Changes

Summary

1. fix: start_pt from last_path. (details)
2. feat: SSEP: 集卡多段倒车搜索器改进为双向搜索。复测威海、友谊关的问题场景，成功率100% (details)
3. fix:连续载入快照崩溃的bug (details)
4. fix: SSEP: 修复IMV PULLOVER场景最后一段不走直线的问题。 (details)
5. fix: start_pt from last_path. (details)
6. feat: SSEP: 集卡多段倒车搜索器改进为双向搜索。复测威海、友谊关的问题场景，成功率100% (details)
7. fix:连续载入快照崩溃的bug (details)
8. fix: SSEP: 修复IMV PULLOVER场景最后一段不走直线的问题。 (details)
9. fix:董家口靠边作业的问题 (details)
10. feat:wbca求解失败后，使用ssep路径带来的路径跳变问题 (details)
11. fix: add curvature over limit temp stop. (details)
12. fix: curvature_over_limit_stop_coefficient 10.0 (details)
13. chore: SSEP minor updates (details)
14. fix: truck start_pt exception. (details)
15. feat:曲率超限停车优化 (details)
16. feat:travel out 没有一次规划的适配 (details)
17. fix:董家口靠边作业的问题 (details)
18. feat:wbca求解失败后，使用ssep路径带来的路径跳变问题 (details)
19. feat:曲率超限停车优化 (details)
20. fix:调整曲率超限的滤波参数 (details)
21. fix:调整曲率超限的滤波参数 (details)
22. fix:曲率超限停车的bug (details)
23. fix:曲率超限停车的bug (details)
24. feat: add CalcKappaCostSigmoid. (details)
25. fix: SSEP: 集卡进停车位时时候更严格的挂车角度 (details)
26. fix:travel out 没有一次规划，状态机切换的bug (details)
27. feat:travel out 没有一次规划的适配 (details)
28. fix:travel out 没有一次规划，状态机切换的bug (details)
29. fix: SSEP: 修正Rigid truck general builder搜索参数，确保搜索器能具有搜出最大曲率路径的能力。 (details)
30. feat:万道内pjpo路径跳变以及变道的bug修复 (details)
31. fix: using ssep speed_limit for deviation. (details)
32. fix: SSEP: 修复优化器中额外前向碰撞距离计算存在误差的问题，解决前港距离前方障碍物太近的问题。 (details)
33. fix:解决合并代码需要重新编译的问题 (details)
34. fix:解决合并代码需要重新编译的问题 (details)
35. fix: SSEP: 修复前杠倒车进料堆优化失败的问题。 (details)
36. fix:修复拼接的bug (details)
37. fix:修复拼接的bug (details)
38. fix: wbca reversing bug. (details)
39. refactor调整切换lock的阈值 (details)
40. feat:锁站场景不膨胀尺寸 (details)
41. refactor调整切换lock的阈值 (details)
42. feat:锁站场景不膨胀尺寸 (details)
43. fix:代码合并的bug (details)

Commit a1e87467a1da5bc638192f250825135cdaa70087 by 5081703.cr fix: start_pt from last_path.
	data/plan/start_point_data.cpp
Commit 338a769cbefaa2e74bc5d68bd4a38dbf2113ba3c by tangwenqing feat: SSEP: 集卡多段倒车搜索器改进为双向搜索。复测威海、友谊关的问题场景，成功率100%
	ssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
	ssep/offboard/ssep_input_provider.cc
	ssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
	ssep/offboard/generate_scene_data/transform_to_body_frame_cli.cc
	ssep/offboard/scene_frame_provider.cc
	ssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.h
	ssep/offboard/generate_scene_data/trim_scene_paths_cli.cc
	ssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
	ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit 2fa77475c73f757e92ca48b6d2c4f689e7376fdc by wuyanjun110 fix:连续载入快照崩溃的bug
	replayer/replayer_data_process/load_snap_data.cpp
	common/util/hdmap_wrapper.cpp
	replayer/logic.cpp
Commit 6d14adbd2676b9f700514425d7b866434ef14a37 by tangwenqing fix: SSEP: 修复IMV PULLOVER场景最后一段不走直线的问题。
	ssep/scenarios/imv_pullover_planner.h
	ssep/scenarios/truck_accurate_reversing_planner.h
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
	ssep/scenarios/tractor_trailer_enter_yard_planner.h
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
	ssep/scenarios/imv_general_planner.h
	ssep/scenarios/truck_general_planner.h
	ssep/scenarios/imv_enter_station_planner.h
	ssep/scenarios/imv_exit_parking_spot_planner.h
	ssep/scenarios/legacy_planner.h
Commit 8f80031d0d7637e98c5c75d87998ead69c977688 by wuyanjun110 fix: start_pt from last_path.
	data/plan/start_point_data.cpp
Commit 2dd84a30e8bc4d52ef1d2a64dd5dcc33bd1685dd by wuyanjun110 feat: SSEP: 集卡多段倒车搜索器改进为双向搜索。复测威海、友谊关的问题场景，成功率100%
	ssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
	ssep/offboard/generate_scene_data/transform_to_body_frame_cli.cc
	ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
	ssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
	ssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.h
	ssep/offboard/ssep_input_provider.cc
	ssep/offboard/generate_scene_data/trim_scene_paths_cli.cc
	ssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
	ssep/offboard/scene_frame_provider.cc
Commit 8c6ef2c84e5d34a150d3a1551045e2fa440c642d by wuyanjun110 fix:连续载入快照崩溃的bug
	common/util/hdmap_wrapper.cpp
	replayer/replayer_data_process/load_snap_data.cpp
	replayer/logic.cpp
Commit 1d03336637287a2db83e7072e91334373502b167 by wuyanjun110 fix: SSEP: 修复IMV PULLOVER场景最后一段不走直线的问题。
	ssep/scenarios/imv_pullover_planner.h
	ssep/scenarios/legacy_planner.h
	ssep/scenarios/truck_general_planner.h
	ssep/scenarios/imv_enter_station_planner.h
	ssep/scenarios/imv_general_planner.h
	ssep/scenarios/truck_accurate_reversing_planner.h
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
	ssep/scenarios/tractor_trailer_enter_yard_planner.h
	ssep/scenarios/imv_exit_parking_spot_planner.h
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
Commit 789ec4028b2a33883c841842faf1686cf1fe3b05 by wuyanjun110 fix:董家口靠边作业的问题
	data/ssep/forward_ec.cpp
	data/plan/ssep_data.cpp
	data/config/cfg_env_const.cpp
Commit 3ed68f77cd804238028515bf5a7aa49b385c324d by wuyanjun110 feat:wbca求解失败后，使用ssep路径带来的路径跳变问题
	tasks/other_tasks/stitch_path_data_to_path.cpp
Commit ac5fec5eea7a6a9c3520ba21ae2028944e7452bf by 5081703.cr fix: add curvature over limit temp stop.
	data/constrain/block_data.cpp
	data/config/cfg_safe_const.cpp
	data/config/cfg_safe_const.hpp
	tasks/deciders/long_decider/constrain_decider.cpp
	data/constrain/disable_stop_range.cpp
	data/constrain/disable_stop_range.hpp
	data/constrain/block_data.hpp
	data/constrain/temporary_stop_data.cpp
Commit 4a6df680159317e1c86c6b862322ee527d587dd1 by 5081703.cr fix: curvature_over_limit_stop_coefficient 10.0
	data/config/cfg_safe_const.cpp
Commit 6f9d548a5a62a2c5dbbb473030c494fa41068025 by tangwenqing chore: SSEP minor updates
	data/ssep/ssep_activation.cpp
	ssep/common/utils/scene_frame_visualization.cc
Commit e44350fef4a97e9401ba111fe8f1724a0f67adc6 by 5081703.cr fix: truck start_pt exception.
	data/plan/start_point_data.cpp
Commit ba992138c997f6f6b70328429e12c07c9aa28d7a by wuyanjun110 feat:曲率超限停车优化
	hmi/widget/distance.cpp
	data/constrain/block_data.cpp
Commit 603d6e35a3c1e774ef27fad9e031f796025ab64a by wuyanjun110 feat:travel out 没有一次规划的适配
	data/other/flow_control.cpp
	data/app/fsm/task_fsm/task_travel/task_travel_fsm.cpp
	data/plan/guide_line.cpp
	data/app/fsm/task_fsm/task_fsm.cpp
	data/ssep/forward_ec.cpp
	tasks/other_tasks/create_reference_line.cpp
Commit c8f1bbf9716afdacb9b3cd0748ed279c3e163e75 by wuyanjun110 fix:董家口靠边作业的问题
	data/config/cfg_env_const.cpp
	data/ssep/forward_ec.cpp
	data/plan/ssep_data.cpp
Commit 020e0a83e2c76c9a584702ba9d3b745906d9ee74 by wuyanjun110 feat:wbca求解失败后，使用ssep路径带来的路径跳变问题
	tasks/other_tasks/stitch_path_data_to_path.cpp
Commit 76de2323c82763fdcbf6900399338d7b1b57918e by wuyanjun110 feat:曲率超限停车优化
	data/constrain/block_data.cpp
	hmi/widget/distance.cpp
Commit 5d51162a1acdd29317bf8299acf79949442d35f8 by wuyanjun110 fix:调整曲率超限的滤波参数
	data/constrain/block_data.cpp
Commit 491e5cdfcf5b781a314a2af34c5d16281c770781 by wuyanjun110 fix:调整曲率超限的滤波参数
	data/constrain/block_data.cpp
Commit 565ab8b5d3779b6f0ebbb412cbb3d25c6d314237 by wuyanjun110 fix:曲率超限停车的bug
	data/constrain/block_data.cpp
Commit 6515c57d59de9c9707105252942d22ed57da8796 by wuyanjun110 fix:曲率超限停车的bug
	data/constrain/block_data.cpp
Commit 3ec02093369f59536c96444dc56f85a199a177c3 by 5081703.cr feat: add CalcKappaCostSigmoid.
	algorithm/wbca/path_optimization/path_optimization.hpp
	algorithm/wbca/path_optimization/path_optimization.cpp
Commit 2ca8c001689f3a35984187de05139b029c6d403a by tangwenqing fix: SSEP: 集卡进停车位时时候更严格的挂车角度
	ssep/data_structures/map_element_polyline.cc
	ssep/offboard/ssep_planner_wrapper.cc
	ssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
	ssep/offboard/generate_scene_data/transform_to_body_frame_cli.cc
Commit f2290108ddf908793c546086114606cf3e5a07b3 by wuyanjun110 fix:travel out 没有一次规划，状态机切换的bug
	data/app/fsm/task_fsm/task_fsm.cpp
Commit 380a90acdb674c672070c41c2a087bc073a91bf5 by wuyanjun110 feat:travel out 没有一次规划的适配
	data/app/fsm/task_fsm/task_travel/task_travel_fsm.cpp
	tasks/other_tasks/create_reference_line.cpp
	data/ssep/forward_ec.cpp
	data/plan/guide_line.cpp
	data/app/fsm/task_fsm/task_fsm.cpp
	data/other/flow_control.cpp
Commit f1f39985c7264f69556adc16422a74a2ace4819d by wuyanjun110 fix:travel out 没有一次规划，状态机切换的bug
	data/app/fsm/task_fsm/task_fsm.cpp
Commit e8a521b796411bce06e7845a12f3d25ba4131d12 by tangwenqing fix: SSEP: 修正Rigid truck general builder搜索参数，确保搜索器能具有搜出最大曲率路径的能力。
	ssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
	ssep/scenarios/truck_general_planner.h
Commit c58bac22add22aa38736d83891440c3b7512e214 by wuyanjun110 feat:万道内pjpo路径跳变以及变道的bug修复
	data/map/reference/center_line.cpp
	tasks/deciders/lat_decider/path_bounds_decider.cpp
	data/plan/switch_data.cpp
	data/plan/guide_line_base.cpp
Commit 5b5d630f69b1c95a3930102b2c514dc606c08945 by 5081703.cr fix: using ssep speed_limit for deviation.
	plan/prepare/prepare_status.cpp
Commit 2a10cc33142c59327c146a1440b4038eade1eb30 by tangwenqing fix: SSEP: 修复优化器中额外前向碰撞距离计算存在误差的问题，解决前港距离前方障碍物太近的问题。
	ssep/keb_optimizer/rigid_truck_keb_optimizer.cc
	ssep/keb_optimizer/imv_keb_optimizer.cc
	ssep/scenarios/truck_bulk_yark_in_out_planner.cc
	ssep/scenarios/truck_bulk_yark_in_out_planner.h
Commit c3ca0ecec2f21836d8a82b98fbd515172f0ad9f8 by wuyanjun110 fix:解决合并代码需要重新编译的问题
	.gitignore
	CMakeLists.txt
Commit 86232c3bad191b66a196af34c219074e20e141fc by 5081703.cr fix:解决合并代码需要重新编译的问题
	.gitignore
	CMakeLists.txt
Commit 660eedd899aaee86c94f019dcbad3cbcc78cc860 by tangwenqing fix: SSEP: 修复前杠倒车进料堆优化失败的问题。
	ssep/scenarios/truck_fuzzy_reversing_planner.h
Commit e31d4506fcf83a014b2a55451d1e47c8e78241e5 by wuyanjun110 fix:修复拼接的bug
	data/plan/path_direction_data.cpp
	data/plan/start_point_data.cpp
	tasks/other_tasks/stitch_path_data_to_path.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
	data/boundary/road_boundary.cpp
Commit 238e46cb1d29effee165726bafd5180b0ba8d0ed by 5081703.cr fix:修复拼接的bug
	data/plan/start_point_data.cpp
	data/boundary/road_boundary.cpp
	data/plan/path_direction_data.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
	tasks/other_tasks/stitch_path_data_to_path.cpp
Commit ce1f133cbc198256362e293b470d0155c9c6ee9d by 5081703.cr fix: wbca reversing bug.
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/path_optimization/path_optimization.cpp
Commit bee8010e840a688c0151b8eced3e32d26505f915 by wuyanjun110 refactor调整切换lock的阈值
	data/config/cfg_safe_const.cpp
Commit 51f4f51b3c5fe810b8039a8c390f7d1005b6febf by wuyanjun110 feat:锁站场景不膨胀尺寸
	algorithm/plan/ego_expanding.cpp
	hmi/draw/draw_constrain.cpp
Commit 624bf556a93cf138bb8a5c9f349a4f6eb19131a5 by wuyanjun110 refactor调整切换lock的阈值
	data/config/cfg_safe_const.cpp
Commit 6a70b86fc6f3acbe2006fdde64d0c3762a4c10d8 by wuyanjun110 feat:锁站场景不膨胀尺寸
	hmi/draw/draw_constrain.cpp
	algorithm/plan/ego_expanding.cpp
Commit 65c2a4dae1673308a37a3eb889f1fd6ddb95fe89 by wuyanjun110 fix:代码合并的bug
	data/plan/switch_data.cpp