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Changes

Summary

  1. fix: imv cost (details)
  2. feat: SSEP: 前进/后退时使用不同的碰撞检测策略。增加前进方向的额外碰撞检测。 (details)
  3. fix:参考线拼接的bug (details)
Commit 67c7f7b98cbe9ee15d506e15e55bebec1b4cdbc3 by 5081703.cr
fix: imv cost

The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit 5413b860f2b300b25dcad25300eecba5a1eb7bfb by wuyanjun110
feat: SSEP: 前进/后退时使用不同的碰撞检测策略。增加前进方向的额外碰撞检测。

The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/data_structures/map_element_polyline.hpp
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/data_structures/pose.h
The file was modifiedssep/data_structures/directional_path.h
The file was modifiedssep/data_structures/search_boundary.h
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/coarse_search/evaluator/collision_cost_computer.h
The file was modifiedssep/data_structures/ssep_input.hpp
The file was modifiedssep/data_structures/type_definition.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/data_structures/path.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/data_structures/ssep_output.hpp
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
Commit c24b7d04a7324e424b4542cea4f4e33b8e21350c by wuyanjun110
fix:参考线拼接的bug

The file was modifiedtasks/other_tasks/stitch_path_to_reference_line.cpp