiedvehicle_msgs/msg/PncStatus.msg
Commit f0d047b89d677fc6ba2cdc291c917a1d10f7bfc0 by zhaojianfeng2
feat_out:增加夹爪控制及反馈
The file was modifiedvehicle_msgs/msg/VehicleStatus.msg
The file was modifiedtos_msgs/msg/PeripheralCmd.msg
Commit 734e6d0c187df2a1a807b0fce5fbe29b8ac463e7 by liuhongshuo
fix:pnc_debug/observer_debug更改
The file was modifiedpnc_debug_msgs/msg/ObserverDebug.msg
Commit 96ed1f1aae62978d865c3acf62e16756e9530773 by zhaojianfeng2
feat_out:增加剩余续航里程字段
The file was modifiedperipheral_msgs/msg/VehicleStatus.msg
Commit fa59a10a56ef4a39aa887ed0e9824a27bdf5f675 by liuhongshuo
fix: 统一pnc_debug_msg/ObesrverDebug.msg
The file was modifiedpnc_debug_msgs/msg/ObserverDebug.msg
Commit 18a9de965052d9f193e58fe2d9237ef3127f84b5 by zhuxiaolong
feat: 增加字段是否忽略交通管制

The file was modifiedcomm_msgs/msg/Traj.msg
Commit cccd5aac28f8e17f6a1b4f7ac8e21dd7546fc10a by zhuxiaolong
feat: 加入lane的长度描述字段

The file was modifiedcomm_msgs/msg/Traj.msg
Commit 1cd298d9d077c7f313ba7e207c85cfd74c67df0c by zhuxiaolong
feat: 更改length_s和total_length_s为float32类型

The file was modifiedcomm_msgs/msg/Traj.msg

Summary

  1. chore: Keb-task: 重构并适配keb_lane_follow task (details)
  2. chore: update gitignore (details)
  3. fix: SSEP: 修复IMV普通搜索在弯道提前结束搜索的问题 (details)
  4. chore: SSEP-Offboard: 提升路径绘制工具自适应调整航向与控制点的准确率。 (details)
  5. fix:移除后向OGM忽略距离的冗余计算 (details)
  6. fix:修复垂直下码头面，box框生成的bug (details)
  7. feat: 1. 修正AddJunctionBlockRanges函数中的速度考虑逻辑 2. 调整普通路口弯道禁停的停车位置 (details)
  8. feat:董家口1.关闭进堆场的起点约束2.调整进堆场的终点约束 (details)
  9. feat: Keb-Lane-Follow-Task: 适配Car与IMV，并测试验证通过non-SSEP场景的实时优化全流程。 (details)
  10. 优化轮廓合并算法并添加测试支持 (details)
  11. fix: SSEP: 修复跨运车原地自转未分段的问题。 (details)
  12. feat:进堆场时，关闭区域的校验 (details)
  13. feat: 添加合并包络框功能的配置选项 (details)
  14. fix:西联码头面搜索 引桥搜索 普通路口搜索， 终点选取， 场景触发的bug (details)
  15. fix:洋浦， 修复B004搜索失败的bug (details)
  16. refactor:优化多次禁停的问题 (details)
  17. refactor: 为海南洋浦区域的场桥障碍物增加安全边距 (details)
  18. refactor:有wbca或者keb的场景， ssep搜索成功， pjpo求解失败， 不拼接参考线 (details)
  19. refactor:弯道后目标车道选择，优化在弯道的直道端，拒绝指令的问题 (details)
  20. fix: Keb-task: 修复优化可能不收敛的问题，修复OGM异常的问题，使用精确的运动学约束，调参，优化器输出结构化调试信息 (details)
  21. feat: SSEP: 进堆场起点终点距离很近(小于15米)时，使用直连规划器生成路径。 (details)
  22. refactor: Keb-Offboard: 重构data::path的依赖关系，将keb path opt cli 与 pnc 工程解耦 (details)
  23. feat: 实现缓冲区停车功能（Buffer Stop） (details)
  24. chore: SSEP: 适配烟台跨运车的新需求 (details)
  25. feat: 新增 align_move_threshold_ 配置参数并替换 align_3rd_4th_move_threshold_ 在 align1st 阶段的使用 (details)
  26. feat: 新增目的地匹配与路径距离计算功能，支持非终点目的地导航 (details)
  27. feat: 终点和 起点不在一条车道上， 并且 终点在身后就的处理 (details)
  28. fix:动态下码头面然后进堆场，搜索过早的问题。 (details)
  29. fix: sweep exception (details)
  30. fix: sweep exception (details)
  31. fix: wbca path length = 40 in openspace (details)
  32. fix:进堆场触发直连模式的bug (details)
  33. fix:上码头面前， 误入 进堆场场景的bug (details)
  34. fix: wbca path length = 40 in openspace (details)
  35. fix:进堆场触发直连模式的bug (details)
  36. fix:上码头面前， 误入 进堆场场景的bug (details)
  37. fix:一次规划终点匹配失败的bug (details)
  38. fix:在 SeasideSearch 行为中增加对引桥路口区域的判断 (details)
  39. fix: Keb-Task: 修复集卡双层避障优化路径可能震荡/不沿参考线行驶的问题 (details)
  40. feat:<西联>适配Uturn上码头面 (details)
  41. fix: SSEP: 修复进堆场近距离模式判断条件错误 (details)
  42. fix: Keb-task: 修复低贝位进堆场轨迹震荡的bug (details)
  43. chore: Keb-task: 提升Keb-IMV轨迹稳定性（时序一致性） (details)
  44. refactor: 将SLBoundary计算外提并作为参数传入CrashHelper相关函数，优化转场吊车阻挡逻辑 (details)
  45. feat: 添加碰撞但不停车的龙门吊禁停区域记录 (details)
  46. feat: SSEP-KEB: 增加keb优化诊断工具。改进优化后处理的运动学判据 (details)
  47. feat: Keb: 实现rosbag->keb scene的数据转换工具 (details)
  48. chore: Keb-Diagnose: 关闭多初始解诊断 (details)
  49. feat: Keb: 实现rosbag->keb scene的数据转换工具 (details)
  50. fix: 修正AddJunctionBlockRanges函数中的起始位置计算逻辑 (details)
  51. feat: 适配云端障碍物类别的功能 (details)
  52. fix: 修正UpdateBufferRange函数中障碍物遍历逻辑，改为使用历史障碍物数据 (details)
  53. fix: 更新RoutingPath::UpdateDestDistance逻辑，增加对route_indices_大小的检查 (details)
  54. chore: snapshot转keb scene的脚本使用流式读取，解决out of memory问题。真实录包验证通过。 (details)
  55. fix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。 (details)
  56. chore: snapshot转keb scene的脚本使用流式读取，解决out of memory问题。真实录包验证通过。 (details)
  57. fix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。 (details)
  58. fix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。 (details)
  59. feat: SSEP: 增加跨运车普通搜索（单段搜索），自适应起点朝向。 (details)
  60. chore: snapshot to keb scene 增加批量转换功能 (details)
  61. fix:修复进bulk场景中，有一帧场景器不运行的bug (details)
  62. fix: SSEP: ogm为空时退出搜索 (details)
  63. refactor:上下引桥搜索的时候考虑ogm_lines, 然后删除原有的boundary (details)
  64. fix: cancel wbca task_id verification (details)
  65. feat: Keb: Add keb-foxglove visualization (details)
  66. feat: Keb: Add foxglove remote file server (details)
  67. fix: Keb: 修复keb-foxglove转换脚本 (details)
  68. feat: SSEP: 跨运车车型支持多段路径搜索（可通过参数配置） (details)
  69. chore: SSEP: 跨运车路径搜索时不考虑终点约束 (details)
  70. fix: 修复编译依赖关系未指定导致概率性编译失败的问题 (details)
  71. chore: Keb: 跑通优化诊断全流程。解决S弯道IMV距离障碍物太近/画龙问题 (details)
  72. refactor: 优化 CreateRoadSecIdxS 方法中的弯道处理逻辑 (details)
  73. refactor: 重构弯道接续逻辑，提取公共查找函数并简化流程 (details)
  74. chore: SSEP: 集卡多段倒车接挂适配超窄库位 (details)
  75. refactor: 优化 CreateRoadSecIdxS 方法中的段匹配逻辑 (details)
  76. refactor: 增强 CenterLineInfo 和 CreateCenterLines 的日志记录，改进错误处理 (details)
  77. feat: 添加上层挂的前后基准距离计算 (details)
  78. feat: 添加限速相关参数和窄障碍过滤逻辑 (details)
  79. feat: 碰撞检测相关修改，支持返回碰撞命中信息及禁行道路类型 (details)
  80. feat: 停车原因相关修改，新增禁行道路 OGM 停车类型 (details)
Commit 6d0b3d30c4d7c182792259dc8efb60945ebce0d6 by tangwenqing
chore: Keb-task: 重构并适配keb_lane_follow task

The file was modifiedoffboard/keb_vis_server/keb_vis_html_template.cc
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedoffboard/keb_path_opt_cli/closed_loop_utils.cc
The file was modifiedoffboard/keb_path_opt_cli/closed_loop_utils.hpp
The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedtasks/plan/keb_lane_follow_path_task.hpp
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedproto/keb_scene.proto
Commit 30f38647c7749669d247e8f727e07ba616917798 by tangwenqing
chore: update gitignore

The file was modified.gitignore
Commit 63cda91be69689b2039cb7aa69790f39ac64b9eb by tangwenqing
fix: SSEP: 修复IMV普通搜索在弯道提前结束搜索的问题

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
Commit 35da80b42556c3c13bd67f001e9ddf94e3233371 by tangwenqing
chore: SSEP-Offboard: 提升路径绘制工具自适应调整航向与控制点的准确率。

The file was modifiedssep/offboard/path_drawing_tool/hermite_path_generator.cc
The file was modifiedssep/offboard/path_drawing_tool/hermite_path_generator.h
The file was modifiedssep/offboard/path_drawing_tool/path_drawing_html_template.cc
The file was addedssep/offboard/path_drawing_tool/curvature_auto_adjuster.cc
The file was addedssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.cc
The file was modifiedssep/offboard/path_drawing_tool/path_drawing_tool_main.cc
The file was modifiedssep/offboard/path_drawing_tool/CMakeLists.txt
The file was addedssep/offboard/path_drawing_tool/curvature_auto_adjuster.h
Commit ed6f9befc81f6aa9e2b30c1bed32c20ad23cc605 by wuyanjun110
fix:移除后向OGM忽略距离的冗余计算
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit 2485ed4412c0a64a72bf8691c22f067c1da396e6 by wuyanjun110
fix:修复垂直下码头面，box框生成的bug
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 0535e013c34f55e1d20f2fdf92025a54d6f0391c by wuyanjun110
feat: 1. 修正AddJunctionBlockRanges函数中的速度考虑逻辑 2. 调整普通路口弯道禁停的停车位置
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/constrain/disable_stop_range.cpp
Commit 978c1b3169e28cb1538b2a86699738ad88cff6fc by wuyanjun110
feat:董家口1.关闭进堆场的起点约束2.调整进堆场的终点约束
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 0d4fca04b4d74907d809808b3b30bed64c93ab53 by tangwenqing
feat: Keb-Lane-Follow-Task: 适配Car与IMV，并测试验证通过non-SSEP场景的实时优化全流程。

The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedproto/keb_scene.proto
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedssep/keb_optimizer/keb_utils.h
The file was modifiedtasks/plan/keb_utils.hpp
The file was modifiedssep/data_structures/path.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifiedtasks/plan/keb_lane_follow_path_task.hpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifieddata/plan/ssep_data.hpp
The file was modifiedoffboard/keb_vis_server/keb_vis_html_template.cc
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/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_utils.cc
The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
Commit e227d850087b14ab33edb73b94d5b2059cc9149f by wuyanjun110
优化轮廓合并算法并添加测试支持
The file was modifieddata/ssep/online_region_contour_creator.hpp
The file was addedscripts/run_contour_union_case_test.sh
The file was modifiedCMakeLists.txt
The file was addeddata/ssep/online_region_contour_creator_test.cpp
The file was modifieddata/ssep/online_region_contour_creator.cpp
Commit 2da20d45beb0b522882ca22b1dfdec19fc89657f by tangwenqing
fix: SSEP: 修复跨运车原地自转未分段的问题。

The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/ssep_planner.h
Commit 10463e123097bc52d7217d576b79852a1b792929 by wuyanjun110
feat:进堆场时，关闭区域的校验
The file was modifieddata/ssep/region_builder.cpp
Commit 038e3a9a16edd662ac1889b1454eaab64843c79d by wuyanjun110
feat: 添加合并包络框功能的配置选项
The file was modifieddata/map/envelop/map_envelops.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/config/cfg_func_sw.cpp
Commit a749d4457e306896416f3e50bfa67d33f8439885 by wuyanjun110
fix:西联码头面搜索 引桥搜索 普通路口搜索， 终点选取， 场景触发的bug

Co-authored-by: Copilot <copilot@github.com>
The file was modifieddata/ssep/normal_junction_ec.cpp
The file was modifieddata/ssep/bridge_junction_ec.cpp
The file was modifieddata/scenario/scenario_planner_condition.cpp
The file was modifieddata/scenario/scenario_planner_bt.cpp
The file was modifieddata/ssep/seaside_junction_ec.cpp
Commit c82d7c75adc8a4ffe39435a20b495fc6ea78afaf by wuyanjun110
fix:洋浦， 修复B004搜索失败的bug
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit a685fcbefdd9384cdc97b90451f6757e6d35ae50 by wuyanjun110
refactor:优化多次禁停的问题

Co-authored-by: Copilot <copilot@github.com>
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/constrain/disable_stop_range.cpp
The file was modifieddata/constrain/temporary_stop_data.cpp
Commit 85e0e4776a8c5da790dce4e0b7db1d7ea4c2a020 by wuyanjun110
refactor: 为海南洋浦区域的场桥障碍物增加安全边距

Co-authored-by: Copilot <copilot@github.com>
The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit 219926ab23efaddf2f7dbc384e0dc63ba6c94df2 by wuyanjun110
refactor:有wbca或者keb的场景， ssep搜索成功， pjpo求解失败， 不拼接参考线
The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
Commit a42c2e0092ef295bd319f068f91dc031233e5530 by wuyanjun110
refactor:弯道后目标车道选择，优化在弯道的直道端，拒绝指令的问题
The file was modifieddata/map/reference/bends_decider/bend_decider.cpp
Commit ab3c49bf513e32124fee4f8cc0896f2e6af2fbad by tangwenqing
fix: Keb-task: 修复优化可能不收敛的问题，修复OGM异常的问题，使用精确的运动学约束，调参，优化器输出结构化调试信息

The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/keb_optimizer/keb_utils.cc
The file was addedoffboard/keb_vis_server/crow/mime_types.h
The file was addedoffboard/keb_vis_server/crow.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/param_loader/param.h
The file was addedoffboard/keb_vis_server/crow/app.h
The file was addedoffboard/keb_vis_server/crow/middlewares/cookie_parser.h
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was addedoffboard/keb_vis_server/crow/ci_map.h
The file was modifiedssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
The file was addedoffboard/keb_vis_server/crow/middlewares/cors.h
The file was modifieddata/config/cfg_ssep.cpp
The file was addedoffboard/keb_vis_server/crow/parser.h
The file was addedoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.hpp
The file was addedoffboard/keb_vis_server/crow/http_request.h
The file was addedoffboard/keb_vis_server/crow/http_response.h
The file was addedoffboard/keb_vis_server/crow/task_timer.h
The file was addedoffboard/keb_vis_server/crow/middlewares/session.h
The file was addedoffboard/keb_vis_server/crow/returnable.h
The file was addedoffboard/keb_vis_server/crow/version.h
The file was modifiedssep/data_structures/path.cc
The file was addedoffboard/keb_vis_server/crow/compression.h
The file was addedoffboard/keb_vis_server/crow/socket_acceptors.h
The file was modifiedssep/maps/ogm.h
The file was addedssep/keb_optimizer/cost_features/imv_steer_constraint.h
The file was addedoffboard/keb_vis_server/crow/socket_adaptors.h
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.hpp
The file was addedoffboard/keb_vis_server/crow/http_server.h
The file was addedoffboard/keb_vis_server/crow/middleware_context.h
The file was modifiedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was addedoffboard/keb_vis_server/crow/utility.h
The file was modifiedtasks/plan/keb_utils.hpp
The file was addedoffboard/keb_vis_server/crow/routing.h
The file was addedoffboard/keb_vis_server/crow/json.h
The file was addedoffboard/keb_vis_server/crow/multipart.h
The file was addedoffboard/keb_vis_server/crow/TinySHA1.hpp
The file was modifiedCMakeLists.txt
The file was addedoffboard/keb_vis_server/crow/http_connection.h
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was addedoffboard/keb_vis_server/crow/common.h
The file was addedoffboard/keb_vis_server/crow/query_string.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was addedoffboard/keb_vis_server/crow/mustache.h
The file was modifiedoffboard/keb_path_opt_cli/keb_path_opt_cli.cc
The file was addedoffboard/keb_vis_server/crow/middleware.h
The file was addedoffboard/keb_vis_server/crow/settings.h
The file was addedoffboard/keb_vis_server/crow/middlewares/utf-8.h
The file was addedoffboard/keb_vis_server/crow/exceptions.h
The file was addedoffboard/keb_vis_server/crow/websocket.h
The file was addedoffboard/keb_vis_server/crow/logging.h
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.hpp
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was addedoffboard/keb_vis_server/crow/multipart_view.h
The file was modifiedssep/maps/ogm.cc
The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was addedoffboard/keb_vis_server/crow/http_parser_merged.h
The file was addedoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.cc
Commit f21b829b78b40da6565facea5ad6adb4047f7c2b by tangwenqing
feat: SSEP: 进堆场起点终点距离很近(小于15米)时，使用直连规划器生成路径。

The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was addedssep/scenarios/tractor_trailer_short_distance_planner.h
Commit d11b0a6d75dfd1ffc35b9d2318a4f3d4696be90c by tangwenqing
refactor: Keb-Offboard: 重构data::path的依赖关系，将keb path opt cli 与 pnc 工程解耦

The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifieddata/common/path_point.hpp
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifiedalgorithm/decision/path_turn_type.cpp
The file was addedtasks/plan/keb_utils_core.cpp
The file was modifiedtasks/plan/keb_utils.hpp
The file was modifieddata/common/path.cpp
The file was modifieddata/common/path_point.cpp
The file was modifieddata/obstacle/occupy_grid.hpp
The file was addedtasks/plan/keb_utils_core.hpp
The file was addedoffboard/keb_path_opt_cli/CMakeLists.txt
The file was modifieddata/common/path.hpp
The file was modifieddata/semantic/collision_position.hpp
The file was modifieddata/semantic/vehicle.cpp
The file was modifiedmath/curve2d/curve2d.hpp
The file was modifiedCMakeLists.txt
The file was modifieddata/common/guide_path.cpp
Commit 6b0c4ec35fdc890ca61c9287f53f5ef1aa90eea7 by wuyanjun110
feat: 实现缓冲区停车功能（Buffer Stop）
The file was modifieddata/vehicle/lock_station_data.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.hpp
The file was modifieddata/scenario/scenario_planner_action.cpp
The file was modifieddata/app/fsm/task_fsm/task_buffer_fsm/task_buffer_fsm.cpp
The file was modifieddata/app/fsm/task_fsm/task_buffer_fsm/task_buffer_fsm.hpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/vehicle/lock_station_data.hpp
The file was modifieddata/constrain/block_data.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit de88c099a7d7c1516cee194407392871901a23e7 by tangwenqing
chore: SSEP: 适配烟台跨运车的新需求

The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/scenarios/straddle_carrier_pick_vehicle_planner.h
The file was modifiedssep/scenarios/truck_general_planner.h
Commit b15c67058b9dfb1389ea050d136a2fa3d51e5e3b by wuyanjun110
feat: 新增 align_move_threshold_ 配置参数并替换 align_3rd_4th_move_threshold_ 在 align1st 阶段的使用
The file was modifieddata/config/cfg_env_const.hpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
Commit 4cf4dcdb24ee9abd37eaa8ddd3ed8d819018cf3b by wuyanjun110
feat: 新增目的地匹配与路径距离计算功能，支持非终点目的地导航
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.hpp
Commit 0eb726db69d5b18d103d14937896e4e0988de476 by wuyanjun110
feat: 终点和 起点不在一条车道上， 并且 终点在身后就的处理

Co-authored-by: Copilot <copilot@github.com>
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit e49db8875d89b72d8e7f3236a4de6a02a61dd237 by wuyanjun110
fix:动态下码头面然后进堆场，搜索过早的问题。
The file was modifieddata/scenario/scenario_region_condition.cpp
Commit 53d5cb0217fc32e3efa1e81c8e69beb8f9fac676 by chenran
fix: sweep exception
The file was modifiedalgorithm/plan/sweep_area.cpp
Commit 5d4eb86bd0400691a024c1d3198f99dff970a322 by chenran
fix: sweep exception
The file was modifiedalgorithm/plan/sweep_area.cpp
Commit c606fdbf358d2f4ada4529ab7d896951bfa50e72 by chenran
fix: wbca path length = 40 in openspace
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit cdba3fef027f65b2762343f58883fe0974ee0dcb by wuyanjun110
fix:进堆场触发直连模式的bug

Co-authored-by: Copilot <copilot@github.com>
The file was modifiedssep/scenarios/scenario_planner_factory.h
Commit dfd1996fcc1c321137668c2fec1bebd8475d8e73 by wuyanjun110
fix:上码头面前， 误入 进堆场场景的bug

Co-authored-by: Copilot <copilot@github.com>
The file was modifieddata/scenario/scenario_planner_action.cpp
Commit a1d6c4e0bfcef0f9ee935eed46ed4ca693207727 by wuyanjun110
fix: wbca path length = 40 in openspace
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 6d68160f633ecaf79f5d10bdd429fed96109a16e by wuyanjun110
fix:进堆场触发直连模式的bug

Co-authored-by: Copilot <copilot@github.com>
The file was modifiedssep/scenarios/scenario_planner_factory.h
Commit 33f73e9d8145c622051b09954603c6f272ca2149 by wuyanjun110
fix:上码头面前， 误入 进堆场场景的bug

Co-authored-by: Copilot <copilot@github.com>
The file was modifieddata/scenario/scenario_planner_action.cpp
Commit aa1eca55157864ba12c7c386766cee95ae0c9fc3 by wuyanjun110
fix:一次规划终点匹配失败的bug
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit ca275eebb8203a2f179f188e4297eb50b166773a by wuyanjun110
fix:在 SeasideSearch 行为中增加对引桥路口区域的判断
The file was modifieddata/scenario/scenario_planner_action.cpp
Commit ccd6eed8c77e3d2f3b794161ca61c0126dcab706 by tangwenqing
fix: Keb-Task: 修复集卡双层避障优化路径可能震荡/不沿参考线行驶的问题

The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedtasks/plan/keb_utils_core.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifiedtasks/plan/keb_utils.hpp
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.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/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedtasks/plan/keb_utils_core.hpp
Commit 91b2d5debb78a3b28f9934cf7ae71c34979cb931 by wuyanjun110
feat:<西联>适配Uturn上码头面
The file was modifieddata/scenario/scenario_planner_bt.cpp
The file was modifieddata/scenario/scenario_planner_condition.cpp
Commit 412605b9dfe0a1cd8cad47d0c06df1cad91fec06 by tangwenqing
fix: SSEP: 修复进堆场近距离模式判断条件错误

The file was modifiedssep/scenarios/scenario_planner_factory.h
Commit 66e4f9d2007bbf032c0f0b7d745dfd22bffd430a by tangwenqing
fix: Keb-task: 修复低贝位进堆场轨迹震荡的bug

The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedtasks/plan/keb_utils_core.cpp
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was addedssep/keb_optimizer/cost_features/temporal_consistency_cost.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/cost_features/ref_line_cost.h
Commit 85a5b9891b746c13236e27215b13a470491d83e9 by tangwenqing
chore: Keb-task: 提升Keb-IMV轨迹稳定性（时序一致性）

The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was modifiedssep/keb_optimizer/cost_features/imv_dynamic_constraint.h
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/keb_problem.h
The file was modifiedssep/keb_optimizer/cost_features/imv_steer_constraint.h
Commit dd6f2887eff14c5672e36024b0813714c5934550 by wuyanjun110
refactor: 将SLBoundary计算外提并作为参数传入CrashHelper相关函数，优化转场吊车阻挡逻辑
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifiedcommon/util/crash_helper.hpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/obstacle/block.cpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.cpp
The file was modifiedcommon/util/crash_helper.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/obstacle/block.hpp
Commit ceaca35f06fdd7ca19c7d1c2f7904d164ae48bb6 by wuyanjun110
feat: 添加碰撞但不停车的龙门吊禁停区域记录

Co-authored-by: Copilot <copilot@github.com>
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/constrain/block_data.hpp
Commit 07aee2a74e0684ef85d9b7056ba0a6e99e82a8cd by tangwenqing
feat: SSEP-KEB: 增加keb优化诊断工具。改进优化后处理的运动学判据

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/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was addedssep/keb_optimizer/keb_problem_diagnostic.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modified.gitignore
The file was addedssep/keb_optimizer/keb_problem_diagnostic.h
The file was addedscripts/keb_diagnostic_vis.py
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
Commit 388add416c723ad59840b0b866aae8993959bf1a by tangwenqing
feat: Keb: 实现rosbag->keb scene的数据转换工具

The file was addedoffboard/bag_to_keb_scene/bag_reader.hpp
The file was addedoffboard/bag_to_keb_scene/bag_to_keb_scene.cc
The file was addedoffboard/bag_to_keb_scene/README.md
The file was addedoffboard/bag_to_keb_scene/CMakeLists.txt
The file was modifiedCMakeLists.txt
The file was addedoffboard/bag_to_keb_scene/bag_reader.cc
Commit c291f23eaf81a12b77b9dfc825f868bd5a3f4519 by tangwenqing
chore: Keb-Diagnose: 关闭多初始解诊断

The file was modifiedssep/keb_optimizer/keb_problem_diagnostic.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/keb_problem_diagnostic.h
Commit 7a7e1113cb2032a9b4154567f9428355baf3e979 by tangwenqing
feat: Keb: 实现rosbag->keb scene的数据转换工具

The file was addedoffboard/bag_to_keb_scene/README.md
The file was addedoffboard/bag_to_keb_scene/bag_reader.cc
The file was addedoffboard/bag_to_keb_scene/bag_to_keb_scene.cc
The file was addedoffboard/bag_to_keb_scene/CMakeLists.txt
The file was addedoffboard/bag_to_keb_scene/bag_reader.hpp
The file was modifiedCMakeLists.txt
Commit ff306a5a442fa8945cdce677a6c549f1c0695ef5 by wuyanjun110
fix: 修正AddJunctionBlockRanges函数中的起始位置计算逻辑
The file was modifieddata/constrain/block_data.cpp
Commit b7412fd21a316b1ef3703cc93d759282d4540fe8 by wuyanjun110
feat: 适配云端障碍物类别的功能

Co-authored-by: Copilot <copilot@github.com>
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/vehicle/cloud_pnc_config.hpp
The file was modifieddata/vehicle/cloud_pnc_config.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifiedhmi/draw/draw_intersection.cpp
The file was modifiedhmi/draw/draw_map.cpp
The file was modifiedplan/prepare/prepare_ogm.hpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/scenario/scenario_planner_condition.cpp
Commit 86de8210ee68e6329f32cc1a35868b69ed2a94b7 by wuyanjun110
fix: 修正UpdateBufferRange函数中障碍物遍历逻辑，改为使用历史障碍物数据
The file was modifieddata/vehicle/lock_station_data.cpp
Commit 2b509a221cdd64b1c693b51a550bdfdec8bfa437 by wuyanjun110
fix: 更新RoutingPath::UpdateDestDistance逻辑，增加对route_indices_大小的检查
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 8b78c5bcbf315994e7b6238c1d5185cab419aad9 by tangwenqing
chore: snapshot转keb scene的脚本使用流式读取，解决out of memory问题。真实录包验证通过。

The file was modifiedoffboard/bag_to_keb_scene/bag_reader.cc
The file was modifiedoffboard/bag_to_keb_scene/README.md
The file was modifiedoffboard/bag_to_keb_scene/bag_reader.hpp
The file was modifiedoffboard/bag_to_keb_scene/bag_to_keb_scene.cc
Commit c0c14c2d3b302d1ece6e57277f25e32b0028e45a by tangwenqing
fix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。

The file was modifiedtasks/plan/keb_utils.cpp
Commit 44f7b48f99c518652479d5e51bea85b3e35d6de8 by tangwenqing
chore: snapshot转keb scene的脚本使用流式读取，解决out of memory问题。真实录包验证通过。

The file was modifiedoffboard/bag_to_keb_scene/bag_reader.hpp
The file was modifiedoffboard/bag_to_keb_scene/README.md
The file was modifiedoffboard/bag_to_keb_scene/bag_to_keb_scene.cc
The file was modifiedoffboard/bag_to_keb_scene/bag_reader.cc
Commit 70f22cdfbe6f4f6d176a40d97091accaf3f47740 by tangwenqing
fix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。

The file was modifiedtasks/plan/keb_utils.cpp
Commit c5db948fe5fb7098173c070809482e128577b495 by tangwenqing
fix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。

The file was modifiedtasks/plan/keb_utils.cpp
Commit 91fdc35083c9b02c48101419fd07aa48aa141b66 by tangwenqing
feat: SSEP: 增加跨运车普通搜索（单段搜索），自适应起点朝向。

The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was addedssep/scenarios/straddle_carrier_general_planner.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/protos/ssep_scenario_type.proto
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
Commit b7fd0ea445d47529917a4cbfbe8dbc1007c7c789 by tangwenqing
chore: snapshot to keb scene 增加批量转换功能

The file was modifiedoffboard/bag_to_keb_scene/README.md
The file was modifiedoffboard/bag_to_keb_scene/bag_to_keb_scene.cc
Commit c536333cacc14cfa6409a6c3cbce88b8046073ef by wuyanjun110
fix:修复进bulk场景中，有一帧场景器不运行的bug
The file was modifiedscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
Commit 6fbef3aa974bd5ef568ccbc99974572aed2ebaad by tangwenqing
fix: SSEP: ogm为空时退出搜索

The file was modifieddata/ssep/ssep_activation.cpp
Commit f52484d31ef770116289c6501ba45ac3c0800d1a by wuyanjun110
refactor:上下引桥搜索的时候考虑ogm_lines, 然后删除原有的boundary
The file was modifieddata/ssep/bridge_junction_ec.cpp
The file was modifieddata/ssep/field_junction_ec.cpp
Commit 223d3a6d63e5dc946bb54f6ff62014329fdf54e3 by chenran
fix: cancel wbca task_id verification
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 61ad307f176a1e2ecec7b94d5a63764d73c65e24 by tangwenqing
feat: Keb: Add keb-foxglove visualization

The file was modified.gitignore
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneEntity.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/CylinderPrimitive.proto
The file was addedoffboard/keb_vis_server/foxglove/requirements.txt
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Quaternion.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneUpdate.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/LinePrimitive.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SpherePrimitive.proto
The file was addedoffboard/keb_vis_server/foxglove/keb_to_mcap.py
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Point3.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Vector3.proto
The file was addedoffboard/keb_vis_server/foxglove/README.md
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Pose.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneEntityDeletion.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/ArrowPrimitive.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Color.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/KeyValuePair.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/TriangleListPrimitive.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/CubePrimitive.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/ModelPrimitive.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/TextPrimitive.proto
Commit 3d0d0fca081f967e21bb815c2b190c89ac9284c9 by tangwenqing
feat: Keb: Add foxglove remote file server

The file was modifiedoffboard/keb_vis_server/foxglove/README.md
The file was addedoffboard/keb_vis_server/foxglove/serve_mcap.py
Commit 0f11ae0bab1008819526bd858df4337cf40a65e0 by tangwenqing
fix: Keb: 修复keb-foxglove转换脚本

The file was modifiedoffboard/keb_vis_server/foxglove/README.md
The file was addedoffboard/keb_vis_server/foxglove/generate_protos.sh
Commit 44c2b4b85df795417ffb726444c32293dbc1f123 by tangwenqing
feat: SSEP: 跨运车车型支持多段路径搜索（可通过参数配置）

The file was modifiedssep/scenarios/straddle_carrier_general_planner.h
Commit 0c8a011f5420723cb66ac58914844eccfc48aeee by tangwenqing
chore: SSEP: 跨运车路径搜索时不考虑终点约束

The file was modifiedssep/ssep_planner.cc
Commit 9194eea41c71b4fbb0224dba9be07f7ce477d675 by tangwenqing
fix: 修复编译依赖关系未指定导致概率性编译失败的问题

The file was modifiedproto/CMakeLists.txt
Commit 1b925974d34136dcea854939e67007dde1243e2f by tangwenqing
chore: Keb: 跑通优化诊断全流程。解决S弯道IMV距离障碍物太近/画龙问题

The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.hpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was addedssep/protos/diagnostic.proto
The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was modifiedssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
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/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedoffboard/keb_vis_server/foxglove/generate_protos.sh
The file was modifiedssep/keb_optimizer/keb_problem_diagnostic.cc
The file was modifiedssep/keb_optimizer/keb_problem_diagnostic.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedproto/keb_scene.proto
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedproto/CMakeLists.txt
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedoffboard/keb_path_opt_cli/keb_path_opt_cli.cc
The file was modifiedoffboard/keb_vis_server/foxglove/keb_to_mcap.py
The file was modifiedoffboard/keb_path_opt_cli/CMakeLists.txt
The file was modifiedssep/keb_optimizer/keb_problem.h
Commit 016c1c47dab8fedb1d3a7577ac83684b561c844e by wuyanjun110
refactor: 优化 CreateRoadSecIdxS 方法中的弯道处理逻辑
The file was modifieddata/map/reference/reference_road_section.cpp
The file was modified.gitignore
Commit 2cae818e72a83c101ee324a77186f5866a191365 by wuyanjun110
refactor: 重构弯道接续逻辑，提取公共查找函数并简化流程
The file was modifieddata/map/reference/reference_road_section.cpp
Commit 4b38573f9ff8b061484c81feef8f75803377cfbf by tangwenqing
chore: SSEP: 集卡多段倒车接挂适配超窄库位

The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
Commit e58ed555388809334c87ab9fdc55fbef1dd89898 by wuyanjun110
refactor: 优化 CreateRoadSecIdxS 方法中的段匹配逻辑
The file was modifieddata/map/reference/reference_road_section.cpp
Commit f5b95a7b89d7da92fddc7d2ad89ae3877d53cce3 by wuyanjun110
refactor: 增强 CenterLineInfo 和 CreateCenterLines 的日志记录，改进错误处理
The file was modifiedtasks/other_tasks/create_center_lines.cpp
The file was modifieddata/plan/center_line_info.cpp
Commit 1d2ccec91a4d5d55ee1a8628b7aa6157da8d8837 by wuyanjun110
feat: 添加上层挂的前后基准距离计算
The file was modifieddata/config/cfg_static.cpp
Commit b3e0c232de1806c24d09b1438c4efd253fc72e33 by wuyanjun110
feat: 添加限速相关参数和窄障碍过滤逻辑
The file was modifieddata/obstacle/occupy_grid.cpp
The file was modifieddata/obstacle/occupy_grid.hpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/config/cfg_safe_const.hpp
Commit 049e471c60e56c09ca7c2223d5d1186b8d2dc541 by wuyanjun110
feat: 碰撞检测相关修改，支持返回碰撞命中信息及禁行道路类型
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
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/constrain/longitude_constrain.hpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifiedhmi/draw/draw_collision_detection.cpp
The file was modifieddata/lattice/ogm_crash_data.hpp
The file was modifiedhmi/draw/draw_constrain.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/plan/predict_path.hpp
The file was modifieddata/constrain/longitude_constrain.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedcommon/util/crash_helper.hpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifieddata/constrain/long_target.cpp
Commit f681eb8a15aaa2e1619d4f531bfe86654aedf63c by wuyanjun110
feat: 停车原因相关修改，新增禁行道路 OGM 停车类型
The file was modifieddata/app/fsm/stop_reason.hpp
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifiedcommon/util/express.cpp
The file was modifieddata/app/fsm/stop_reason.cpp

Summary

  1. feat_out: 威海港 no_driving 增加z数据 (details)
  2. fix_out: 读取z编译失败修复 (details)
Commit 610860892c438a825b4d2bf1d71b77af93c5b599 by caoxue
feat_out: 威海港 no_driving 增加z数据
The file was modifiedinterface/parser/map_loader.cc
The file was modifiedinclude/hdmap_interface/map_elements/object.h
Commit fcdd29eb9c32f273c0f6e1faa0d609bbc0e9457f by caoxue
fix_out: 读取z编译失败修复
The file was modifiedinterface/parser/map_loader.cc