[Jenkins]Jenkins

Changes

Summary

  1. feat: 普通卡车多段倒车入库时适配拉直点逻辑 (details)
  2. fix: SSEP: 修复变道路径可能有碰撞的问题 (details)
  3. chore: keb task 增加最大转向角余量 (details)
  4. chore: keb实时优化 将转向角余量 提取为配置参数 (details)
  5. chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹 (details)
  6. feat: keb-task 输出的轨迹保持固定长度，解决轨迹越来越短导致到达不了终点的问题 (details)
  7. fix: keb task ssep_end_s_ 赋值错误 (details)
  8. fix: 解决西联IMV进停车位搜索过慢的问题 (details)
  9. fix: 集卡搜索时滤除起点和终点车挂内部的og点 (details)
  10. chore: SSEP: 自卸车进出散货堆场搜索使用软约束 (details)
  11. fix: SSEP: 修复集卡进堆场S弯轨迹不合理，及自适应拉直距离失效的问题 (details)
  12. fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。 (details)
  13. feat: Add Keb-Lane-Follow Task (details)
  14. fix: SSEP: 西联进充电桩压线问题修复 (details)
  15. feat: SSEP:  普通卡车搜索增加“final_straight_distance”参数配置项 (details)
  16. feat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离 (details)
  17. fix: SSEP: 修复苏溪IMV出停车位可能绕大圈的问题 (details)
  18. fix: SSEP: 解决普通卡车多段倒车进卸料点路径可能跳变的问题 (details)
  19. fix: SSEP: 精确倒车时不使用历史路径 (details)
  20. fix: SSEP: 修复普通卡车搜索拉直段失效的问题 (details)
  21. feat: SSEP: 增加离线轨迹库功能（包括轨迹库生成与可视化） (details)
  22. feat: SSEP: 接入离线轨迹库 (details)
  23. fix: SSEP: 修复苏溪集卡进停车位可能停歪的问题 (details)
  24. fix: SSEP: 修复IMV掉头进堆场轨迹绕圈问题，提升搜索成功率，加快搜索速度 (details)
  25. feat:  SSEP: 完善离线轨迹框架，IMV进充电桩场景跑通离线轨迹全流程 (details)
  26. chore: SSEP: 精准倒车时，搜索器采用更严格的曲率上限，确保优化完不超限 (details)
  27. Refactor: 重构keb task，提高可读性，梳理参数并与PlanFrame解耦，支持后续构建离线仿真调试。 (details)
  28. feat: Keb-Task: task与algorithm解耦，进一步梳理keb algorithm的模块输入输出。replayer增加KebScene数据提取功能。 (details)
  29. chore: keb-task: 完整跑通keb-scene extranction及可视化全流程 (details)
  30. feat: Keb-Task: 完整跑通keb调试数据提取、离线仿真、可视化。 (details)
  31. fix: 修复imv普通搜索参考线错误的问题 (details)
  32. fix: SSEP: 提升太阳纸业自卸车出堆场成功率 (details)
  33. feat: Keb-task: 碰撞检测使用dual-layer双层检测。同步更新仿真与可视化 (details)
  34. chore: SSEP: 集卡多段倒车场景，Replan时加入最后一段拉直逻辑 (details)
  35. chore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度 (details)
  36. chore: SSEP: 解决集卡多段倒车可能绕圈的问题 (details)
  37. fix: SSEP: 修复多段倒车路径异常问题 (details)
  38. feat: keb实时优化 - 双层车体碰撞模型通过离线测试 (details)
  39. feat: keb-task 仿真工具增加场景扩展功能与基于场景扩展的闭环仿真 (details)
  40. fix: SSEP: 修复自卸车进卸料区路径有点斜的问题 (details)
  41. feat: Keb-Simulation: 3D可视化 (details)
  42. fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 (details)
  43. feat:合并ssep (details)
  44. fix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题 (details)
  45. feat: SSEP-offboard: 添加离线路径绘制工具 (details)
  46. feat: SSEP-offboard: 离线路径编辑器支持二次编辑、增加路径复制、路径平移等功能 (details)
  47. feat: SSEP: 增加跨运车抓车场景 (details)
  48. chore: SSEP-offboard: 修复bug，增加车体box可视化 (details)
  49. feat: Keb-Task: OGM构造放入Keb算法内部，防止阻塞主线程 (details)
  50. feat: Keb-Task: OGM构造放入Keb算法内部，防止阻塞主线程 (details)
  51. feat: SSEP: 集卡上下码头面根据pass point构建三次曲线参考线 (details)
  52. chore: Keb-task: 重构并适配keb_lane_follow task (details)
  53. chore: update gitignore (details)
  54. refactor:优化界面耗时 (details)
  55. feat:调整9861的跟车距离 (details)
  56. fix: SSEP: 修复IMV普通搜索在弯道提前结束搜索的问题 (details)
  57. 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)
  58. fix:调整不可偏移区域生成的起始和结束位置计算 (details)
  59. refactor:优化高度禁停点云的使用的逻辑 (details)
  60. fix:移除后向OGM忽略距离的冗余计算 (details)
  61. fix:修复垂直下码头面，box框生成的bug (details)
  62. 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)
  63. 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)
  64. 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)
  65. 优化轮廓合并算法并添加测试支持 (details)
  66. fix: SSEP: 修复跨运车原地自转未分段的问题。 (details)
  67. feat:进堆场时，关闭区域的校验 (details)
  68. feat: 添加合并包络框功能的配置选项 (details)
  69. 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)
  70. fix:洋浦， 修复B004搜索失败的bug (details)
  71. refactor:优化多次禁停的问题 (details)
  72. refactor: 为海南洋浦区域的场桥障碍物增加安全边距 (details)
  73. 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)
  74. 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)
  75. 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)
  76. 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)
  77. refactor: Keb-Offboard: 重构data::path的依赖关系，将keb path opt cli 与 pnc 工程解耦 (details)
  78. feat: 实现缓冲区停车功能（Buffer Stop） (details)
  79. chore: SSEP: 适配烟台跨运车的新需求 (details)
  80. 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)
  81. 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)
  82. 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)
  83. fix:动态下码头面然后进堆场，搜索过早的问题。 (details)
  84. fix: sweep exception (details)
  85. fix: wbca path length = 40 in openspace (details)
  86. fix:进堆场触发直连模式的bug (details)
  87. fix:上码头面前， 误入 进堆场场景的bug (details)
  88. fix:一次规划终点匹配失败的bug (details)
  89. fix:在 SeasideSearch 行为中增加对引桥路口区域的判断 (details)
  90. 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)
  91. feat:<西联>适配Uturn上码头面 (details)
  92. fix: SSEP: 修复进堆场近距离模式判断条件错误 (details)
  93. fix: Keb-task: 修复低贝位进堆场轨迹震荡的bug (details)
  94. chore: Keb-task: 提升Keb-IMV轨迹稳定性（时序一致性） (details)
  95. 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)
  96. feat: 添加碰撞但不停车的龙门吊禁停区域记录 (details)
  97. 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)
  98. feat: Keb: 实现rosbag->keb scene的数据转换工具 (details)
  99. chore: Keb-Diagnose: 关闭多初始解诊断 (details)
  100. fix: 修正AddJunctionBlockRanges函数中的起始位置计算逻辑 (details)
  101. feat: 适配云端障碍物类别的功能 (details)
  102. 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)
  103. fix: 更新RoutingPath::UpdateDestDistance逻辑，增加对route_indices_大小的检查 (details)
  104. 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)
  105. 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)
  106. 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)
  107. fix: lock historical cloud point in replayer. (details)
  108. feat: SSEP: 增加跨运车普通搜索（单段搜索），自适应起点朝向。 (details)
  109. fix:修复进bulk场景中，有一帧场景器不运行的bug (details)
  110. fix: SSEP: ogm为空时退出搜索 (details)
  111. refactor:上下引桥搜索的时候考虑ogm_lines, 然后删除原有的boundary (details)
  112. fix: cancel wbca task_id verification (details)
  113. feat: Keb: Add keb-foxglove visualization (details)
  114. feat: Keb: Add foxglove remote file server (details)
  115. fix: Keb: 修复keb-foxglove转换脚本 (details)
  116. feat: SSEP: 跨运车车型支持多段路径搜索（可通过参数配置） (details)
  117. chore: SSEP: 跨运车路径搜索时不考虑终点约束 (details)
  118. 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)
  119. 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)
  120. refactor: 优化 CreateRoadSecIdxS 方法中的弯道处理逻辑 (details)
  121. refactor: 重构弯道接续逻辑，提取公共查找函数并简化流程 (details)
  122. chore: SSEP: 集卡多段倒车接挂适配超窄库位 (details)
  123. refactor: 优化 CreateRoadSecIdxS 方法中的段匹配逻辑 (details)
  124. refactor: 增强 CenterLineInfo 和 CreateCenterLines 的日志记录，改进错误处理 (details)
  125. feat: 添加上层挂的前后基准距离计算 (details)
  126. feat: 添加限速相关参数和窄障碍过滤逻辑 (details)
  127. 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)
  128. feat: 停车原因相关修改，新增禁行道路 OGM 停车类型 (details)
  129. refactor: 优化获取配置参数的方式，减少重复调用 (details)
Commit 8f68653b9d125843b6051233fc17eaaff5b7d41b by tangwenqing
feat: 普通卡车多段倒车入库时适配拉直点逻辑

The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/planner_utils.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/planner_utils.cc
Commit 2a4a3514b4d6189f853259a0bb514c214ed33381 by tangwenqing
fix: SSEP: 修复变道路径可能有碰撞的问题

The file was modifiedssep/scenarios/tractor_trailer_lane_change_planner.h
Commit 5c74f7713ddb7866d189e49484343f797d0ea008 by tangwenqing
chore: keb task 增加最大转向角余量

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 0ba658ed3f927a6d0b3dee0373a90b1c01086574 by tangwenqing
chore: keb实时优化 将转向角余量 提取为配置参数

The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
Commit 781cd4cf9b7ce57bc5c663fbdca5d7e6b0ce556c by tangwenqing
chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit 70d37c4b05efead9836daae68422a009780d7c02 by tangwenqing
feat: keb-task 输出的轨迹保持固定长度，解决轨迹越来越短导致到达不了终点的问题

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
Commit 4759524e88de1ad03ab5db3fd72d4c61c2d1b352 by tangwenqing
fix: keb task ssep_end_s_ 赋值错误

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 270076048affadcc2efda531703271bf59bdf934 by tangwenqing
fix: 解决西联IMV进停车位搜索过慢的问题

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
Commit 4c5d87ca4d81f80b640ece8b32e0037bd9d2907a by tangwenqing
fix: 集卡搜索时滤除起点和终点车挂内部的og点

The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/maps/ogm_builder.cc
The file was modifiedssep/maps/ogm_builder.h
Commit a55b1d4a04856902abcc98cb26e679a7322b4031 by tangwenqing
chore: SSEP: 自卸车进出散货堆场搜索使用软约束

The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
Commit 7d345fe068388c5cfcafa2b5146f647344bd4239 by tangwenqing
fix: SSEP: 修复集卡进堆场S弯轨迹不合理，及自适应拉直距离失效的问题

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit cf69665bcc958500349e2fa758f961203e97ac62 by tangwenqing
fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。

The file was modifiedssep/common/utils/path_utils.cc
Commit 219b35a8cff152c0d01f914ba16d1ee88c9c26dc by tangwenqing
feat: Add Keb-Lane-Follow Task

The file was addedtasks/plan/keb_lane_follow_path_task.hpp
The file was modifieddata/config/cfg_stage.hpp
The file was modifiedssep/ssep_planner.cc
The file was addedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedtasks/task_factory.cpp
The file was modifieddata/config/cfg_stage.cpp
Commit fb9f4cef0ec26de180bbc86b8707a4d98ffa9aaf by tangwenqing
fix: SSEP: 西联进充电桩压线问题修复

The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/common/utils/path_utils.cc
Commit 6f21bc5a6c0ac05e0ab717fe7bad09c38ee1a2f0 by tangwenqing
feat: SSEP:  普通卡车搜索增加“final_straight_distance”参数配置项

The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/truck_general_planner.h
Commit b53f0a1cd6255d70b5f57042afbb4c5b5e5a1cd5 by tangwenqing
feat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离

The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
Commit 0ac0111c82d8bb79499fdd3ea8f5ae49ea41a38d by tangwenqing
fix: SSEP: 修复苏溪IMV出停车位可能绕大圈的问题

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
Commit 98ceb2ee4254cb399a4a3bb1901cc13987cfbbc8 by tangwenqing
fix: SSEP: 解决普通卡车多段倒车进卸料点路径可能跳变的问题

The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
Commit cd4d9dd354b21917814376879733624be88f3dbd by tangwenqing
fix: SSEP: 精确倒车时不使用历史路径

The file was modifiedssep/ssep_planner.cc
Commit f2e8e1e7d82d9f4cfa9d95d99fac30edcd26d961 by tangwenqing
fix: SSEP: 修复普通卡车搜索拉直段失效的问题

The file was modifiedssep/scenarios/truck_general_planner.h
Commit 882808fccb8e2b57410240ce996fd01f871924aa by tangwenqing
feat: SSEP: 增加离线轨迹库功能（包括轨迹库生成与可视化）

The file was addedssep/offboard/servers/path_repository_vis_server.cc
The file was addedssep/offboard/servers/path_repository_vis_html_template.cc
The file was modifiedssep/CMakeLists.txt
The file was addedssep/offboard/generate_path_repository/generate_path_repository_cli.cc
The file was addedssep/offboard/servers/path_repository_vis_html_template.h
The file was addedssep/protos/state_match_condition.proto
The file was addedssep/protos/path_repository.proto
The file was modifiedssep/offboard/servers/CMakeLists.txt
The file was addedssep/offboard/generate_path_repository/CMakeLists.txt
Commit c40f17e705fcd22d588f509e223b97afd6f94701 by tangwenqing
feat: SSEP: 接入离线轨迹库

The file was addedssep/data_structures/state_match_condition.h
The file was modifiedssep/ssep_planner.cc
The file was addedssep/data_structures/state_match_condition.cc
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/offboard/generate_path_repository/generate_path_repository_cli.cc
The file was addedssep/data_structures/path_repository_manager.cc
The file was addedssep/data_structures/path_repository_manager.h
The file was modifiedssep/protos/path_repository.proto
Commit 73643888aac8b5f7b0a28de66d6b9dae5c35014e by tangwenqing
fix: SSEP: 修复苏溪集卡进停车位可能停歪的问题

The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit d75a79ff291255b2073946e678d0ef4e69c69c4a by tangwenqing
fix: SSEP: 修复IMV掉头进堆场轨迹绕圈问题，提升搜索成功率，加快搜索速度

The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
Commit 71318654777a1d34b5e432c05012dcba1defbcf9 by tangwenqing
feat:  SSEP: 完善离线轨迹框架，IMV进充电桩场景跑通离线轨迹全流程

The file was modifiedssep/data_structures/path_repository_manager.cc
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/protos/scene.proto
The file was addedssep/protos/operation_mode.proto
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/protos/path_repository.proto
The file was modifiedssep/offboard/scene_replay/CMakeLists.txt
The file was modifiedssep/offboard/servers/path_repository_vis_html_template.cc
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/offboard/generate_path_repository/generate_path_repository_cli.cc
The file was modifiedssep/data_structures/path_repository_manager.h
The file was modifieddata/config/cfg_ssep.cpp
The file was modifiedssep/offboard/servers/path_repository_vis_server.cc
The file was modifieddata/config/cfg_ssep.hpp
Commit 2c034f89e04c6b63b9a9b3325f0114aa3d23c67c by tangwenqing
chore: SSEP: 精准倒车时，搜索器采用更严格的曲率上限，确保优化完不超限

The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
Commit 419575f0bc72c58284e15eeb174aeac24f3654e1 by tangwenqing
Refactor: 重构keb task，提高可读性，梳理参数并与PlanFrame解耦，支持后续构建离线仿真调试。

The file was modifieddata/common/path.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedssep/data_structures/path_utils.h
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was addedalgorithm/plan/keb_optimizer.cpp
The file was addedalgorithm/plan/keb_optimizer.hpp
Commit f0150e3d3ab34ee7357c0d80af6d509b2deb1cd4 by tangwenqing
feat: Keb-Task: task与algorithm解耦，进一步梳理keb algorithm的模块输入输出。replayer增加KebScene数据提取功能。

The file was addedssep/protos/ogm.proto
The file was addedtasks/plan/keb_utils.hpp
The file was modifiedssep/maps/ogm.cc
The file was modifiedhmi/replayer_hmi.hpp
The file was addedproto/CMakeLists.txt
The file was modifiedreplayer/logic.hpp
The file was modifiedssep/maps/ogm_builder.cc
The file was modifiedhmi/replayer_hmi.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.hpp
The file was modifieddata/common/path_point.hpp
The file was modifiedssep/CMakeLists.txt
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedreplayer/main.cpp
The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was addedproto/keb_scene.proto
The file was modifiedCMakeLists.txt
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was addedproto/data_path.proto
The file was modifiedssep/maps/ogm.h
The file was addedtasks/plan/keb_utils.cpp
The file was modifieddata/common/path_point.cpp
The file was modifiedreplayer/logic.cpp
The file was modifieddata/common/path.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifieddata/common/path.hpp
Commit f8e0a36c66f5040d93ab15f3eea8eedecc5d9f92 by tangwenqing
chore: keb-task: 完整跑通keb-scene extranction及可视化全流程

The file was addedoffboard/keb_vis_server/keb_vis_html_template.h
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was addedoffboard/keb_vis_server/keb_vis_html_template.cc
The file was addedoffboard/keb_vis_server/keb_vis_server.cc
The file was modifiedssep/maps/ogm.cc
The file was modifiedssep/protos/ogm.proto
The file was addedoffboard/keb_vis_server/CMakeLists.txt
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifieddata/plan/start_point_data.hpp
The file was modifiedssep/maps/ogm.h
Commit 52abfb30b6c58693392fbab9c7aa288e231a3901 by tangwenqing
feat: Keb-Task: 完整跑通keb调试数据提取、离线仿真、可视化。

The file was modifiedproto/keb_scene.proto
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was addedoffboard/keb_path_opt_cli/keb_path_opt_cli.cc
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifieddata/ssep/field_junction_ec.hpp
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifiedoffboard/keb_vis_server/keb_vis_html_template.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was modifiedssep/keb_optimizer/cost_features/dynamic_constraint.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifiedCMakeLists.txt
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit a8a77d0c941af4a95bc3670a81a607e4ab3ed093 by tangwenqing
fix: 修复imv普通搜索参考线错误的问题

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
Commit 8ccf5f548cd0e4131c1b82954c2adecdac06c3e2 by tangwenqing
fix: SSEP: 提升太阳纸业自卸车出堆场成功率

The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
Commit cb4d9f128e3c5f9691bbeb42c422b23711f7aa61 by tangwenqing
feat: Keb-task: 碰撞检测使用dual-layer双层检测。同步更新仿真与可视化

The file was modifiedssep/protos/params.proto
The file was modifiedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
The file was modifiedoffboard/keb_vis_server/keb_vis_html_template.cc
The file was addedssep/keb_optimizer/cost_features/dual_layer_trailer_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/param_loader/param.h
The file was modifiedproto/keb_scene.proto
The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was modifiedssep/maps/ogm.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedtasks/plan/keb_utils.hpp
The file was modifiedoffboard/keb_vis_server/CMakeLists.txt
The file was addedssep/keb_optimizer/cost_features/dual_layer_disk_collision_cost.h
The file was modifiedoffboard/keb_path_opt_cli/keb_path_opt_cli.cc
The file was modifiedssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
Commit 78cecf1ba9ad4a0ecc14fb30756722d7d294ec61 by tangwenqing
chore: SSEP: 集卡多段倒车场景，Replan时加入最后一段拉直逻辑

The file was modifiedssep/scenarios/stitching_replanner.h
The file was modifiedssep/ssep_planner.cc
Commit c3744d5c2226e5ec04a54249deca78e4abaa48d9 by tangwenqing
chore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度

The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/ssep_planner.cc
Commit 9fd0e87b9539412176f5438b4cf8fa2c4353941a by tangwenqing
chore: SSEP: 解决集卡多段倒车可能绕圈的问题

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 7f9930f514e94f399ae91826d94469b8c4543ac7 by tangwenqing
fix: SSEP: 修复多段倒车路径异常问题

The file was modifiedssep/ssep_planner.cc
Commit 37980ff352590504416c64de985244f7000d8da5 by tangwenqing
feat: keb实时优化 - 双层车体碰撞模型通过离线测试

The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.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 modifiedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
The file was removedssep/keb_optimizer/cost_features/dual_layer_trailer_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/cost_features/trailer_disk_collision_cost.h
The file was modifiedssep/protos/params.proto
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedoffboard/keb_vis_server/keb_vis_html_template.cc
The file was removedssep/keb_optimizer/cost_features/dual_layer_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedCMakeLists.txt
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/param_loader/param.h
Commit 8d0a9328235149cea3ae87be7d21efde5c8a236a by tangwenqing
feat: keb-task 仿真工具增加场景扩展功能与基于场景扩展的闭环仿真

The file was addedoffboard/keb_path_opt_cli/closed_loop_utils.cc
The file was addedoffboard/keb_path_opt_cli/keb_simulator.hpp
The file was modifiedoffboard/keb_path_opt_cli/keb_path_opt_cli.cc
The file was addedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifiedCMakeLists.txt
The file was addedoffboard/keb_path_opt_cli/keb_scene_converter.hpp
The file was addedoffboard/keb_path_opt_cli/closed_loop_utils.hpp
The file was addedoffboard/keb_path_opt_cli/keb_scene_converter.cc
Commit eabb10afdc35e185d27771aac7ba24bd61889764 by tangwenqing
fix: SSEP: 修复自卸车进卸料区路径有点斜的问题

The file was modifiedssep/scenarios/stitching_replanner.h
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
Commit 8667ab96d09a1370c69066ea1ffe91c989e814f5 by tangwenqing
feat: Keb-Simulation: 3D可视化

The file was modifiedoffboard/keb_vis_server/keb_vis_html_template.cc
Commit d71f84f7a302a3f5eceb0fcf5b867f77b33e6435 by tangwenqing
fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题

The file was modifiedssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
Commit 711ae84b63603a37fd75db06de659795e77678fa by wuyanjun110
feat:合并ssep

The file was modifiedssep/protos/params.proto
The file was modifiedssep/maps/ogm.h
The file was modifiedssep/protos/path_repository.proto
The file was modifiedssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was addedssep/protos/ogm.proto
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/keb_optimizer/cost_features/trailer_disk_collision_cost.h
The file was modifiedssep/data_structures/path_utils.h
The file was modifiedssep/offboard/generate_path_repository/generate_path_repository_cli.cc
The file was modifiedssep/data_structures/path_repository_manager.h
The file was modifiedssep/offboard/servers/path_repository_vis_html_template.cc
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/param_loader/param.h
The file was addedssep/protos/operation_mode.proto
The file was modifiedssep/protos/scene.proto
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/maps/ogm.cc
The file was modifiedssep/scenarios/stitching_replanner.h
The file was modifiedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
The file was modifiedssep/offboard/servers/path_repository_vis_server.cc
The file was modifiedssep/data_structures/path_repository_manager.cc
The file was modifiedssep/maps/ogm_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/offboard/scene_replay/CMakeLists.txt
The file was modifiedssep/keb_optimizer/cost_features/dynamic_constraint.h
Commit 4b4d21aeba2a5465e2532f017b9f5725d703037a by tangwenqing
fix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题

The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 28c58b5889385d77f87b0a147fa930b0cf793cc9 by tangwenqing
feat: SSEP-offboard: 添加离线路径绘制工具

The file was addedssep/offboard/path_drawing_tool/path_drawing_html_template.h
The file was addedssep/offboard/path_drawing_tool/path_drawing_tool_main.cc
The file was addedssep/offboard/path_drawing_tool/CMakeLists.txt
The file was addedssep/offboard/path_drawing_tool/hermite_path_generator.cc
The file was addedssep/offboard/path_drawing_tool/hermite_path_generator.h
The file was addedssep/offboard/path_drawing_tool/path_drawing_html_template.cc
Commit 333b3ebc6cdbb5cbdcbebecd0b9959bb8cf63045 by tangwenqing
feat: SSEP-offboard: 离线路径编辑器支持二次编辑、增加路径复制、路径平移等功能

The file was modifiedssep/offboard/path_drawing_tool/path_drawing_html_template.cc
The file was modifiedssep/offboard/path_drawing_tool/path_drawing_tool_main.cc
Commit 19d43f16047fee154f24f14a80002e88dcf82d7f by tangwenqing
feat: SSEP: 增加跨运车抓车场景

The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cc
The file was addedssep/scenarios/straddle_carrier_pick_vehicle_planner.h
The file was modifiedssep/protos/ssep_scenario_type.proto
The file was modifiedssep/common/utils/scene_frame_visualization.cc
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
Commit 30e6bf3d7c6cfe92ad1634c56514020972a93f0d by tangwenqing
chore: SSEP-offboard: 修复bug，增加车体box可视化

The file was modifiedssep/offboard/path_drawing_tool/hermite_path_generator.h
The file was modifiedssep/offboard/path_drawing_tool/hermite_path_generator.cc
The file was modifiedssep/offboard/path_drawing_tool/path_drawing_html_template.cc
The file was modifiedssep/offboard/path_drawing_tool/path_drawing_tool_main.cc
Commit e506b961c19a089454f59fe4fe26dcda7e6910d8 by tangwenqing
feat: Keb-Task: OGM构造放入Keb算法内部，防止阻塞主线程

The file was modifiedoffboard/keb_vis_server/keb_vis_html_template.cc
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was modifiedproto/keb_scene.proto
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedtasks/plan/keb_utils.hpp
The file was modifiedoffboard/keb_path_opt_cli/closed_loop_utils.cc
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 modifiedtasks/plan/keb_utils.cpp
Commit 532974338bfb34db8cb80624fa8e6a81ccef32e9 by tangwenqing
feat: Keb-Task: OGM构造放入Keb算法内部，防止阻塞主线程

The file was modifiedtasks/plan/keb_utils.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.hpp
The file was modifiedoffboard/keb_vis_server/keb_vis_html_template.cc
The file was modifiedproto/keb_scene.proto
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedoffboard/keb_path_opt_cli/closed_loop_utils.cc
The file was modifiedtasks/plan/keb_utils.cpp
Commit 6bc50a6714be053d17ee070e2fe82c5b858df708 by tangwenqing
feat: SSEP: 集卡上下码头面根据pass point构建三次曲线参考线

The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/planner_utils.cc
The file was modifiedssep/scenarios/planner_utils.h
The file was modifiedssep/data_structures/pose.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit 6d0b3d30c4d7c182792259dc8efb60945ebce0d6 by tangwenqing
chore: Keb-task: 重构并适配keb_lane_follow task

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

The file was modified.gitignore
Commit 61bd292727204c41639f5511192a8efb5a4dfa4c by wuyanjun110
refactor:优化界面耗时
The file was modifiedhmi/common/chart.hpp
The file was modifiedhmi/widget/diagnose.hpp
The file was modifiedhmi/widget/steer_chart.cpp
The file was modifiedhmi/widget/diagnose.cpp
The file was modifiedhmi/widget/brake_chart.hpp
The file was modifiedhmi/widget/perf_cost_detail.cpp
The file was modifiedhmi/widget/velocity_chart.cpp
The file was modifiedhmi/widget/command.cpp
The file was modifiedhmi/common/chart.cpp
The file was modifiedhmi/widget/throttle_chart.cpp
The file was modifiedhmi/widget/command.hpp
The file was modifiedhmi/widget/perf_cost_detail.hpp
The file was modifiedhmi/widget/velocity_chart.hpp
The file was modifiedhmi/widget/brake_chart.cpp
The file was modifiedhmi/widget/steer_chart.hpp
The file was modifiedhmi/widget/throttle_chart.hpp
Commit 791937e15aff1522260893b084824b63772b081e by wuyanjun110
feat:调整9861的跟车距离
The file was modifieddata/constrain/longitude_constrain.cpp
The file was modifieddata/constrain/longitude_constrain.hpp
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.h
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 addedssep/offboard/path_drawing_tool/curvature_auto_adjuster.h
The file was modifiedssep/offboard/path_drawing_tool/path_drawing_html_template.cc
The file was modifiedssep/offboard/path_drawing_tool/CMakeLists.txt
The file was addedssep/offboard/path_drawing_tool/curvature_auto_adjuster.cc
The file was modifiedssep/offboard/path_drawing_tool/hermite_path_generator.cc
Commit 4f2a845f81ce16009d0953d7cd45cdfa02785154 by wuyanjun110
fix:调整不可偏移区域生成的起始和结束位置计算
The file was modifieddata/boundary/road_boundary.cpp
Commit 656cd3b9c04bf95305ef002f48505622048bda1d by wuyanjun110
refactor:优化高度禁停点云的使用的逻辑
The file was modifiedsource/ros_source_forbidden_road_og.cpp
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/disable_stop_range.cpp
The file was modifieddata/constrain/block_data.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 modifiedalgorithm/plan/keb_optimizer.hpp
The file was modifiedoffboard/keb_vis_server/keb_vis_html_template.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifiedssep/data_structures/path.h
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedtasks/plan/keb_lane_follow_path_task.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedtasks/plan/keb_utils.hpp
The file was modifiedproto/keb_scene.proto
The file was modifiedssep/keb_optimizer/keb_utils.cc
The file was modifieddata/plan/ssep_data.hpp
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_utils.h
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
Commit e227d850087b14ab33edb73b94d5b2059cc9149f by wuyanjun110
优化轮廓合并算法并添加测试支持
The file was addeddata/ssep/online_region_contour_creator_test.cpp
The file was modifiedCMakeLists.txt
The file was modifieddata/ssep/online_region_contour_creator.cpp
The file was modifieddata/ssep/online_region_contour_creator.hpp
The file was addedscripts/run_contour_union_case_test.sh
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/config/cfg_func_sw.hpp
The file was modifieddata/map/envelop/map_envelops.cpp
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/bridge_junction_ec.cpp
The file was modifieddata/ssep/normal_junction_ec.cpp
The file was modifieddata/scenario/scenario_planner_condition.cpp
The file was modifieddata/ssep/seaside_junction_ec.cpp
The file was modifieddata/scenario/scenario_planner_bt.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/temporary_stop_data.cpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/constrain/disable_stop_range.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 addedoffboard/keb_vis_server/crow/returnable.h
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifiedssep/maps/ogm.cc
The file was addedoffboard/keb_vis_server/crow/socket_adaptors.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was addedoffboard/keb_vis_server/crow/json.h
The file was addedoffboard/keb_vis_server/crow/ci_map.h
The file was addedoffboard/keb_vis_server/crow/http_server.h
The file was modifiedssep/maps/ogm.h
The file was modifiedtasks/plan/keb_utils.cpp
The file was addedoffboard/keb_vis_server/crow/compression.h
The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was addedoffboard/keb_vis_server/crow/middlewares/cookie_parser.h
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.hpp
The file was addedoffboard/keb_vis_server/crow/middlewares/session.h
The file was addedoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.cc
The file was addedoffboard/keb_vis_server/crow/middlewares/cors.h
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was addedoffboard/keb_vis_server/crow/mustache.h
The file was modifiedssep/data_structures/path.cc
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was addedoffboard/keb_vis_server/crow/http_request.h
The file was addedoffboard/keb_vis_server/crow/multipart_view.h
The file was addedoffboard/keb_vis_server/crow/socket_acceptors.h
The file was addedoffboard/keb_vis_server/crow/task_timer.h
The file was modifiedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was addedoffboard/keb_vis_server/crow.h
The file was addedoffboard/keb_vis_server/crow/version.h
The file was addedoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.hpp
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was addedoffboard/keb_vis_server/crow/middlewares/utf-8.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/websocket.h
The file was addedoffboard/keb_vis_server/crow/http_connection.h
The file was addedssep/keb_optimizer/cost_features/imv_steer_constraint.h
The file was addedoffboard/keb_vis_server/crow/mime_types.h
The file was addedoffboard/keb_vis_server/crow/parser.h
The file was modifiedssep/keb_optimizer/keb_utils.cc
The file was addedoffboard/keb_vis_server/crow/app.h
The file was modifiedssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
The file was modifiedssep/param_loader/param.h
The file was addedoffboard/keb_vis_server/crow/common.h
The file was modifieddata/config/cfg_ssep.cpp
The file was addedoffboard/keb_vis_server/crow/settings.h
The file was addedoffboard/keb_vis_server/crow/http_response.h
The file was addedoffboard/keb_vis_server/crow/logging.h
The file was addedoffboard/keb_vis_server/crow/utility.h
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was addedoffboard/keb_vis_server/crow/middleware_context.h
The file was addedoffboard/keb_vis_server/crow/query_string.h
The file was addedoffboard/keb_vis_server/crow/routing.h
The file was modifiedCMakeLists.txt
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.hpp
The file was addedoffboard/keb_vis_server/crow/exceptions.h
The file was addedoffboard/keb_vis_server/crow/TinySHA1.hpp
The file was addedoffboard/keb_vis_server/crow/http_parser_merged.h
The file was modifiedtasks/plan/keb_utils.hpp
The file was addedoffboard/keb_vis_server/crow/multipart.h
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 addedssep/scenarios/tractor_trailer_short_distance_planner.h
The file was modifiedssep/scenarios/scenario_planner_factory.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 addedoffboard/keb_path_opt_cli/CMakeLists.txt
The file was modifiedtasks/plan/keb_utils.hpp
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifiedmath/curve2d/curve2d.hpp
The file was modifiedCMakeLists.txt
The file was modifieddata/common/path_point.hpp
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifieddata/semantic/collision_position.hpp
The file was modifieddata/semantic/vehicle.cpp
The file was modifieddata/obstacle/occupy_grid.hpp
The file was addedtasks/plan/keb_utils_core.cpp
The file was modifieddata/common/guide_path.cpp
The file was modifieddata/common/path.cpp
The file was addedtasks/plan/keb_utils_core.hpp
The file was modifiedalgorithm/decision/path_turn_type.cpp
The file was modifieddata/common/path_point.cpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifieddata/common/path.hpp
Commit 6b0c4ec35fdc890ca61c9287f53f5ef1aa90eea7 by wuyanjun110
feat: 实现缓冲区停车功能（Buffer Stop）
The file was modifieddata/app/fsm/task_fsm/task_buffer_fsm/task_buffer_fsm.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.hpp
The file was modifieddata/vehicle/lock_station_data.hpp
The file was modifieddata/vehicle/lock_station_data.cpp
The file was modifieddata/scenario/scenario_planner_action.cpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/app/fsm/task_fsm/task_buffer_fsm/task_buffer_fsm.cpp
The file was modifieddata/constrain/block_data.cpp
Commit de88c099a7d7c1516cee194407392871901a23e7 by tangwenqing
chore: SSEP: 适配烟台跨运车的新需求

The file was modifiedssep/scenarios/straddle_carrier_pick_vehicle_planner.h
The file was modifiedssep/ssep_planner.cc
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/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/config/cfg_env_const.hpp
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.hpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
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 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 modifieddata/config/cfg_lat_plan.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.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 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 modifiedtasks/plan/keb_utils.hpp
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedtasks/plan/keb_utils_core.hpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedtasks/plan/keb_utils_core.cpp
Commit 91b2d5debb78a3b28f9934cf7ae71c34979cb931 by wuyanjun110
feat:<西联>适配Uturn上码头面
The file was modifieddata/scenario/scenario_planner_condition.cpp
The file was modifieddata/scenario/scenario_planner_bt.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 addedssep/keb_optimizer/cost_features/temporal_consistency_cost.h
The file was modifiedssep/keb_optimizer/rigid_truck_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/cost_features/ref_line_cost.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
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_problem.cc
The file was modifiedtasks/plan/keb_utils_core.cpp
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
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 modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/keb_optimizer/cost_features/imv_dynamic_constraint.h
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
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/config/cfg_safe_const.hpp
The file was modifiedcommon/util/crash_helper.hpp
The file was modifiedcommon/util/crash_helper.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/obstacle/block.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.cpp
The file was modifieddata/obstacle/block.hpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/constrain/block_data.cpp
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.cc
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was addedscripts/keb_diagnostic_vis.py
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was addedssep/keb_optimizer/keb_problem_diagnostic.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was addedssep/keb_optimizer/keb_problem_diagnostic.h
The file was modified.gitignore
The file was modifiedssep/keb_optimizer/keb_problem.cc
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 modifiedCMakeLists.txt
The file was addedoffboard/bag_to_keb_scene/bag_reader.hpp
The file was addedoffboard/bag_to_keb_scene/CMakeLists.txt
The file was addedoffboard/bag_to_keb_scene/bag_to_keb_scene.cc
The file was addedoffboard/bag_to_keb_scene/bag_reader.cc
The file was addedoffboard/bag_to_keb_scene/README.md
Commit c291f23eaf81a12b77b9dfc825f868bd5a3f4519 by tangwenqing
chore: Keb-Diagnose: 关闭多初始解诊断

The file was modifiedssep/keb_optimizer/keb_problem_diagnostic.h
The file was modifiedssep/keb_optimizer/keb_problem_diagnostic.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
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 modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/vehicle/cloud_pnc_config.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/scenario/scenario_planner_condition.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/vehicle/cloud_pnc_config.hpp
The file was modifiedhmi/draw/draw_intersection.cpp
The file was modifiedhmi/draw/draw_map.cpp
The file was modifiedplan/prepare/prepare_ogm.hpp
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 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/README.md
The file was modifiedoffboard/bag_to_keb_scene/bag_reader.cc
The file was modifiedoffboard/bag_to_keb_scene/bag_to_keb_scene.cc
The file was modifiedoffboard/bag_to_keb_scene/bag_reader.hpp
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 8b0e1133242cdaf6ab53116f39951208493c7ea8 by 5081703.cr
fix: lock historical cloud point in replayer.

The file was modifieddata/config/cfg_hmi.hpp
The file was modifieddata/config/cfg_hmi.cpp
The file was modifiedhmi/replayer_hmi.cpp
The file was modifiedreplayer/logic.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/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/protos/ssep_scenario_type.proto
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/field_junction_ec.cpp
The file was modifieddata/ssep/bridge_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 addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Quaternion.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/TriangleListPrimitive.proto
The file was addedoffboard/keb_vis_server/foxglove/README.md
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/CubePrimitive.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/CylinderPrimitive.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Pose.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Point3.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneEntity.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/Vector3.proto
The file was addedoffboard/keb_vis_server/foxglove/keb_to_mcap.py
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SpherePrimitive.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/requirements.txt
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Color.proto
The file was modified.gitignore
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/KeyValuePair.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/TextPrimitive.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/ModelPrimitive.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 addedoffboard/keb_vis_server/foxglove/generate_protos.sh
The file was modifiedoffboard/keb_vis_server/foxglove/README.md
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_path_opt_cli.cc
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.hpp
The file was modifiedoffboard/keb_vis_server/foxglove/generate_protos.sh
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
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.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was modifiedoffboard/keb_path_opt_cli/CMakeLists.txt
The file was modifiedproto/keb_scene.proto
The file was addedssep/protos/diagnostic.proto
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedproto/CMakeLists.txt
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedoffboard/keb_vis_server/foxglove/keb_to_mcap.py
Commit 016c1c47dab8fedb1d3a7577ac83684b561c844e by wuyanjun110
refactor: 优化 CreateRoadSecIdxS 方法中的弯道处理逻辑
The file was modified.gitignore
The file was modifieddata/map/reference/reference_road_section.cpp
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/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
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 modifieddata/plan/center_line_info.cpp
The file was modifiedtasks/other_tasks/create_center_lines.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/config/cfg_safe_const.hpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/obstacle/occupy_grid.cpp
The file was modifieddata/obstacle/occupy_grid.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 modifieddata/constrain/longitude_constrain.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedcommon/util/crash_helper.hpp
The file was modifieddata/lattice/ogm_crash_data.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/constrain/longitude_constrain.cpp
The file was modifiedcommon/util/crash_helper.cpp
The file was modifieddata/constrain/long_target.cpp
The file was modifieddata/lattice/ogm_crash_data.cpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifieddata/plan/predict_path.hpp
The file was modifiedhmi/draw/draw_collision_detection.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifiedhmi/draw/draw_constrain.cpp
The file was modifieddata/plan/predict_path.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/stop_reason.cpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
The file was modifiedcommon/util/express.cpp
Commit aecf87a4b918714c30dc044500750f6fa06503db by wuyanjun110
refactor: 优化获取配置参数的方式，减少重复调用
The file was modifiedreplayer/logic.cpp