[Jenkins]Jenkins

Changes

Summary

  1. fix:修复快照内存泄漏的bug (details)
  2. fix: trailer path bug in replayer. (details)
  3. 从两边搜索 (details)
  4. 根据现场测试数据提升成功率。 (details)
  5. feat:1.添加远程步进忽略安全的功能2.翻斗角度大于一定阈值，停车的防护 (details)
  6. fix: no drive object check dis expend (details)
  7. Add OGM builder (details)
  8. Og Lines添加source cluster size表示置信度，回退时只回退置信度低的点云 (details)
  9. Publish og_line_segment topic. (details)
  10. fix: 修复了2段搜索的一些问题，修改了参数 (details)
  11. feat:暂时屏蔽container size 变量 (details)
  12. chore: 训练数据集生成工具完善轨迹生成模块 (details)
  13. chore: 重新定义og line segment message (details)
  14. fix:修复分段路径计算的bug (details)
  15. feat:cargo width (details)
  16. feat:添加变道状态机状态 (details)
  17. fix: trailer path bug in replayer. (details)
  18. fix: trailer_ego_path bug. (details)
  19. fix: destination direction bug. (details)
  20. feat:添加参数,从disable状态强制会stop auto (details)
  21. feat: 建立多步搜索框架，重构tractor-trailer的搜索代码，适配威海调头入库场景 (details)
  22. fix: steering stationary. (details)
  23. fix: 去除魔法数字 (details)
  24. refactor:优化ego match (details)
  25. fix:修复match的bug (details)
  26. feat:适配实时车辆宽度 (details)
  27. fix: 修复ssep参考线trailer角度跳变问题 (details)
  28. fix: reverse truck path task使用原始kappa (details)
  29. feat:临时关闭变道状态的上传 (details)
  30. feat:引导线适配集卡倒车 (details)
  31. fix:后向倒车问题修复 (details)
  32. fix:后向倒车问题修复 (details)
  33. fix: reversing truck path. (details)
  34. fix: 崩溃 (details)
  35. fix: using TractorPathFromTrailerPath (details)
  36. fix: imv smooth mode bug. (details)
  37. fix:修复bulk out识别的bug (details)
  38. feat:添加进堆场口通道的显示 (details)
  39. feat:调整边界封锁逆行车辆左边的通道 (details)
  40. feat:适配 imv 出停车位方向和一次规划方向不一致的场景 (details)
  41. feat:适配苏溪集卡倒车 (details)
  42. feat:更新西联停车位的约束 (details)
  43. fix: imv smooth mode bug. (details)
  44. feat:修复出堆场口 提前进入动态搜索的bug (details)
  45. feat:反向进T场，搜索失败 (details)
  46. fix: steering check for truck. (details)
  47. fix: imv start_pt.heading in smooth mode. (details)
  48. fix:pjpo标志位赋值的bug (details)
  49. feat:出堆场口 约束调整 (details)
  50. feat: u-turn-insertion场景，倒车重规划 (details)
  51. fix: crash issue. (details)
  52. fix: imv crab mode for large curvature path. (details)
  53. feat:open space 区域 赋值 no straight (details)
  54. feat:opensapace 搜索晚的问题 (details)
  55. feat:适配友谊关 (details)
  56. Ssep add hdmap (details)
  57. fix: 倒车时搜索区域构建bug修复 (details)
  58. fix: uturn insertion 倒车二次规划使用更大的曲率 (details)
  59. feat: 前港掉头调试 临时提交 (details)
  60. feat:友谊关测试添加日志 (details)
  61. feat:恢复代码 (details)
  62. fix:出堆场口 和多段 求解失败的bug (details)
  63. feat:吊距防护的bug (details)
  64. fix:修复可能的崩溃bug (details)
  65. fix: trailer_base2head_base in ssep. (details)
  66. fix:调整限速的问题 (details)
  67. fix:修复可能的崩溃bug (details)
  68. feat:西连停车位，添加约束 (details)
  69. Revert "fix:修复可能的崩溃bug" (details)
  70. fix: imv heading bug. (details)
  71. fix:修复快照崩溃的bug (details)
  72. fix:修复合并的bug (details)
  73. feat:弯道延后进入open space 参数化 (details)
  74. feat:弯道延后进入open space 参数化 (details)
  75. fix:长弯道内，速度跳变的问题 (details)
  76. feat: 完成ssep新框架的场景输入。修复搜索bug (details)
  77. fix: ssep ilqr path filter. (details)
  78. fix: 修复 along lane condition 中目标角度与车道角度可能不一致的问题 (details)
  79. fix:修复可能崩溃的bug (details)
  80. feat:关闭debug (details)
  81. fix: wbca boundary bug. (details)
  82. fix: lane.length checking bug. (details)
  83. feat:调整wcba 优化路径的长度 (details)
  84. fix: echo stop position. (details)
  85. feat: 掉头入库-1. 根据途经点位置自动计算角度。2. 方向切换时向前延长轨迹 (details)
  86. fix: plan from cur_pt when ssep search succeed. (details)
  87. feat: 增加conditional filter防止轨迹画圈 (details)
  88. fix: 修复轨迹有可能转圈的问题 (details)
  89. fix: crash issue. (details)
  90. fix: lon_decision, using prediction for v > 8km/h (details)
  91. fix: 修复掉头入库时，pass point不合理会导致崩溃的问题 (details)
  92. fix:修复不运行path time graph，lattice崩溃的bug (details)
  93. fix:修复guide line的模式的打印 (details)
  94. feat:添加忽略身后安全的标志位 (details)
  95. feat:添加忽略身后og点的功能 (details)
  96. feat:指令变道后， 仍然可以进行靠近终点变道 (details)
  97. chore: 改进进出堆场搜索与掉头搜索 (details)
  98. fix:修复停车位方向切换的问题 (details)
  99. feat:进充电桩搜索失败的bug (details)
  100. fix:修复参考拼接的bug (details)
  101. fix:苏溪进出堆场搜索失败的bug (details)
  102. feat:删除打印日志 (details)
  103. fix: 修复前港终点在反向车道时会crash的问题 (details)
  104. feat:扩多个lane的region，只获取一段的bug (details)
  105. fix: 修复hd-map中yard access line为空时会崩溃的问题 (details)
  106. chore: 调整进出堆场与普通搜索方向切换权重 (details)
  107. fix: wbca route length optimization. (details)
  108. fix: ssep修复起点直接满足搜索终止条件时会crash的问题 (details)
  109. fix:修复引导线拼接的bug (details)
  110. fix:修复引导线拼接的bug (details)
  111. chore: 1.基于车道的终点匹配范围增加到距离参考点20米。2. imv增加斜行cost (details)
  112. feat:调整停车位开始变道的距离 (details)
  113. feat:变道安全和变道临停， 因障碍物晃，导致冲突的问题， 添加buffer (details)
  114. fix:关路禁停的bug (details)
  115. fix:引桥 途径点 没有清除的bug (details)
  116. feat: 跑通ssep新框架-西联imv进充电桩的流程 (details)
  117. fix:修复bulk in 和 bulk out 点靠近时，场景识别的bug (details)
  118. 仿真中跑通进出充电桩 (details)
  119. fix:修复bulk倒车的问题 (details)
  120. fix:修复速度大于40km/h时.减速曲线的bug (details)
  121. fix:修复速度大于40km/h时.减速曲线的bug (details)
  122. fix: 修复了轨迹平滑时，边界约束为0时，轨迹位置仍会改变的bug (details)
  123. fix:修复在平滑状态下， 限速的bug (details)
  124. fix:修复在平滑状态下， 限速的bug (details)
  125. fix:修复ssep搜索时，聚类og点使用的bug (details)
  126. fix:修复堆场入口显示的bug (details)
  127. chore: 适配HD-Map改动-一个堆场对应多个堆场口 (details)
  128. chore: 适配HD-Map改动-一个堆场对应多个堆场口 (details)
  129. fix: 修复方向切换时延长失效的问题，增大对tunnel constraint的前向响应距离 (details)
  130. fix:修复搜索失败的bug (details)
  131. refctor:优化对准逻辑 (details)
  132. fix:优化对准的逻辑 (details)
  133. feat:添加变道状态机状态 (details)
  134. feat:变道延迟时间参数化 (details)
  135. fix:修复忽略身后障碍物的bug (details)
  136. feat:远程步进， 使用忽略安全的标志位代表是否是自动卸料 (details)
  137. fix: 修复堆场有多个出入口时适配错误的问题 (details)
  138. feat:修复参数名称和远程步进超时的时间 (details)
  139. fix:修复变道过程中，当前车道突变的bug (details)
  140. feat:进出堆场约束的调整 (details)
  141. fix:苏溪 修复 集卡进单车道堆高机场搜索失败的bug (details)
  142. merge latest ssep (details)
  143. fix: 解决imv出充电桩离障碍物过近的问题 (details)
  144. fix: 前港ssep搜索，车道匹配的终点需要在设定的终点之后 (details)
  145. fix: 解决imv出充电桩离障碍物过近的问题 (details)
  146. feat:调整倒车的约束 (details)
  147. fix:ssep场景错误的bug (details)
  148. fix:travel out 误退出的bug (details)
  149. feat: 新搜索框架添加gui 可视化功能 (details)
  150. feat: 新搜索框架添加gui 可视化功能 (details)
  151. fix: 修复ssep搜索轨迹tractor-trailer拖车角度错误的问题 (details)
  152. fix: 修复ssep搜索轨迹tractor-trailer拖车角度错误的问题 (details)
  153. fix:ssep路径没有终点的停止线的bug (details)
  154. feat: ssep: tt 搜索中，使用guide line匹配终点 (details)
  155. feat: ssep: tt 搜索中，使用guide line匹配终点 (details)
  156. feat:添加comand widget的显示开关 (details)
  157. feat:添加comand widget的显示开关 (details)
  158. fix:修复对准标志位请求不复位的bug (details)
  159. feat:状态显示框通过参数可以控制 (details)
  160. fix:合并的bug (details)
  161. feat:调整缩小安全距离的参数 (details)
  162. feat: 加入双向搜索，太阳纸业支持car倒车入库。 (details)
  163. chore: ssep多段倒车入库根据测试结果调整搜索逻辑 (details)
  164. fix: ssep加保护逻辑，不考虑距离过远的途经点 (details)
  165. fix: ssep修复途经点使用逻辑 (details)
  166. fix:误退出 dravel out场景的bug (details)
  167. fix:误进入倒车控制器的bug (details)
  168. fix:误进入倒车控制器的bug (details)
  169. chore: ssep-car多段倒车入库减小双向搜索时两段路径连接处跳变 (details)
  170. chore: ssep-car 多段倒车入库，提升倒车二次搜索成功率 (details)
  171. feat:优化倒车的限速 (details)
  172. chore: ssep-car-多段倒车入库提升成功率 (details)
  173. feat: ssep-拖车进出堆场时，使用双向搜索作为fallback searcher。 (details)
  174. fix: Remove file (details)
  175. chore: ssep-car多段倒车 提升二次搜索成功率 (details)
  176. fix:出斜料区，地图方向识别的bug (details)
  177. fix: 修复ssep路径终点离设定终点过远的问题 (details)
  178. feat: ssep-离线障碍物配置框架 (details)
  179. feat: 加入双向搜索，太阳纸业支持car倒车入库。 (details)
  180. chore: ssep多段倒车入库根据测试结果调整搜索逻辑 (details)
  181. fix: ssep加保护逻辑，不考虑距离过远的途经点 (details)
  182. chore: ssep-car多段倒车入库减小双向搜索时两段路径连接处跳变 (details)
  183. chore: ssep-car 多段倒车入库，提升倒车二次搜索成功率 (details)
  184. chore: ssep-car-多段倒车入库提升成功率 (details)
  185. feat: ssep-拖车进出堆场时，使用双向搜索作为fallback searcher。 (details)
  186. fix: Remove file (details)
  187. chore: ssep-car多段倒车 提升二次搜索成功率 (details)
  188. fix: 修复ssep路径终点离设定终点过远的问题 (details)
  189. feat: 增加候选起点策略 (details)
  190. feat: 增加候选起点策略 (details)
  191. feat:倒车入库后，前向步进的问题 (details)
  192. feat:完善变道触发的条件 (details)
  193. fix:  stationary steering logic. (details)
  194. fix:变道场景切换的bug (details)
  195. fix:路径方向切换时，终点距离计算的bug (details)
  196. fix:修复路径拼接的bug (details)
  197. feat:优化ssep的参数载入 (details)
  198. chore: SSEP: 自卸车普通搜索终点车道匹配只允许匹配给定终点以后的位置 (details)
  199. feat:修改开始对准的阈值 (details)
  200. fix:修复bulk 状态下， 不自动对准的bug (details)
  201. fix:修复更新目标车道使用历史数据的bug (details)
  202. feat:适配路边作业场景 (details)
  203. feat: SSEP: 1. IMV增加pullover场景处理终点偏移。2. 添加keb optimizer (details)
  204. fix: 修复掉头场景的终止条件判断不能正确匹配车道的问题 (details)
  205. fix:修复方向切换的bug (details)
  206. feat: SSEP: 进堆场场景使用双向搜索+keb_optimizer (details)
  207. fix: reversing debug. (details)
  208. feat:合并的bug (details)
  209. fix:修复og lines 使用的bug (details)
  210. fix:方向切换的bug (details)
  211. feat:添加强制前向搜索的标志位 (details)
  212. fix:修复地图包略当前段计算的bug (details)
  213. refactor:优化adjust 切换lock的条件 (details)
  214. fix:修复lock 不切换adjust的bug (details)
  215. chore: ssep: 将Map envelop 转为 constraint，容许轻微违反约束-不超过0.5m (details)
  216. feat: 1. 前港 lock 和 adjust 来回切换的bug  2. 太阳 接受新任务， 状态机切换的bug (details)
  217. feat:储存的消息中添加车辆当前位置 (details)
  218. feat:park lock 下不重新搜索 (details)
  219. fix:适配lane 首位相连的场景 (details)
  220. fix:修复方向切换的问题 (details)
  221. feat:终点是否考虑边界添加参数 (details)
  222. fix: max_acc = 0.5 for wbca velocity reference. (details)
  223. chore: ssep: 1.增加进堆场时终点选择逻辑 - 优先选择宽阔的区域作为终点，提前把挂车甩直。2. keb_optimizer加上最后一段直线的约束 (details)
  224. feat: ssep: 新增低贝位搜索模式 -- 在进入窄通道前把挂甩直。适配杨浦场景。 (details)
  225. chore: ssep: 新建开沃掉头场景调整参数 (details)
  226. feat:park adjust 切换park lock的bug (details)
  227. fix:优化 安全区域的限速 (details)
  228. feat: SSEP: 倒车出停车位多段路径 (details)
  229. feat: SSEP: mult-seg path to exit parking space (details)
  230. feat: Tractor-trailer出停车位 (details)
  231. chore: remove 1 line (details)
  232. feat: ssep: 跑通苏溪多段路径出停车位 (details)
  233. chore: ssep: minor param updates (details)
  234. fix: hmi load map. (details)
  235. fix: ssep: 拆分car车型掉头和常规搜索的搜索参数 (details)
  236. chore: ssep: 在堆场内搜索终止条件不进行车道匹配 (details)
  237. feat:打开release (details)
  238. feat:添加多次步进的功能 (details)
  239. feat_out: path_opt in replayer. (details)
  240. fix: velocity profile exception. (details)
  241. fix: delete history in smooth mode. (details)
  242. chore: ssep: 跑通tensor rt推理ssep heat net模型全流程 (details)
  243. fix:修复终点前变道的bug (details)
  244. feat:添加参数 直行的junction 是否用路口的边界 (details)
  245. refactor:删除打印日志 (details)
  246. fix:road 级别的可行驶范围的bug (details)
  247. feat:适配董分进堆场边界 (details)
  248. fix:修复封路变道的bug (details)
  249. fix:引桥前变道的bug (details)
  250. fix:可能崩溃的bug (details)
  251. fix: routing extending backward for bend. (details)
  252. fix:变道的bug (details)
  253. chore: SSEP: Update ssep sdk. (details)
  254. chore: 重构keb_optimizer，提取出tractor_trailer_keb_optimizer. 后续可以为其他车型添加优化器 (details)
  255. fix:适配open space 场景 (details)
  256. fix: using maximum vehicle size in WBCA (details)
  257. Feat: SSEP: 增加自卸车倒车卸货场景 (details)
  258. feat: 接入自卸车倒车卸货场景 (details)
  259. fix: abandon  last segment in wbca. (details)
  260. fix: 修复ssep搜索区域尺寸错误 (details)
  261. fix:可能崩溃的bug (details)
  262. fix: wbca debug msg. (details)
  263. fix: end_velocity for wbca calc exception. (details)
  264. fix: velocity profile exception. (details)
  265. fix:人工对准误创建约束 (details)
  266. feat:open space的优化 (details)
  267. refactor:直线步进 优化步进时间 (details)
  268. refactor:直线步进 优化步进时间 (details)
  269. feat: SSEP: keb optimizer优化多段路径。car模型适配keb optimizer。 (details)
  270. feat: ssep_data中保存重规划原因 (details)
  271. fix: add wbca debug var. (details)
  272. fix: add lateral acc cost. (details)
  273. fix: add wbca cost and time_consuming. (details)
  274. fix: SSEP: 修复car+optimizer中代码的bug (details)
  275. fix:修复代码合并的bug (details)
  276. fix: pub lane_pts debug msg. (details)
  277. feat: SSEP: 增加IMV-either-facing-goal搜索功能（可以头朝前也可以尾朝前） (details)
  278. feat:暂时可以调试 (details)
  279. feat: SSEP: 增加集卡多段倒车场景 (details)
  280. fix: wbca bd expanding. (details)
  281. feat: SSEP: 增加IMV-either-facing-goal搜索功能（可以头朝前也可以尾朝前） (details)
  282. feat: SSEP: 增加集卡多段倒车场景 (details)
  283. fix: SSEP: Resolve crashing issue. (details)
  284. fix: SSEP: Resolve crashing issue. (details)
  285. feat: add distance2bend (details)
  286. fix: WBCA lane change path (details)
  287. fix: choosing WBCA start_pt at guide_line in SMOOTH MODE (details)
  288. feat:适配状态机场景 (details)
  289. feat: WBCA serialization for debug. (details)
  290. fix: using history_pts for lattice velocity reference. (details)
  291. fix: use_func_use_wbca_speed_limit = true (details)
  292. feat: SSEP: 增加引导线跟随模式搜索 (details)
  293. feat: ssep适配脱困模式 (details)
  294. feat:boost 编译错误 (details)
  295. fix: SSEP: 修复引导线跟随搜索的一些bug (details)
  296. fix: lateral acceleration parameters. (details)
  297. fix: ComputeLonGuideVelFromLatAcc (details)
  298. feat: clear align times when align2nd to align1st. (details)
  299. feat:脱离模式 路径切换的适配 (details)
  300. chore: SSEP: 新增DirectionalPath数据结构，简化对reference line的处理 (details)
  301. fix: lon_decision for car. (details)
  302. feat:cut ego 添加参数 (details)
  303. feat:适配新的障碍物类型 (details)
  304. feat:脱困模式，适配重搜索逻辑以及地图版本校验 (details)
  305. fix: add min_turn_radius (details)
  306. fix: add lattice_velocity_reference_mode (details)
  307. fix: disable wbca debug mode. (details)
  308. fix: max_lat_acc in wbca params (details)
  309. fix: ignore dynamic obstacle in risk evaluation. (details)
  310. fix:调整危险限速距离的bug (details)
  311. feat:调整状态机 (details)
  312. feat:远程步步进，停车时间参数化 (details)
  313. fix_out: lat_acc_baed ref vel cal error. add debug msg. (details)
  314. fix:修复因为距离阈值，带来场景识别错误的bug (details)
  315. fix: bug (details)
  316. fix: disable wbca_debug mode. (details)
  317. fix:修复终点距离计算的bug (details)
  318. chore(format):格式 (details)
  319. chore: 适配remote guide line变更 (details)
  320. fix:修复海润进弯道后第一个停车位停不正的bug (details)
  321. fix: delete log. (details)
  322. fix:修复误触发open space的bug (details)
  323. fix: delete log (details)
  324. feat:执行remote后进入stop auto (details)
  325. feat:添加obj障碍物的跟车距离 (details)
  326. refactor:优化bulk场景的限速 (details)
  327. fix:修复park lock 切换 park out， 不重搜索的bug (details)
  328. fix:修复极限变道时没有应用变道路径，然后状态机切换的bug (details)
  329. refactor:优化跟车距离 (details)
  330. fix:临时修复重搜索的bug (details)
  331. feat: lon_decision from SQ (details)
  332. fix: add min_safe_ttc (details)
  333. fix: v_min_coef = 9.9 wbca (details)
  334. fix: disable dynamic and steering speed constraints (details)
  335. fix: disable dynamic and steering speed constraints (details)
  336. fix: add min_velocity_coefficient_for_velocity_cost. (details)
Commit d90432b9371abcc6671249bdf28d783ae8333903 by 5081703.cr
fix:修复快照内存泄漏的bug

The file was modifieddata/map/envelop/map_envelops.cpp
The file was modifiedalgorithm/vehicle_model/kinematic_bicycle_model.cpp
The file was modifieddata/map/reference/reference_road_section.cpp
Commit 2527849cf681e0804ef5561c1b564dd434a5fe20 by 5081703.cr
fix: trailer path bug in replayer.

The file was modifiedhmi/draw/draw_ego.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit 5c0869549897a6bd95702deadf4c2d0590d341c3 by tangwenqing
从两边搜索
The file was modifiedssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.cc
The file was modifiedssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.h
Commit b64a42d6c4860a9c36fb2c411251391df62d0840 by tangwenqing
根据现场测试数据提升成功率。
The file was modifiedssep/coarse_search/disk_collision_checker.cc
The file was modifiedssep/coarse_search/geometric_searcher/candidate_yard_entry_states_generator.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.h
The file was modifiedssep/coarse_search/hybrid_a_star_tt.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/rs_path_motion_primitive_sampler.h
The file was modifiedssep/coarse_search/geometric_searcher/candidate_yard_entry_states_generator.h
The file was modifiedssep/coarse_search/hybrid_a_star_imv.cc
The file was modifiedssep/coarse_search/node_car.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.cc
The file was modifiedssep/ogm_map/ogm.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/straight_line_motion_primitive_sampler.cc
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/collision_cost_computer.h
The file was modifiedssep/coarse_search/hybrid_a_star_car.cc
The file was modifiedssep/coarse_search/node_car.h
The file was modifiedssep/ogm_map/ogm.h
The file was modifiedssep/coarse_search/disk_collision_checker.h
Commit d5e6cf501a9591be1d201003345643a0e13095a4 by wuyanjun110
feat:1.添加远程步进忽略安全的功能2.翻斗角度大于一定阈值，停车的防护

The file was modifieddata/app/reaction/app_reaction.hpp
The file was modifieddata/vehicle/vehicle_state.hpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/app/reaction/app_reaction.cpp
The file was modifieddata/vehicle/vehicle_chassis.hpp
The file was modifiedsource/module.cpp
The file was modifieddata/vehicle/vehicle_chassis.cpp
The file was modifieddata/config/cfg_topic.cpp
The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
The file was addedsource/ros_source_vehicle_status.hpp
The file was modifieddata/config/cfg_topic.hpp
The file was modifieddata/other/flow_control.cpp
The file was addedsource/ros_source_vehicle_status.cpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/vehicle/vehicle_status.cpp
The file was modifieddata/vehicle/vehicle_status.hpp
Commit b5e335dac2ac9b301cf3c28aef3bb01e95145288 by ljl
fix: no drive object check dis expend

The file was modifieddata/ssep/field_junction_ec.cpp
Commit b23a735abd977220deac34788d3309413aca4b81 by tangwenqing
Add OGM builder
The file was modifiedssep/param_loader/param.h
The file was modifiedssep/ssep_planner.cc
The file was addedssep/tools/scene_data_generator/ogm_builder/ogm_builder.h
The file was addedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.h
The file was modifiedssep/ogm_map/ogm.cc
The file was modifiedssep/param_loader/yaml_loader.cc
The file was addedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.cc
The file was addedssep/tools/scene_data_generator/scene_yaml_reader.h
The file was modifiedCMakeLists.txt
The file was modifiedssep/ogm_map/ogm.h
The file was addedssep/tools/scene_data_generator/conf/scene_conf.yaml
The file was addedssep/tools/scene_data_generator/ogm_builder/ogm_builder.cc
The file was modifiedssep/CMakeLists.txt
The file was addedssep/tools/scene_data_generator/data_structures.h
The file was addedssep/tools/scene_data_generator/generate_scene_data_cli.cc
Commit 60ee727afc104a4f22eed7db24f8b62cf9206734 by tangwenqing
Og Lines添加source cluster size表示置信度，回退时只回退置信度低的点云
The file was modifieddata/ssep/ssep_util.cpp
The file was modifieddata/ssep/ssep_util.hpp
The file was modifiedcommon/ogm_line_segment_extractor/line_segment_extractor.cpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifiedcommon/ogm_line_segment_extractor/line_segment_extractor.hpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/ssep/reverse_ec.cpp
Commit a3962d2cff5ec8603a3373cd7ac2c8ac6e52196c by tangwenqing
Publish og_line_segment topic.
The file was addedsink/ros_sink_og_line_segments.hpp
The file was modifieddata/config/cfg_topic.hpp
The file was modifiedsink/module.cpp
The file was addedsink/ros_sink_og_line_segments.cpp
The file was modifieddata/config/cfg_topic.cpp
Commit 30505ee5630e34900a9f4ce4080450d18f83afd2 by tangwenqing
fix: 修复了2段搜索的一些问题，修改了参数

The file was modifiedssep/coarse_search/disk_collision_checker.cc
The file was modifiedssep/coarse_search/hybrid_a_star_tt.cc
The file was modifiedssep/coarse_search/disk_collision_checker.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/collision_cost_computer.h
The file was modifiedssep/coarse_search/hybrid_a_star_car.cc
The file was modifiedssep/coarse_search/hybrid_a_star_imv.cc
The file was modifiedssep/coarse_search/dubin_path.cc
The file was modifiedssep/coarse_search/hybrid_a_star_tt.h
Commit 39185fee5b5f13e40dbab72d65d0ed72c169107e by wuyanjun110
feat:暂时屏蔽container size 变量

The file was modifieddata/app/app_data.cpp
Commit ebdb92e7add01f7dbbfa64390e0cd30599e24e6f by tangwenqing
chore: 训练数据集生成工具完善轨迹生成模块

The file was modifiedssep/tools/scene_data_generator/generate_scene_data_cli.cc
The file was modifiedssep/tools/scene_data_generator/conf/scene_conf.yaml
The file was modifiedssep/tools/scene_data_generator/data_structures.h
The file was modifiedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.cc
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.h
Commit ffea28f2a7c34b1a831640cbaf291dc527b7962d by tangwenqing
chore: 重新定义og line segment message

The file was modifiedsink/ros_sink_og_line_segments.cpp
Commit 0a2869a528ad98f835b0a5fe83353a461116581a by wuyanjun110
fix:修复分段路径计算的bug

The file was modifieddata/vehicle/vehicle_destination.cpp
The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
Commit 75f5cfd71532e1ac4b049702324259f4d97ab1bb by wuyanjun110
feat:cargo width

The file was modifieddata/app/cmd/cmd_set_target.hpp
The file was modifieddata/app/reaction/app_reaction.cpp
The file was modifieddata/config/cfg_static.cpp
The file was modifieddata/config/cfg_static.hpp
The file was modifieddata/app/reaction/app_reaction.hpp
The file was modifieddata/app/cmd/cmd_set_target.cpp
Commit b4abeea2663bf6ef9c57c05be2b1c92861080efb by wuyanjun110
feat:添加变道状态机状态

The file was modifiedsink/ros_sink_ads_hfsm_state.cpp
Commit 18087946086548da5c9c7c202bd374c76810dd2b by 5081703.cr
fix: trailer path bug in replayer.
The file was modifiedhmi/draw/draw_ego.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit d67bded7768a51ee792f197f63ed518b33af3af9 by 5081703.cr
fix: trailer_ego_path bug.

The file was modifieddata/plan/path_data.cpp
Commit 353b7b2c807540f1c8200360619a000569830f69 by 5081703.cr
fix: destination direction bug.

The file was modifieddata/vehicle/vehicle_destination.cpp
Commit 226b5c4362a94e8d873933243f7566c60ec44793 by wuyanjun110
feat:添加参数,从disable状态强制会stop auto

The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp
Commit 1e0a007bcffa44798133edd9d88595b85baa9883 by tangwenqing
feat: 建立多步搜索框架，重构tractor-trailer的搜索代码，适配威海调头入库场景

The file was modifieddata/config/cfg_ssep.hpp
The file was addedssep/coarse_search/geometric_searcher/conditions/search_condition_interface.h
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/ilqr_motion_primitive_sampler.h
The file was addedssep/coarse_search/geometric_searcher/evaluator/jackknife_cost_computer.h
The file was addedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.cc
The file was modifiedssep/coarse_search/geometric_searcher/geometric_search_visualizer.cc
The file was modifiedssep/coarse_search/hybrid_a_star_tt.cc
The file was modifiedssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.cc
The file was addedssep/coarse_search/geometric_searcher/conditions/composite_condition.h
The file was modifiedssep/CMakeLists.txt
The file was modifiedCMakeLists.txt
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/path_length_cost_computer.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was modifieddata/config/cfg_ssep.cpp
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/ilqr_motion_primitive_sampler.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/general_hybrid_astar_searcher_builder.cc
The file was modifiedssep/tools/scene_data_generator/ogm_builder/ogm_builder.cc
The file was addedssep/coarse_search/geometric_searcher/stage_transition_controller.h
The file was addedssep/coarse_search/geometric_searcher/conditions/tractor_trailer_goal_reached_condition.h
The file was addedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/general_hybrid_astar_searcher_builder.h
The file was modifieddata/ssep/forward_ec.cpp
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
The file was addedssep/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cc
The file was modifieddata/plan/ssep_data.cpp
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/cost_feature_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was addedssep/coarse_search/geometric_searcher/state_hasher.h
The file was addedssep/coarse_search/geometric_searcher/evaluator/kinematic_heuristic_computer.h
The file was addedssep/coarse_search/geometric_searcher/evaluator/ref_line_cost_computer.h
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path.cc
The file was modifiedssep/tools/scene_data_generator/generate_scene_data_cli.cc
The file was modifiedssep/coarse_search/geometric_searcher/geometric_search_visualizer.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/param_loader/param.h
The file was addedssep/coarse_search/geometric_searcher/evaluator/heuristic_feature_computer.h
The file was modifiedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.cc
The file was modifiedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/motion_primitive_sampler.h
The file was addedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/u_turn_insertion_maneuver_searcher_builder.h
The file was addedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/rs_path_motion_primitive_sampler.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive.h
The file was addedssep/coarse_search/geometric_searcher/evaluator/ref_line_heuristic_computer.h
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path_motion_primitive_sampler.h
The file was modifiedssep/coarse_search/hybrid_a_star_car.cc
The file was modifiedssep/coarse_search/geometric_searcher/candidate_yard_entry_states_generator.cc
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
The file was modifieddata/ssep/ssep_util.cpp
The file was modifiedssep/tools/scene_data_generator/ogm_builder/ogm_builder.h
The file was addedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/dubin_path.cc
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/multi_curvature_motion_primitive_sampler.h
The file was modifiedssep/coarse_search/geometric_searcher/data_structure.h
The file was addedssep/coarse_search/geometric_searcher/conditions/back_insertion_alignment_condition.h
The file was addedssep/coarse_search/geometric_searcher/conditions/range_tolerance_condition.h
The file was addedssep/coarse_search/geometric_searcher/evaluator/trailer_collision_cost_computer.h
The file was addedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.h
The file was modifieddata/vehicle/vehicle_destination.cpp
The file was addedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cc
The file was modifiedssep/main_test/main_ssep_input.cc
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/multi_curvature_motion_primitive_sampler.cc
The file was addedssep/coarse_search/geometric_searcher/indexed_priority_queue.h
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path.h
Commit 4ca6eb6e5ce84e70c9024675645c67e6c183a58c by 5081703.cr
fix: steering stationary.

The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp
Commit 513ab9ce8dc6c5910cc717277856cdde4c471050 by tangwenqing
fix: 去除魔法数字

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/main_test/main_ssep_input.cc
Commit 954d5a9a3748456a96f3dbc0599467e6951fa222 by wuyanjun110
refactor:优化ego match

The file was modifiedtasks/plan/ssep_task.cpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/common/path.hpp
The file was modifieddata/plan/ssep_data.hpp
The file was modifieddata/common/path.cpp
Commit c1ec6d35fd8e2157f44c64529d886a5ec5dfa4a7 by wuyanjun110
fix:修复match的bug

The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/common/path.cpp
Commit c30ca70cc9c3f988921af6d0cbd1f86221b65443 by wuyanjun110
feat:适配实时车辆宽度

The file was modifieddata/app/app_data.cpp
The file was modifieddata/app/reaction/app_reaction.hpp
The file was modifieddata/app/cmd/cmd_set_target.hpp
The file was modifieddata/app/fsm/task_command_type.cpp
The file was modifieddata/config/cfg_topic.cpp
The file was modifieddata/config/cfg_static.cpp
The file was modifieddata/app/reaction/app_reaction.cpp
The file was modifieddata/config/cfg_static.hpp
The file was modifieddata/config/cfg_topic.hpp
The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifiedplan/prepare/prepare_state.cpp
The file was addedsink/ros_sink_pnc_status.cpp
The file was modifiedsink/module.cpp
The file was modifieddata/app/cmd/cmd_set_target.cpp
The file was addedsink/ros_sink_pnc_status.hpp
Commit f7aa6345fc5cfd93a9e33632353412fd00777da8 by tangwenqing
fix: 修复ssep参考线trailer角度跳变问题

The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/multi_curvature_motion_primitive_sampler.h
The file was removedssep/coarse_search/geometric_searcher/barrier_detector.cc
The file was modifieddata/plan/ssep_data.cpp
The file was addedssep/coarse_search/geometric_searcher/topology_analysis/barrier_detector.cc
The file was addedssep/coarse_search/geometric_searcher/conditions/always_true_condition.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/general_hybrid_astar_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/multi_curvature_motion_primitive_sampler.cc
The file was addedssep/coarse_search/geometric_searcher/topology_analysis/barrier_detector.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/candidate_yard_entry_states_generator.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/ilqr_motion_primitive_sampler.cc
The file was modifiedssep/coarse_search/geometric_searcher/candidate_yard_entry_states_generator.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/collision_cost_computer.h
The file was removedssep/coarse_search/geometric_searcher/barrier_detector.h
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.h
The file was modifiedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_collision_cost_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
Commit 91bda04458bb419c5b6ad6ef92d6815ffb6be291 by tangwenqing
fix: reverse truck path task使用原始kappa

The file was modifiedssep/conf/ssep_preprocess.yaml
The file was modifiedtasks/plan/reversing_truck_path_task.cpp
Commit a1fd581587f5ff4ace37f25e67884b0e3c128d37 by wuyanjun110
feat:临时关闭变道状态的上传

The file was modifiedsink/ros_sink_ads_hfsm_state.cpp
Commit bc31d22478de21eef9262706bd975da353e9c725 by wuyanjun110
feat:引导线适配集卡倒车

The file was modifiedhmi/draw/draw_guide_line.cpp
The file was addedtasks/deciders/lat_decider/trailer_side_pass_decider.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifieddata/plan/guide_line.cpp
The file was modifiedtasks/deciders/lat_decider/side_pass_decider.cpp
The file was modifieddata/dp_poly_path/trajectory_cost.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
The file was modifieddata/plan/ssep_data.cpp
The file was addedtasks/deciders/lat_decider/trailer_side_pass_decider.hpp
The file was addedtasks/deciders/lat_decider/trailer_path_bounds_decider.cpp
The file was modifieddata/boundary/driving_corridor.hpp
The file was modifieddata/config/cfg_stage.cpp
The file was addedtasks/other_tasks/create_trailer_guide_line.cpp
The file was addedtasks/other_tasks/create_trailer_road_boundary.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/plan/guide_line_info.hpp
The file was addedtasks/other_tasks/create_trailer_guide_line.hpp
The file was modifieddata/config/cfg_stage.hpp
The file was modifiedconfig/config_truck/scenario.yaml
The file was modifieddata/plan/guide_line_info.cpp
The file was modifieddata/dp_poly_path/dp_road_graph.cpp
The file was modifieddata/plan/start_point_data.cpp
The file was modifiedssep/ssep_planner.cc
The file was modifieddata/boundary/driving_corridor.cpp
The file was modifieddata/boundary/road_boundary.hpp
The file was addedtasks/other_tasks/create_trailer_road_boundary.hpp
The file was modifiedtasks/other_tasks/stitch_trailer_path_task.cpp
The file was modifiedtasks/task_factory.cpp
The file was modifiedhmi/draw/draw_path_boundary.cpp
The file was modifieddata/plan/start_point_data.hpp
The file was modifiedtasks/plan/trailer_pjpo_task.cpp
The file was modifieddata/dp_poly_path/dp_road_graph.hpp
The file was modifieddata/plan/ssep_data.hpp
The file was modifieddata/plan/guide_line.hpp
The file was addedtasks/deciders/lat_decider/trailer_path_bounds_decider.hpp
Commit 8fd1685f78e51deea24da3b6c162bd579314a76b by wuyanjun110
fix:后向倒车问题修复

The file was modifieddata/plan/guide_line.cpp
Commit 892a684773d2133449ccd0109e4f649367316b72 by wuyanjun110
fix:后向倒车问题修复
The file was modifieddata/plan/guide_line.cpp
Commit f457bc25bbdcfa29f1eb88424e96a95c9d2164a4 by 5081703.cr
fix: reversing truck path.

The file was modifiedalgorithm/vehicle_model/kinematic_bicycle_model.cpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifiedhmi/draw/draw_guide_line.cpp
The file was modifiedtasks/plan/trailer_pjpo_task.cpp
The file was modifieddata/plan/start_point_data.cpp
The file was modifiedtasks/other_tasks/stitch_trailer_path_task.cpp
The file was modifieddata/plan/start_point_data.hpp
Commit 10fb12bf41c9a10039080c352988edceb50f3e49 by 5081703.cr
fix: 崩溃

The file was modifiedplan/scenarios/prepare_scenario.cpp
Commit fcb7d7c7293adea35fec018626f5b3638ff62125 by 5081703.cr
fix: using TractorPathFromTrailerPath

The file was modifiedtasks/other_tasks/stitch_trailer_path_task.cpp
Commit b43760c4c5228f4f243ed75fc9eae2739cb75c47 by 5081703.cr
fix: imv smooth mode bug.

The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 396fa81694d5be47ab6038b084afd5b8ff670318 by wuyanjun110
fix:修复bulk out识别的bug

The file was modifieddata/other/flow_control.cpp
Commit a8425799a42f0c5a747207168d9a725c2f3f00c3 by wuyanjun110
feat:添加进堆场口通道的显示
The file was modifiedhmi/draw/draw_map.cpp
Commit 9bc86d671fc82d1b493c66e0491576e48fa2c745 by wuyanjun110
feat:调整边界封锁逆行车辆左边的通道

The file was modifieddata/boundary/driving_corridor.cpp
Commit 4f3a9a7a228e1cd954da4a93c2fb0d76f2d3acfa by wuyanjun110
feat:适配 imv 出停车位方向和一次规划方向不一致的场景

The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/plan/guide_line.cpp
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/ssep/field_junction_ec.hpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/vehicle/vehicle_destination.hpp
The file was modifiedplan/prepare/prepare_map_related.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/ssep/normal_junction_ec.hpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/other/flow_control.hpp
The file was modifieddata/ssep/forward_ec.hpp
The file was modifieddata/vehicle/vehicle_destination.cpp
The file was modifieddata/ssep/bridge_junction_ec.hpp
The file was modifieddata/ssep/into_yard_junction_ec.hpp
The file was modifieddata/ssep/reverse_ec.hpp
The file was modifiedplan/prepare/prepare_state.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
The file was modifieddata/ssep/out_yard_junction_ec.hpp
Commit 005dd72a3dd646477eff734ddc928b68716aba14 by wuyanjun110
feat:适配苏溪集卡倒车

The file was modifiedplan/scenarios/prepare_scenario.cpp
The file was modifieddata/ssep/reverse_ec.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
Commit 0ea4af4e738c750dc8dbeb4748e600ffc60389a8 by wuyanjun110
feat:更新西联停车位的约束

The file was modifieddata/config/cfg_ssep.cpp
Commit 89e79c7290308e75449ebf0be535b42bd9f41bcf by 5081703.cr
fix: imv smooth mode bug.

The file was modifieddata/boundary/road_boundary.cpp
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
Commit 4794e273530cab00748ad40aae44e4c5a6c2a301 by wuyanjun110
feat:修复出堆场口 提前进入动态搜索的bug

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/scenario/scenario_region_condition.cpp
Commit 5b4e67347a8dee91ee69901d847d55492e33b108 by wuyanjun110
feat:反向进T场，搜索失败

The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 5831ec1cb8cbc49d3f335b7d8d7cd568fc739252 by 5081703.cr
fix: steering check for truck.

The file was modifieddata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp
Commit b1bc7ad5b8d5e527b0bf2561fd7a1446d7c12f64 by 5081703.cr
fix: imv start_pt.heading in smooth mode.

The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.cpp
The file was modifieddata/plan/start_point_data.cpp
Commit d6f3007d959b7af542dce75ee9610bbd01d0dd5b by wuyanjun110
fix:pjpo标志位赋值的bug

The file was modifiedscenarios/scenario.cpp
Commit 9c54233e0559b78c627081ad91d38329b9050466 by wuyanjun110
feat:出堆场口 约束调整

The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit 8f239f87098a81f7c5df2c466a43819c78edecd9 by tangwenqing
feat: u-turn-insertion场景，倒车重规划

The file was modifiedssep/param_loader/yaml_loader.cc
The file was modifiedtasks/deciders/search_decider/forward_search_decider.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/back_insertion_maneuver_searcher_builder.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/back_insertion_maneuver_searcher_builder.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.hpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/collision_cost_computer.h
The file was modifieddata/plan/guide_line.cpp
The file was modifieddata/vehicle/vehicle_destination.cpp
The file was modifieddata/plan/ssep_data.hpp
The file was modifiedssep/coarse_search/geometric_searcher/conditions/back_insertion_alignment_condition.h
The file was modifiedssep/ssep_planner.cc
The file was modifieddata/ssep/field_junction_ec.cpp
Commit d4a01a6b9b401960b9d4602aad9588a91de43882 by 5081703.cr
fix: crash issue.

The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit e822ff2c13b01ed0d779494a8272a6a60e4e15d9 by 5081703.cr
fix: imv crab mode for large curvature path.

The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.hpp
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
The file was modifiedalgorithm/wbca/wbca_helper.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit ec1b1fb1eabd765648b332bc5c640d9fa4fbe79d by wuyanjun110
feat:open space 区域 赋值 no straight

The file was modifiedplan/prepare/prepare_status.cpp
Commit 32b35caefc9f499ec50931e2624f6aacdab2fcc4 by wuyanjun110
feat:opensapace 搜索晚的问题

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/scenario/scenario_region_condition.cpp
Commit 9f5af8bc49ae89a5173039a93404b1bcfa012084 by wuyanjun110
feat:适配友谊关

The file was modifieddata/dp_poly_path/dp_road_graph.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/common/path.cpp
The file was modifieddata/ssep/reverse_ec.cpp
The file was modifiedhmi/draw/draw_guide_line.cpp
The file was modifieddata/config/cfg_region.cpp
The file was modifieddata/common/path.hpp
The file was modifiedtasks/deciders/long_decider/temporary_stop_decider.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/config/cfg_region.hpp
Commit c69962d0a7be6b9fea0429bf768180dbbbca2510 by tangwenqing
Ssep add hdmap
The file was addedssep/coarse_search/geometric_searcher/conditions/inside_yard_condition.h
The file was addedssep/common/def/map_element_polyline.hpp
The file was addedssep/main_test/hdmap_interface/parser/interface_singleton.hpp
The file was addedssep/main_test/hdmap_interface/rapidjson/fwd.h
The file was addedssep/main_test/hdmap_interface/rapidjson/filereadstream.h
The file was addedssep/main_test/hdmap_interface/rapidjson/error/error.h
The file was addedssep/common/utils/map_element_utils.hpp
The file was addedssep/main_test/main_test_zhoushan.cc
The file was modifiedssep/influence_map/sl_projection_map.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/dir_switching_cost_computer.h
The file was addedssep/main_test/hdmap_interface/map_elements/map_info.h
The file was addedssep/main_test/hdmap_interface/hdmap_impl.h
The file was addedssep/main_test/hdmap_interface/rapidjson/msinttypes/inttypes.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/kinematic_heuristic_computer.h
The file was modifiedssep/common/math/vec2d.h
The file was modifiedssep/influence_map/sl_projection_map.cc
The file was addedssep/main_test/hdmap_interface/rapidjson/uri.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was addedssep/main_test/hdmap_interface/map_elements/lane_info.h
The file was addedssep/coarse_search/geometric_searcher/evaluator/composite_heuristic_computer.h
The file was addedssep/main_test/hdmap_interface/map_elements/lane.h
The file was addedssep/main_test/hdmap_interface/rapidjson/writer.h
The file was addedssep/main_test/hdmap_interface/map_elements/overlap.h
The file was addedssep/main_test/hdmap_interface/rapidjson/internal/ieee754.h
The file was addedssep/main_test/hdmap_interface/rapidjson/allocators.h
The file was addedssep/main_test/hdmap_interface/rapidjson/msinttypes/stdint.h
The file was modifiedcommon/util/hdmap_wrapper.cpp
The file was modifiedssep/conf/ssep_preprocess.yaml
The file was addedssep/main_test/hdmap_interface/rapidjson/cursorstreamwrapper.h
The file was addedssep/main_test/hdmap_interface/rapidjson/ostreamwrapper.h
The file was addedssep/main_test/hdmap_interface/map_elements/overlap_info.h
The file was addedssep/main_test/hdmap_interface/rapidjson/internal/diyfp.h
The file was addedssep/main_test/hdmap_interface/rapidjson/memorystream.h
The file was modifiedssep/ssep_planner.h
The file was addedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was addedssep/main_test/hdmap_interface/common/glog_helper.h
The file was addedssep/main_test/hdmap_interface/rapidjson/encodings.h
The file was addedssep/main_test/hdmap_interface/common/math/linear_interpolation.hpp
The file was addedssep/main_test/hdmap_interface/rapidjson/internal/swap.h
The file was addedssep/main_test/hdmap_interface/rapidjson/schema.h
The file was addedssep/main_test/hdmap_interface/common/data_types.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/heuristic_feature_computer.h
The file was addedssep/main_test/hdmap_interface/rapidjson/internal/regex.h
The file was addedssep/main_test/hdmap_interface/map_elements/object.h
The file was addedssep/main_test/hdmap_interface/rapidjson/prettywriter.h
The file was addedssep/main_test/hdmap_interface/rapidjson/istreamwrapper.h
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/reeds_shepp_path.cc
The file was addedssep/main_test/hdmap_interface/rapidjson/stream.h
The file was addedssep/main_test/hdmap_interface/common/math/vec2d.hpp
The file was addedssep/main_test/hdmap_interface/map_elements/object_info.h
The file was addedssep/main_test/hdmap_interface/map_elements/section.h
The file was addedssep/main_test/hdmap_interface/parser/interface_param_parser.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/rs_path_motion_primitive_sampler.cc
The file was modifiedssep/common/def/ssep_input.hpp
The file was addedssep/main_test/hdmap_interface/rapidjson/error/en.h
The file was addedssep/main_test/hdmap_interface/map_elements/section_info.h
The file was addedssep/main_test/hdmap_interface/common/math/box2d.hpp
The file was addedssep/main_test/hdmap_interface/public_data_struct.h
The file was modifiedssep/main_test/main_test_qhd.cc
The file was addedssep/main_test/hdmap_interface/rapidjson/stringbuffer.h
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/CMakeLists.txt
The file was addedssep/main_test/hdmap_interface/common/math/line_segment2d.hpp
The file was addedssep/main_test/hdmap_interface/rapidjson/reader.h
The file was addedssep/main_test/hdmap_interface/rapidjson/encodedstream.h
The file was addedssep/main_test/hdmap_interface/libhdmap_interface.so
The file was addedssep/main_test/hdmap_interface/map_elements/road.h
The file was addedssep/main_test/hdmap_interface/parser/map_loader.h
The file was modifiedssep/coarse_search/geometric_searcher/candidate_yard_entry_states_generator.cc
The file was addedssep/main_test/hdmap_interface/common/math/polygon2d.hpp
The file was addedssep/coarse_search/geometric_searcher/conditions/crosses_access_line_condition.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/main_test/hdmap_interface/rapidjson/internal/dtoa.h
The file was addedssep/main_test/hdmap_interface/map_elements/junction.h
The file was addedssep/main_test/hdmap_interface/rapidjson/rapidjson.h
The file was addedssep/main_test/hdmap_interface/hdmap.h
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
The file was addedssep/main_test/hdmap_interface/map_elements/road_info.h
The file was addedssep/main_test/hdmap_interface/rapidjson/document.h
The file was addedssep/main_test/hdmap_interface/rapidjson/internal/stack.h
The file was addedssep/main_test/hdmap_interface/map_elements/junction_info.h
The file was addedssep/main_test/hdmap_interface/rapidjson/filewritestream.h
The file was addedssep/coarse_search/geometric_searcher/conditions/along_lane_condition.h
The file was addedssep/main_test/hdmap_interface/rapidjson/internal/strtod.h
The file was addedssep/conf/ssep_imv_xugong.yaml
The file was addedssep/main_test/hdmap_interface/common/math/geometry_utils.h
The file was addedssep/main_test/hdmap_interface/rapidjson/internal/strfunc.h
The file was addedssep/main_test/hdmap_interface/common/math/math_utils.hpp
The file was addedssep/main_test/hdmap_interface/rapidjson/pointer.h
The file was modifiedCMakeLists.txt
The file was addedssep/main_test/hdmap_interface/rapidjson/internal/biginteger.h
The file was addedssep/main_test/hdmap_interface/rapidjson/memorybuffer.h
The file was addedssep/main_test/hdmap_interface/libhdmap_interface_shm.so
The file was modifiedssep/coarse_search/geometric_searcher/geometric_search_visualizer.h
The file was addedssep/main_test/hdmap_interface/map_elements/map.h
The file was addedssep/main_test/hdmap_interface/rapidjson/internal/clzll.h
The file was addedssep/main_test/hdmap_interface/rapidjson/internal/meta.h
The file was addedssep/main_test/hdmap_interface/rapidjson/internal/pow10.h
The file was addedssep/main_test/hdmap_interface/rapidjson/internal/itoa.h
The file was addedssep/coarse_search/geometric_searcher/evaluator/bidirectional_kinematic_heuristic_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/geometric_search_visualizer.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/data_structure.h
Commit d60dcaf3c4df16159f06b2150b89059edd140d83 by tangwenqing
fix: 倒车时搜索区域构建bug修复

The file was modifieddata/ssep/field_junction_ec.cpp
Commit 90a6ddff47a253657a0b546299d1f40451429efc by tangwenqing
fix: uturn insertion 倒车二次规划使用更大的曲率

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/back_insertion_maneuver_searcher_builder.cc
Commit 0018f73768f34fdb4b09efa03cd6777befc80b78 by tangwenqing
feat: 前港掉头调试 临时提交

The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifieddata/plan/ssep_data.cpp
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifieddata/boundary/road_boundary.cpp
The file was modifiedssep/ssep_planner.cc
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifieddata/plan/path_direction_data.cpp
The file was modifiedssep/common/def/ssep_input.hpp
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/main_test/main_ssep_input.cc
Commit 789a36b04dde033016406a9f0d8114d58a6ab5cd by wuyanjun110
feat:友谊关测试添加日志

The file was modifiedtasks/other_tasks/create_trailer_guide_line.cpp
Commit e55031755daf904f04e447a33cbc8ff758b7c528 by wuyanjun110
feat:恢复代码

The file was modifieddata/boundary/road_boundary.cpp
Commit 39a6042ae8fe8fdaade10ee575fab6c4a3ca871e by wuyanjun110
fix:出堆场口 和多段 求解失败的bug

The file was modifieddata/plan/path_direction_data.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifieddata/plan/ssep_data.cpp
Commit 2f111802ccfa3f1746450cc02475f1d331edb203 by wuyanjun110
feat:吊距防护的bug

The file was modifieddata/vehicle/spreader_protect.cpp
Commit 0ff8b339b1ed0b08436f80df43fdc11c8a0d13e8 by wuyanjun110
fix:修复可能的崩溃bug

The file was modifiedscripts/ssep_tool/__pycache__/ssep.cpython-38.pyc
The file was modifiedCMakeLists.txt
Commit c2f65d9155707f5c206996dc4282a25977278ec6 by 5081703.cr
fix: trailer_base2head_base in ssep.

The file was modifieddata/config/cfg_ssep.cpp
Commit 4ed5a2108f535f8f4ea4c41d490a69aeedf9ba33 by wuyanjun110
fix:调整限速的问题

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 402253d845c994c3168d46d5e8d2e4082484596c by wuyanjun110
fix:修复可能的崩溃bug

The file was modifiedtasks/other_tasks/stitch_path_to_reference_line.cpp
Commit 15479b43c45571e5db6da60553d11b8aaf0613c3 by wuyanjun110
feat:西连停车位，添加约束

The file was modifieddata/config/cfg_ssep.cpp
Commit cdfee867db219ddbe230950bb3464fd3f83dccc0 by wuyanjun110
Revert "fix:修复可能的崩溃bug"

This reverts commit 0ff8b339b1ed0b08436f80df43fdc11c8a0d13e8.
The file was modifiedCMakeLists.txt
The file was modifiedscripts/ssep_tool/__pycache__/ssep.cpython-38.pyc
Commit a9a3069df7756dabaa98c3e7d81cc91d9a18a3dc by 5081703.cr
fix: imv heading bug.

The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.cpp
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
Commit 45460a1b3fa9a64b82ae63f2f5002706eb5a580d by wuyanjun110
fix:修复快照崩溃的bug

The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit 3246de604c4e2627d90891776fe427be8a228b5c by wuyanjun110
fix:修复合并的bug

The file was modifiedtasks/other_tasks/create_trailer_road_boundary.cpp
Commit 648c3766fe4c08a95b7b844729b9d310f0df204c by wuyanjun110
feat:弯道延后进入open space 参数化

The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_func_sw.hpp
Commit 36180e9a3106aa858c588db1b1b1ba81178e2c64 by wuyanjun110
feat:弯道延后进入open space 参数化

The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
Commit d14e91db40a8385368734ee0274178e5710c7e7c by wuyanjun110
fix:长弯道内，速度跳变的问题

The file was modifieddata/map/pnc_map/pnc_map_path.cpp
Commit 5e0318742da4ab81b12001b035eacedfc0d77673 by tangwenqing
feat: 完成ssep新框架的场景输入。修复搜索bug

The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/coarse_search/geometric_searcher/indexed_priority_queue.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path_motion_primitive_sampler.h
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/back_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.cc
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
The file was modifiedssep/common/def/ssep_input.hpp
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit 6e26b6ec7e95858cb8a643acab660a0d7a076342 by 5081703.cr
fix: ssep ilqr path filter.

The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/ilqr_motion_primitive_sampler.cc
Commit 961feccc1a170511489a30bc75978e887d6b9951 by tangwenqing
fix: 修复 along lane condition 中目标角度与车道角度可能不一致的问题

The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/influence_map/sl_projection_map.cc
The file was modifiedssep/coarse_search/geometric_searcher/conditions/along_lane_condition.h
Commit 5dd7c817bb063c786843dedaea1e09fdb044e148 by wuyanjun110
fix:修复可能崩溃的bug

The file was modifiedtasks/plan/pjpo_task.cpp
Commit ff416a181809ff004b9bf628288d32d99ce32830 by wuyanjun110
feat:关闭debug

The file was modifiedCMakeLists.txt
Commit 34295d75340d36790260c39a222378c97a829611 by 5081703.cr
fix: wbca boundary bug.

The file was modifiedalgorithm/wbca/occupancy_grid_map/data_render.cpp
Commit 2565d2c6a43204dd373bc3e6edbb2ef5616acc9d by 5081703.cr
fix: lane.length checking bug.

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 2632d09a428da5a46a04b621f4f6f72632646542 by wuyanjun110
feat:调整wcba 优化路径的长度

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 322c66c20e119b3333a5749de8ce363165c7385f by 5081703.cr
fix: echo stop position.

The file was modifieddata/app/fsm/motion_fsm/motion_fsm.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_fsm.hpp
Commit 80f60495e07c5f6e339ec9ebf5793d25e3cf6e4a by tangwenqing
feat: 掉头入库-1. 根据途经点位置自动计算角度。2. 方向切换时向前延长轨迹

The file was modifiedssep/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cc
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/arc_path_motion_primitive_sampler.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_collision_cost_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/geometric_search_visualizer.cc
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.cc
The file was modifiedssep/coarse_search/geometric_searcher/geometric_search_visualizer.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/u_turn_insertion_maneuver_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive.h
The file was modified.gitignore
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/motion_primitive_sampler.h
The file was modifiedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cc
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dir_change_path_extention_decorator.h
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/back_insertion_maneuver_searcher_builder.cc
Commit 9a2fda85407c5c362b53a27fa619ff20172cdeb8 by 5081703.cr
fix: plan from cur_pt when ssep search succeed.

The file was modifieddata/plan/start_point_data.cpp
Commit 3140280a4bad8e5a0d0ccd83425ce995b43004e6 by tangwenqing
feat: 增加conditional filter防止轨迹画圈

The file was addedssep/coarse_search/geometric_searcher/evaluator/conditional_filter_cost_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/back_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/ilqr_motion_primitive_sampler.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/cost_feature_computer.h
Commit 43d7498668477f02c1b7134b6028f17c8c9ae557 by tangwenqing
fix: 修复轨迹有可能转圈的问题

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/u_turn_insertion_maneuver_searcher_builder.h
The file was modifiedssep/ssep_planner.h
The file was addedssep/coarse_search/geometric_searcher/utils.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/data_structure.h
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/back_insertion_maneuver_searcher_builder.cc
The file was addedssep/coarse_search/geometric_searcher/utils.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit dd7cda6c4f66637ed5d18046c20e1d5caea26ec4 by 5081703.cr
fix: crash issue.

The file was modifieddata/plan/start_point_data.cpp
Commit 4b060862e731340af21f288bd15f689f439d9924 by 5081703.cr
fix: lon_decision, using prediction for v > 8km/h

The file was modifieddata/semantic/semantic_description.cpp
Commit e303cbdac0ae2655503f5b3ebbadb13dd5eb9993 by tangwenqing
fix: 修复掉头入库时，pass point不合理会导致崩溃的问题

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
Commit 0f1422b34cb9a4013828a09e87a90cc4068a5796 by wuyanjun110
fix:修复不运行path time graph，lattice崩溃的bug

The file was modifiedtasks/plan/lattice_task.cpp
The file was modifiedalgorithm/plan/lattice.cpp
Commit 604c35a57b93a39a5737a14fa7499d56ffced596 by wuyanjun110
fix:修复guide line的模式的打印

The file was modifieddata/plan/guide_line.cpp
Commit a2475069b2cb10a9b7a211f83158fb36631ca7ce by wuyanjun110
feat:添加忽略身后安全的标志位

The file was modifiedsink/ros_sink_pnc_status.cpp
The file was modifieddata/vehicle/vehicle_status.hpp
Commit 8b5830d54968dbb0e5a2fab973fce196ebf499e2 by wuyanjun110
feat:添加忽略身后og点的功能

The file was modifieddata/config/cfg_func_sw.cpp
The file was modifiedsink/ros_sink_pnc_status.cpp
The file was modifieddata/other/flow_control.hpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedplan/prepare/prepare_status.cpp
Commit 3b416a9419a8b5dd851d4d7105c8a249613532c9 by wuyanjun110
feat:指令变道后， 仍然可以进行靠近终点变道

The file was modifieddata/plan/switch_data.cpp
Commit 7f6bf61271073af63aad4306ce6a1423d8a80bc6 by tangwenqing
chore: 改进进出堆场搜索与掉头搜索

1. 掉头加边界
2. 堆场聚类，用终点最近的堆场口
3. 路径切换延长
4. 重构ssep路径延长逻辑
5. 掉头场景终点改为目标道路上任意点
6. 增大搜索区域面积
The file was modifiedssep/coarse_search/geometric_searcher/utils.h
The file was modifiedssep/common/def/type_definition.h
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path_motion_primitive_sampler.h
The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/coarse_search/geometric_searcher/geometric_search_visualizer.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
The file was modifiedssep/common/def/type_definition.cc
The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was addedssep/coarse_search/geometric_searcher/topology_analysis/bulk_yard_reasoner.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was addedssep/coarse_search/data_structure/polyline.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/kinematic_heuristic_computer.h
The file was addedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.cc
The file was modifiedssep/common/def/ssep_input.hpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/plan/ssep_data.hpp
The file was modifiedssep/common/utils/common.hpp
The file was modifiedssep/coarse_search/geometric_searcher/utils.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/common/def/map_element_polyline.hpp
The file was modifiedssep/ssep_planner.cc
The file was addedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.h
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/coarse_search/geometric_searcher/geometric_search_visualizer.cc
The file was modifiedssep/tools/scene_data_generator/ogm_builder/ogm_builder.h
The file was modifieddata/app/reaction/app_reaction.cpp
The file was modifiedssep/tools/scene_data_generator/ogm_builder/ogm_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
The file was addedssep/coarse_search/data_structure/polyline.h
The file was modifiedssep/coarse_search/disk_collision_checker.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dir_change_path_extention_decorator.h
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifieddata/app/fsm/task_command_type.cpp
Commit 8e0bbc5014707f66bc8062735141a7200d934a28 by wuyanjun110
fix:修复停车位方向切换的问题

The file was modifieddata/scenario/scenario_planner_condition.cpp
The file was modifieddata/vehicle/vehicle_destination.cpp
The file was modifieddata/other/flow_control.hpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/app/fsm/task_fsm/task_travel/task_travel_fsm.cpp
Commit 6e6b97eeeb6484dd8198c2040ef0699e9834c1f1 by wuyanjun110
feat:进充电桩搜索失败的bug

The file was modifieddata/config/cfg_ssep.cpp
Commit 92ffb92586a2c4d71bfbb715cd0157487fefc934 by wuyanjun110
fix:修复参考拼接的bug

The file was modifiedtasks/other_tasks/stitch_path_to_reference_line.cpp
Commit 17bd9a64e2f1db79d1792695b3e4ae9d451bb5bb by wuyanjun110
fix:苏溪进出堆场搜索失败的bug

The file was modifieddata/ssep/out_yard_junction_ec.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit ac2614e66ee8affed8397810892481e5babde607 by wuyanjun110
feat:删除打印日志

The file was modifiedtasks/other_tasks/stitch_path_to_reference_line.cpp
Commit 9001f68e21e44d365ab9e2de40ab81fb6fc23da1 by tangwenqing
fix: 修复前港终点在反向车道时会crash的问题

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.cc
The file was modifiedssep/coarse_search/geometric_searcher/conditions/along_lane_condition.h
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.h
Commit d12ef557e93c001f6045f4dae77e0fe6baadd8ab by wuyanjun110
feat:扩多个lane的region，只获取一段的bug

The file was modifieddata/map/pnc_map/pnc_map_path.cpp
Commit 31ffa8b07668a8327caf26a4c264db8d6d92e15e by tangwenqing
fix: 修复hd-map中yard access line为空时会崩溃的问题

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
Commit 7a8121ca26731c8ba620e22979fac0558af941bf by tangwenqing
chore: 调整进出堆场与普通搜索方向切换权重

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
Commit 766e7e042535133f42367daaa6360287e3d6d414 by 5081703.cr
fix: wbca route length optimization.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 937c11a2054d34ae6d884522672dda89b4af1f73 by tangwenqing
fix: ssep修复起点直接满足搜索终止条件时会crash的问题

The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
Commit 4e18594b158a8fa9b4137dbfcb9c68bab23d56a1 by wuyanjun110
fix:修复引导线拼接的bug

The file was modifieddata/plan/guide_line.cpp
Commit bf858adef6f519e908edf4b6507e86fa37bb3975 by wuyanjun110
fix:修复引导线拼接的bug

The file was modifieddata/plan/guide_line.cpp
Commit 3b94b21ae41785cf7b5a86019f2bc455a7ac75e7 by tangwenqing
chore: 1.基于车道的终点匹配范围增加到距离参考点20米。2. imv增加斜行cost

The file was modifiedssep/coarse_search/geometric_searcher/evaluator/curvature_cost_computer.h
The file was addedssep/coarse_search/geometric_searcher/evaluator/diagonal_cost_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/diagnal_motion_primitive_sampler.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/motion_primitive_sampler.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/cost_feature_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/diagnal_motion_primitive_sampler.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
Commit 5fc9192423fccceb4457cefa0942edf5bb69accc by wuyanjun110
feat:调整停车位开始变道的距离

The file was modifieddata/config/cfg_env_const.cpp
Commit c537884abde9268a0cdb5c8e8fa57537899cc68a by wuyanjun110
feat:变道安全和变道临停， 因障碍物晃，导致冲突的问题， 添加buffer

The file was modifieddata/plan/switch_data.cpp
Commit ace473511171f282a13769aca1a71b663e9555aa by wuyanjun110
fix:关路禁停的bug

The file was modifieddata/constrain/block_data.cpp
Commit 4edb10c4e942b3b94b8939ab821c82fcd0b52a67 by wuyanjun110
fix:引桥 途径点 没有清除的bug

The file was modifieddata/app/reaction/app_reaction.cpp
Commit 23d55e9c1ce908b8a32f010cbca76eca7fa1ba73 by tangwenqing
feat: 跑通ssep新框架-西联imv进充电桩的流程

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/collision_cost_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path_motion_primitive_sampler.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/back_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/cost_feature_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/general_hybrid_astar_searcher_builder.cc
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit 23bc113aa8b37bd7f81d90f4dd51a7c553bd64d6 by wuyanjun110
fix:修复bulk in 和 bulk out 点靠近时，场景识别的bug

The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/plan/guide_line.cpp
The file was modifieddata/vehicle/vehicle_destination.cpp
Commit e5e34c1bf06ba8533229922aee586a49572607e5 by tangwenqing
仿真中跑通进出充电桩
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifieddata/ssep/forward_ec.cpp
Commit 4183e5a6897c65290bbdd8f33c5faf885538d730 by wuyanjun110
fix:修复bulk倒车的问题

The file was modifieddata/config/cfg_long_plan.cpp
Commit 7dfe3d3d12f5c61db2025c7e1f0f211c772bff99 by wuyanjun110
fix:修复速度大于40km/h时.减速曲线的bug

The file was modifieddata/plan/start_point_data.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/constrain/long_target.cpp
The file was modifieddata/config/cfg_long_plan.hpp
Commit eaab0579d39379d638cdc64ae9ec78fcfa64ca99 by wuyanjun110
fix:修复速度大于40km/h时.减速曲线的bug

The file was modifieddata/plan/start_point_data.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/constrain/long_target.cpp
The file was modifieddata/config/cfg_long_plan.hpp
Commit ff2f1a190f655a03d28720eea2e4f8b40eb294d8 by tangwenqing
fix: 修复了轨迹平滑时，边界约束为0时，轨迹位置仍会改变的bug

The file was modifiedssep/smoother/safety_corridor_smoother.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/general_hybrid_astar_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/general_hybrid_astar_searcher_builder.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit 183a5dcdc0377f4945f99ab977a6b80aa1b622bc by wuyanjun110
fix:修复在平滑状态下， 限速的bug

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 3ea4e24ffbbe14446efe38c0e7c859e85e877f46 by wuyanjun110
fix:修复在平滑状态下， 限速的bug

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit a5f2b93a98420a1faeb99e39c63e87a3fa17c0d5 by wuyanjun110
fix:修复ssep搜索时，聚类og点使用的bug

The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/ssep/ssep_ec.hpp
Commit b6083201b16ffdedc04f446b98869494d6849da8 by wuyanjun110
fix:修复堆场入口显示的bug

The file was modifiedhmi/draw/draw_map.cpp
Commit 698c19b283cc1791e2ad3e4cb2ad38b114c1e574 by tangwenqing
chore: 适配HD-Map改动-一个堆场对应多个堆场口

The file was addedssep/ssep_heat_net/ssep_heat_net.cc
The file was addedssep/ssep_heat_net/ssep_heat_net.h
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was addedssep/ssep_heat_net/inference_ml_trajectory_cli.cc
The file was addedssep/ssep_heat_net/standarization_params.h
The file was modifiedssep/main_test/main_ssep_input.cc
Commit 23ad606cef24423d3db99746ef68fb3765f0f9c8 by tangwenqing
chore: 适配HD-Map改动-一个堆场对应多个堆场口

The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was addedssep/ssep_heat_net/ssep_heat_net.cc
The file was addedssep/ssep_heat_net/standarization_params.h
The file was addedssep/ssep_heat_net/inference_ml_trajectory_cli.cc
The file was addedssep/ssep_heat_net/ssep_heat_net.h
The file was modifiedssep/main_test/main_ssep_input.cc
Commit 064d2328976821cc551f04be981e326941c30b54 by tangwenqing
fix: 修复方向切换时延长失效的问题，增大对tunnel constraint的前向响应距离

The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
Commit 637bcb3a4d6338d67668b38c729b42d4953e675c by wuyanjun110
fix:修复搜索失败的bug

The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 24717aefab0e40e88eba9cc9a443f628d50a7bea by wuyanjun110
refctor:优化对准逻辑

The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
The file was modifieddata/vehicle/vehicle_destination.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/app/cmd/cmd_align.cpp
Commit d237d88bf056df82956de38cd36a41644b0fb362 by wuyanjun110
fix:优化对准的逻辑

The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/app/cmd/cmd_align.cpp
Commit 8dbaf1a364a4fef14b0dadc347126d38d1e20e72 by wuyanjun110
feat:添加变道状态机状态

The file was modifiedsink/ros_sink_ads_hfsm_state.cpp
Commit 0ac3b949ee3d5e6b6c1b89752e1eefc8097e4080 by wuyanjun110
feat:变道延迟时间参数化

The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/plan/switch_data.cpp
The file was modifieddata/config/cfg_env_const.hpp
Commit a88462839c3767a64e138bd280bcb036cf3032bc by wuyanjun110
fix:修复忽略身后障碍物的bug

The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_fsm.cpp
Commit 11f7b396b8e9ba97196df580e635deb3646b4df2 by wuyanjun110
feat:远程步进， 使用忽略安全的标志位代表是否是自动卸料

The file was modifieddata/other/flow_control.cpp
Commit 891139647321c0b6457866d2188d8392a37f9c3b by tangwenqing
fix: 修复堆场有多个出入口时适配错误的问题

The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/bulk_yard_reasoner.h
Commit 5db61d8714a0f20153467af1d522c05998d0ef1c by wuyanjun110
feat:修复参数名称和远程步进超时的时间

The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
Commit 3ac7a00fd4d7aa9ad6bae7ef0b69e68f3fb63b55 by wuyanjun110
fix:修复变道过程中，当前车道突变的bug

The file was modifieddata/plan/switch_data.cpp
Commit f84a8f89a64e6a6825d7ff3d21dc46e917e77a48 by wuyanjun110
feat:进出堆场约束的调整

The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit a33f34957e0b6909d8f083e6ed549b8bb51197fc by wuyanjun110
fix:苏溪 修复 集卡进单车道堆高机场搜索失败的bug

The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 309c6bb716723306519d34161aed000a417358ed by tangwenqing
merge latest ssep
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/ref_line_cost_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/ilqr_motion_primitive_sampler.cc
The file was modifiedssep/ssep_heat_net/ssep_heat_net.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
The file was modifiedssep/ssep_heat_net/inference_ml_trajectory_cli.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/ref_line_heuristic_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_collision_cost_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/bulk_yard_reasoner.h
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/composed_motion_primitive_sampler.h
The file was addedssep/coarse_search/geometric_searcher/conditions/trailer_relative_angle_condition.h
The file was modifiedssep/ogm_map/ogm.h
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.cc
The file was modifiedssep/common/def/ssep_input.hpp
The file was modifiedssep/ogm_map/ogm.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/tools/scene_data_generator/generate_scene_data_cli.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was addedssep/tools/scene_data_generator/state_augment_util.h
The file was modifiedssep/tools/scene_data_generator/ogm_builder/ogm_builder.cc
The file was modifiedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.h
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifiedssep/coarse_search/geometric_searcher/geometric_search_visualizer.cc
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.cc
Commit 234692cbd21448d78712df1df1038c105f3c8941 by tangwenqing
fix: 解决imv出充电桩离障碍物过近的问题

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/CMakeLists.txt
Commit d7ecfc25b341a50bcfc11ed2168e6a76699f1248 by tangwenqing
fix: 前港ssep搜索，车道匹配的终点需要在设定的终点之后

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/main_test/main_ssep_input.cc
Commit 82353b2ff8e6baf4d8d3b9e83c0b3b45c26e913a by tangwenqing
fix: 解决imv出充电桩离障碍物过近的问题

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/CMakeLists.txt
Commit 5f1cf63ef9e48cfc4777ee4e91e4c83838a33097 by wuyanjun110
feat:调整倒车的约束

The file was modifieddata/ssep/reverse_ec.cpp
Commit 34496fd54391cc910b4d20d76a8d26e73b6231d2 by wuyanjun110
fix:ssep场景错误的bug

The file was modifieddata/ssep/ssep_ec.cpp
Commit fd399ba23a94c8c4336f9cd179e2f966611166c3 by wuyanjun110
fix:travel out 误退出的bug

The file was modifieddata/other/flow_control.cpp
Commit 51978b404b6b7a148402029b3ec53789e2789358 by tangwenqing
feat: 新搜索框架添加gui 可视化功能

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.h
Commit aecb4ce494184c15a085fb601b336a0fa4ef534a by tangwenqing
feat: 新搜索框架添加gui 可视化功能

The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.h
Commit 5dd95b3bb8bfbc62fe77788159a635fbad196720 by tangwenqing
fix: 修复ssep搜索轨迹tractor-trailer拖车角度错误的问题

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/coarse_search/data_structure/polyline.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
Commit 67a07fd307b71e5d8f6935382eceac51a2ecaf0a by tangwenqing
fix: 修复ssep搜索轨迹tractor-trailer拖车角度错误的问题
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/coarse_search/data_structure/polyline.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.h
Commit d61c9314e415172915500d5d5e51a4935f770515 by wuyanjun110
fix:ssep路径没有终点的停止线的bug

The file was modifieddata/vehicle/vehicle_destination.cpp
Commit 22b05ae53dfe2856a4de39ed55f61682127062ae by tangwenqing
feat: ssep: tt 搜索中，使用guide line匹配终点

The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/coarse_search/data_structure/polyline.cc
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.cc
The file was modifiedssep/coarse_search/data_structure/polyline.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
Commit c4b86f6c94cad909b16a0905a77fb0bd8c7121f0 by tangwenqing
feat: ssep: tt 搜索中，使用guide line匹配终点

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.cc
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.h
The file was modifiedssep/coarse_search/data_structure/polyline.h
The file was modifiedssep/coarse_search/data_structure/polyline.cc
Commit 1022c3adaef0925670caf8ff4ce63fa99e81c7f3 by wuyanjun110
feat:添加comand widget的显示开关

The file was modifieddata/config/cfg_hmi.hpp
The file was modifieddata/config/cfg_hmi.cpp
Commit 95d5e9f5b7f1cae314c236e11bfbbf3f557a5ec2 by wuyanjun110
feat:添加comand widget的显示开关

The file was modifiedhmi/node_hmi.cpp
Commit 43001e65cb0c3b2e6849791122dd137e88112f2c by wuyanjun110
fix:修复对准标志位请求不复位的bug

The file was modifieddata/app/cmd/cmd_align.cpp
Commit 44de30cfcb5149a4815359a1291210ff68d2574f by wuyanjun110
feat:状态显示框通过参数可以控制

The file was modifiedhmi/node_hmi.cpp
Commit 9b89e68efdd9d8e80e9e7df05210bbc03ad5080f by wuyanjun110
fix:合并的bug

The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/ssep/ssep_ec.hpp
Commit 2282c6f06407cbfb5d8ef37f429013e6637ef2d4 by wuyanjun110
feat:调整缩小安全距离的参数

The file was modifieddata/config/cfg_long_plan.cpp
Commit 6f79103752292cb99e93d6cc77390753fdb232e0 by tangwenqing
feat: 加入双向搜索，太阳纸业支持car倒车入库。

The file was addedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive.h
The file was modifiedssep/influence_map/sl_projection_map.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/ref_line_heuristic_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/state_hasher.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/ref_line_cost_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
The file was modifiedssep/coarse_search/geometric_searcher/indexed_priority_queue.h
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/ssep_planner.cc
The file was addedssep/coarse_search/geometric_searcher/search_engine_interface.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.h
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/reverse_primitive_decorator.h
The file was addedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit dbdabc4a0475bab5ff2caf26b72969c9da351a9d by tangwenqing
chore: ssep多段倒车入库根据测试结果调整搜索逻辑

The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 8c4992f9daad58683ffad6fcd702afc60c5472b8 by tangwenqing
fix: ssep加保护逻辑，不考虑距离过远的途经点

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit bc5a0bb93aceadffbf86c4b273452bf509fe3a14 by tangwenqing
fix: ssep修复途经点使用逻辑

The file was modifieddata/ssep/forward_ec.cpp
Commit c1d1293b0118b2c060ce3c201f55f302fd6d1325 by wuyanjun110
fix:误退出 dravel out场景的bug

The file was modifieddata/other/flow_control.cpp
Commit 6590efdf867763e4151c20f381c658b0276d2a94 by wuyanjun110
fix:误进入倒车控制器的bug

The file was modifieddata/scenario/scenario_planner_condition.cpp
Commit eb9b0b9376be930fe48d85d4cad38ecb2561b023 by wuyanjun110
fix:误进入倒车控制器的bug

The file was modifieddata/scenario/scenario_planner_condition.cpp
Commit 9045e15ee5fffc0c1984facb0b08d512e847f502 by tangwenqing
chore: ssep-car多段倒车入库减小双向搜索时两段路径连接处跳变

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/ssep_planner.cc
Commit 7b212809a5a35a369dd4db87c5b366b925d70341 by tangwenqing
chore: ssep-car 多段倒车入库，提升倒车二次搜索成功率

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit ee2c6c84e25dd368f0513e7e7a7229a39869db9b by wuyanjun110
feat:优化倒车的限速

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 1be2ce60bf7e2e8c2baae66ee1f6bf62a0ee44b7 by tangwenqing
chore: ssep-car-多段倒车入库提升成功率

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
Commit 8409a886591856180070fbffbb9145d3d3b71b3b by tangwenqing
feat: ssep-拖车进出堆场时，使用双向搜索作为fallback searcher。

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifieddata/config/cfg_ssep.hpp
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.cc
The file was modifieddata/config/cfg_ssep.cpp
The file was addedssep/coarse_search/geometric_searcher/search_engine_interface.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit d82d18bfdfb90466f1a73468e3509d0484427043 by tangwenqing
fix: Remove file

The file was removedssep/coarse_search/geometric_searcher/search_engine_interface.cc
Commit cb7ec25817ae0f91f16d0366ac4a7c1a1e68c354 by tangwenqing
chore: ssep-car多段倒车 提升二次搜索成功率

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit df497fc33b2ade3d4bbda5f93b23dd285b816595 by wuyanjun110
fix:出斜料区，地图方向识别的bug

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 df80915070f734509f3cffc9f3063018bdf350f1 by tangwenqing
fix: 修复ssep路径终点离设定终点过远的问题

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
Commit 8b3ac1f45236d58e541cf7c92a89897905e87774 by tangwenqing
feat: ssep-离线障碍物配置框架

The file was addeddata/ssep/offline_obstacles_loader.hpp
The file was modifiedhmi/draw/draw_map.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was addeddata/ssep/offline_obstacles_loader.cpp
The file was modifieddata/ssep/ssep_ec.hpp
Commit 47b3336c43545750f24f41ea08ef054689c901e3 by tangwenqing
feat: 加入双向搜索，太阳纸业支持car倒车入库。

The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/geometric_searcher/state_hasher.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive.h
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/ref_line_cost_computer.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/indexed_priority_queue.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
The file was modifiedssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/ref_line_heuristic_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.h
The file was addedssep/coarse_search/geometric_searcher/search_engine_interface.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/influence_map/sl_projection_map.cc
The file was addedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was addedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifieddata/ssep/forward_ec.cpp
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/reverse_primitive_decorator.h
Commit 4fea7122b6fca58b5853de3a50038219b4218494 by tangwenqing
chore: ssep多段倒车入库根据测试结果调整搜索逻辑

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
Commit bf4817cd030a9d2fbf2d4a99115c5471214a462b by tangwenqing
fix: ssep加保护逻辑，不考虑距离过远的途经点

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 0ea10f6af73fa4d6c00dacddbb5927749286815c by tangwenqing
chore: ssep-car多段倒车入库减小双向搜索时两段路径连接处跳变
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.h
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit fbe5772a016c9a05e4ca06c20241d05c29ce410a by tangwenqing
chore: ssep-car 多段倒车入库，提升倒车二次搜索成功率

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit bbdf23141cb6fe372604a3d828dadb19c516bd2e by tangwenqing
chore: ssep-car-多段倒车入库提升成功率

The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
Commit f0cf14baa220494a030c678755853ecb45ec8c4a by tangwenqing
feat: ssep-拖车进出堆场时，使用双向搜索作为fallback searcher。

The file was modifieddata/config/cfg_ssep.hpp
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.h
The file was addedssep/coarse_search/geometric_searcher/search_engine_interface.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.cc
The file was modifieddata/config/cfg_ssep.cpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
Commit 8e6a3aba3c677d6a9bcaaf94cd05d6d2d9179789 by tangwenqing
fix: Remove file

The file was removedssep/coarse_search/geometric_searcher/search_engine_interface.cc
Commit f3ddeb8ccb4b7f291771c0a50bae73a523c93d83 by tangwenqing
chore: ssep-car多段倒车 提升二次搜索成功率

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit 20fb944b1778b74adf6216d8c153d83bd03e7916 by tangwenqing
fix: 修复ssep路径终点离设定终点过远的问题

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
Commit 0f6ee489db3235ccfc5be9d3822817494a575531 by tangwenqing
feat: 增加候选起点策略

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.h
Commit fe38afd7bf5564757d5f1585462aeae3be77a156 by tangwenqing
feat: 增加候选起点策略

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.h
Commit ca8e06a804e7ac2a0e173a3969aef356cd50db73 by wuyanjun110
feat:倒车入库后，前向步进的问题

The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 20523207a788022cabfc2228ca13dc135f364ad3 by wuyanjun110
feat:完善变道触发的条件

The file was modifieddata/scenario/scenario_planner_condition.cpp
The file was modifieddata/scenario/scenario_planner_bt.cpp
Commit 077df7c141fcbcce4ca82aaa4ad0b4ba7ac66014 by 5081703.cr
fix:  stationary steering logic.

The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp
The file was modifieddata/vehicle/vehicle_status.hpp
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifiedplan/prepare/prepare_status.hpp
The file was modifiedsink/ros_sink_ctrl_reference.cpp
Commit 58853a3124a1f0da34cff15e29425e4148b0568c by wuyanjun110
fix:变道场景切换的bug

The file was modifieddata/scenario/scenario_planner_bt.cpp
Commit 8c32145970fcbac68f5a0bdeca313a6e814c62e9 by wuyanjun110
fix:路径方向切换时，终点距离计算的bug

The file was modifieddata/vehicle/vehicle_destination.cpp
Commit 27661234d2f87ad22957e6111cbd9c10c7c0f6e7 by wuyanjun110
fix:修复路径拼接的bug

The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
Commit f251ea239a0ca5da87da8260be610038920686ea by wuyanjun110
feat:优化ssep的参数载入

The file was modifieddata/config/cfg_ssep.cpp
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifieddata/config/cfg_ssep.hpp
The file was modifieddata/ssep/ssep_ec.cpp
Commit f2165ed7b3e2d55f5b58701c0861a93baf896e92 by tangwenqing
chore: SSEP: 自卸车普通搜索终点车道匹配只允许匹配给定终点以后的位置

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
Commit 3ff331ae3ec1e9adf577b51c41cce8daf27edc7f by wuyanjun110
feat:修改开始对准的阈值

The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp
The file was modifieddata/config/cfg_env_const.hpp
Commit b3bf1cb674000faabc6184808e4ede6213fbbb15 by wuyanjun110
fix:修复bulk 状态下， 不自动对准的bug

The file was modifieddata/plan/path_direction_data.cpp
Commit 3925c7b0422f97df56b65747f525d2c03558cbd6 by wuyanjun110
fix:修复更新目标车道使用历史数据的bug

The file was modifieddata/map/reference/center_line.cpp
Commit 501c30dbf29417182b5425bd28ec0e2ff4bb07c2 by wuyanjun110
feat:适配路边作业场景

The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/app/reaction/app_reaction.cpp
The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifieddata/config/cfg_env_const.cpp
Commit cdd90696b7338dfa3c9cff1d0ad9b25a526b574e by tangwenqing
feat: SSEP: 1. IMV增加pullover场景处理终点偏移。2. 添加keb optimizer

The file was addedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was addedssep/keb_optimizer/cost_features/path_length_cost.h
The file was addedssep/keb_optimizer/cost_features/trailer_disk_collision_cost.h
The file was addedssep/keb_optimizer/keb_problem.cc
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/keb_optimizer/data_structure.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cc
The file was modifieddata/ssep/offline_obstacles_loader.cpp
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was addedssep/keb_optimizer/cost_features/dynamic_constraint.h
The file was addedssep/keb_optimizer/keb_problem.h
The file was modifieddata/config/cfg_env_const.cpp
The file was addedssep/keb_optimizer/cost_features/kinematic_constraint.h
The file was addedssep/keb_optimizer/cost_features/pinch_cost.h
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/influence_map/sl_projection_map.h
The file was modifiedCMakeLists.txt
The file was addedssep/keb_optimizer/cost_features/jet_access.h
The file was addedssep/keb_optimizer/cost_features/disk_collision_cost.h
The file was modifiedssep/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/influence_map/sl_projection_map.cc
Commit f211a2c6bd4030f2e780e68aaa38602653de4027 by tangwenqing
fix: 修复掉头场景的终止条件判断不能正确匹配车道的问题

The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.cc
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
Commit 0214abd92f2a3bdcbe8a9faa9d1994d3df0fe5e3 by wuyanjun110
fix:修复方向切换的bug

The file was modifieddata/plan/path_direction_data.cpp
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit 4ee7c73e83beee0f9408b5fa9975b2445ab652ff by tangwenqing
feat: SSEP: 进堆场场景使用双向搜索+keb_optimizer

The file was addedssep/keb_optimizer/cost_features/state_constraint.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/ssep_planner.cc
The file was addedssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
The file was addedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
Commit 37595ddb5f1c788c3e740adca682c3b0246c88d1 by 5081703.cr
fix: reversing debug.

The file was modifieddata/plan/path_direction_data.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/vehicle/vehicle_destination.cpp
Commit d52908afb90de5ed0249c55821b016bcfa2f8477 by wuyanjun110
feat:合并的bug

The file was modifieddata/config/cfg_func_sw.hpp
Commit 4c06717f8cde0bdbba0cbce971721ff03c5e0ea0 by wuyanjun110
fix:修复og lines 使用的bug

The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/ssep/reverse_ec.cpp
Commit 7f5c65bf3ce0f61dd41195bec2742af49fed3760 by wuyanjun110
fix:方向切换的bug

The file was modifieddata/plan/path_direction_data.cpp
Commit cbbaac08cbaa3637c9fc7f13a6127d9162419900 by wuyanjun110
feat:添加强制前向搜索的标志位

The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/config/cfg_func_sw.cpp
Commit 78777a9732149aeb3fcebade883c23abf02b91b9 by wuyanjun110
fix:修复地图包略当前段计算的bug

The file was modifieddata/map/reference/reference_segment.cpp
The file was modifieddata/map/envelop/map_envelops.cpp
The file was modifieddata/map/envelop/map_envelop.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/map/envelop/map_envelop.hpp
Commit f7380e978e1da4264c4a782c7f2cc550b5984d62 by wuyanjun110
refactor:优化adjust 切换lock的条件

The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit dfe3e34e3cd5611df4e9a320149b5526898b4d5e by wuyanjun110
fix:修复lock 不切换adjust的bug

The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit fddb6e960340783b39e5a639fd9e8dca120e9e13 by tangwenqing
chore: ssep: 将Map envelop 转为 constraint，容许轻微违反约束-不超过0.5m

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.h
Commit 66335ecb5dae58a64b0d4eb20ad15ebb64c25687 by wuyanjun110
feat: 1. 前港 lock 和 adjust 来回切换的bug  2. 太阳 接受新任务， 状态机切换的bug

The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.hpp
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/task_park_state.hpp
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.hpp
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/park_transition.hpp
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/park_transition.cpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/park_base_fsm_transition.hpp
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.cpp
Commit e22c8b4b384d30ad6103a22ff62b580e4cd0b5ff by wuyanjun110
feat:储存的消息中添加车辆当前位置

The file was modifiedsource/ros_source_ads_target.cpp
The file was modifiedsource/ros_source_ads_target.hpp
Commit 042a65f42f8dff146b8fe18510774d1137b5c2ab by wuyanjun110
feat:park lock 下不重新搜索

The file was modifiedtasks/deciders/search_decider/forward_search_decider.cpp
Commit ffe300ca378d0a4b8d18aa46006f1a2e50323e2e by wuyanjun110
fix:适配lane 首位相连的场景

The file was modifieddata/plan/guide_line.cpp
The file was modifieddata/map/envelop/map_envelops.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/map/reference/reference_segment.hpp
The file was modifieddata/common/path.hpp
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.hpp
The file was modifieddata/map/pnc_map/road_segments.h
The file was modifieddata/map/reference/reference_segment.cpp
The file was modifieddata/map/pnc_map/pnc_map.cpp
The file was modifieddata/common/guide_path.cpp
The file was modifieddata/common/guide_path.hpp
The file was modifieddata/common/path.cpp
The file was modifieddata/map/pnc_map/road_segments.cpp
Commit 7034dff82367975aee6ce99f77ffb2e1c068b2a9 by wuyanjun110
fix:修复方向切换的问题

The file was modifieddata/plan/ssep_data.cpp
Commit 1efc4d2b91deac010f7bd64ed2a70d28f350bfc0 by wuyanjun110
feat:终点是否考虑边界添加参数

The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/boundary/driving_corridor.cpp
Commit 8e86d167c1306aceb193416462fb810abff14339 by 5081703.cr
 fix: max_acc = 0.5 for wbca velocity reference.

The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
Commit 778a231912da11e51a200c1954a53390ad8eb38d by tangwenqing
chore: ssep: 1.增加进堆场时终点选择逻辑 - 优先选择宽阔的区域作为终点，提前把挂车甩直。2. keb_optimizer加上最后一段直线的约束

The file was addedssep/keb_optimizer/cost_features/heading_constraint.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit f3cb8600f17aeb9822b71e9021e52daccdcf09d0 by tangwenqing
feat: ssep: 新增低贝位搜索模式 -- 在进入窄通道前把挂甩直。适配杨浦场景。

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
Commit 6e8551fb87318f2e11def84946352fd9a8dfe3df by tangwenqing
chore: ssep: 新建开沃掉头场景调整参数
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
Commit ed8b839096537a33c8040e4de806c30d791c5ca1 by wuyanjun110
feat:park adjust 切换park lock的bug

The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit a75ced66a463e6abdb2f2072c4babb4f5dd68515 by wuyanjun110
fix:优化 安全区域的限速

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit be5fc4cadb37e29563c388691515cb89af7d1d82 by tangwenqing
feat: SSEP: 倒车出停车位多段路径
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/CMakeLists.txt
The file was modifiedscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
The file was modifiedCMakeLists.txt
Commit 20eaa93440a0987cb206c6757353b4732a9caba1 by tangwenqing
feat: SSEP: mult-seg path to exit parking space
The file was modifiedssep/common/def/map_element_polyline.hpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedtasks/plan/ssep_task.cpp
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifiedssep/common/def/ssep_scenario_type.hpp
Commit 184676a158db75e55f6f7af525f0e11180a4a392 by tangwenqing
feat: Tractor-trailer出停车位
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/jackknife_cost_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/multi_curvature_motion_primitive_sampler.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
Commit a511f51f3eb0798295491c5a6e59aad30137188f by tangwenqing
chore: remove 1 line

The file was modifiedssep/main_test/main_ssep_input.cc
Commit 11e8427d2091458ea8255ff24b8309e7eb972a5c by tangwenqing
feat: ssep: 跑通苏溪多段路径出停车位
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/common/def/type_definition.h
The file was modifiedssep/ssep_planner.cc
The file was addedssep/ssep_heat_net/ssep_heat_net_trt.cc
The file was modifiedssep/ssep_heat_net/inference_ml_trajectory_cli.cc
The file was addedssep/ssep_heat_net/ssep_heat_net_trt.h
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifiedssep/common/def/type_definition.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.h
Commit 7c46adde3290f8dec33c609544d114144580c8ba by tangwenqing
chore: ssep: minor param updates

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
Commit 0c3bea39621bc7ce6e73fd89ffe89fa6a9c6510e by 5081703.cr
fix: hmi load map.

The file was modifiedreplayer/replayer_data_process/load_snap_data.cpp
The file was modifiedreplayer/logic.cpp
Commit 437051ebe4110a3496d9555c42dbe0c80ce6ab82 by tangwenqing
fix: ssep: 拆分car车型掉头和常规搜索的搜索参数

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit e00f79c507dc7abbfb649214a0b283da0507b5de by tangwenqing
chore: ssep: 在堆场内搜索终止条件不进行车道匹配

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/common/utils/map_element_utils.hpp
Commit 4c56fd709103722273c1f251bf0bde5792e26ebb by wuyanjun110
feat:打开release

The file was modifiedCMakeLists.txt
Commit c8fcf1f78a1b5d296d805167e77246cecebfea4c by wuyanjun110
feat:添加多次步进的功能

The file was modifieddata/app/fsm_interface.cpp
The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
The file was modifieddata/app/reaction/app_reaction.hpp
The file was modifieddata/app/app_data.cpp
The file was modifieddata/app/fsm/task_command_type.cpp
The file was modifieddata/app/reaction/app_reaction.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_fsm.hpp
The file was modifieddata/app/fsm_interface.hpp
The file was modifieddata/app/fsm/motion_fsm/motion_fsm.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_state.hpp
The file was addeddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_fsm.hpp
The file was addeddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_fsm.cpp
The file was modifieddata/app/cmd/cmd_base.hpp
The file was addeddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_state.hpp
The file was modifieddata/vehicle/vehicle_status.hpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/app/fsm/task_command_type.hpp
Commit 00673579182bee1843733b478bb7ee7508df461e by 5081703.cr
feat_out: path_opt in replayer.

The file was modifiedreplayer/replayer_data_process/replayer_data_process.hpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit 5612271b98b48d912157c326818761ec5d4fbdad by 5081703.cr
fix: velocity profile exception.

The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
Commit 8ad0d8519251c41d9a771cb7e09e92455b9c11c1 by 5081703.cr
fix: delete history in smooth mode.

The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedalgorithm/wbca/wbca_manager.hpp
Commit 9b10a22f5c8af4d66e2029d398989729689dabb1 by tangwenqing
chore: ssep: 跑通tensor rt推理ssep heat net模型全流程

The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.cc
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.h
Commit 6262490bbdf7032619c7cd1ab1e21d968084dc11 by wuyanjun110
fix:修复终点前变道的bug

The file was modifieddata/map/reference/center_line.cpp
Commit b3af1e94ec213bd33e04482534fc9d1e11998aef by wuyanjun110
feat:添加参数 直行的junction 是否用路口的边界

The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_func_sw.hpp
Commit e1e180ac6232f0dad6d254ee32c924445c82559a by wuyanjun110
refactor:删除打印日志

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit f2cfd96c1d6680e5ba602d2887effdf525da5a69 by wuyanjun110
fix:road 级别的可行驶范围的bug

The file was modifieddata/map/pnc_map/pnc_map_helper.cpp
Commit 56972055caec62da979b601756c9ca7ead955c7d by wuyanjun110
feat:适配董分进堆场边界

The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit 87dbb414736342ed5025c3724874d05f6884859b by wuyanjun110
fix:修复封路变道的bug

The file was modifieddata/map/reference/center_line.cpp
Commit 89161e6bea2dc298b72279d20989a8d95e8bf2c6 by wuyanjun110
fix:引桥前变道的bug

The file was modifieddata/plan/switch_data.cpp
Commit d6180ecba4bf2a682e330ffe0ae91149c2724a95 by wuyanjun110
fix:可能崩溃的bug

The file was modifieddata/plan/switch_data.cpp
Commit be9762aa86655bb123782337c3bbc586227537ec by 5081703.cr
fix: routing extending backward for bend.

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 4419f5005346efc02ca435aa2236e5af31d0666c by wuyanjun110
fix:变道的bug

The file was modifieddata/map/reference/center_line.cpp
Commit 8e8d233398fa0c149774fd59b994aa827d4f7196 by tangwenqing
chore: SSEP: Update ssep sdk.

The file was removedssep/common/def/basic.hpp
The file was modifiedssep/common/def/type_definition.h
The file was modifiedssep/sdk/ssep_activation_impl.cc
The file was modifiedssep/common/def/type_definition.cc
The file was modifiedssep/demo/src/main_ssep_activation.cc
Commit eba84cf6a23301a89d96fb3e920495bb3492abfd by tangwenqing
chore: 重构keb_optimizer，提取出tractor_trailer_keb_optimizer. 后续可以为其他车型添加优化器

The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was addedssep/keb_optimizer/keb_utils.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/data_structure.h
The file was addedssep/keb_optimizer/keb_utils.h
The file was addedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was addedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
Commit b85177099c031fce100287e2f28605c7df379c54 by wuyanjun110
fix:适配open space 场景

The file was modifieddata/other/flow_control.cpp
The file was modifieddata/app/reaction/app_reaction.hpp
The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.hpp
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
The file was modifieddata/app/reaction/app_reaction.cpp
The file was modifieddata/ssep/forward_ec.cpp
Commit d98c3c9625dc959cd3ee424321be2967f10c60bd by 5081703.cr
fix: using maximum vehicle size in WBCA

The file was modifiedalgorithm/wbca/truck_wbca_manager.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 6fd87e36efeb654d7125d528ef1fdae307146ed2 by tangwenqing
Feat: SSEP: 增加自卸车倒车卸货场景

The file was addedssep/keb_optimizer/cost_features/tractor_trailer_kinematic_constraint.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was addedssep/keb_optimizer/cost_features/truck_kinematic_constraint.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.h
The file was addedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was removedssep/keb_optimizer/cost_features/kinematic_constraint.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/ssep_planner.cc
Commit c02b749c4c7b70eca408fa081f5265e5a014d085 by tangwenqing
feat: 接入自卸车倒车卸货场景

The file was modifieddata/ssep/forward_ec.cpp
Commit 16607c09adead29dfc85d7dc76fe55296a1b241e by 5081703.cr
fix: abandon  last segment in wbca.

The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit 5fabec158c37b523cf8a5c6acc6803fa54d90e5f by tangwenqing
fix: 修复ssep搜索区域尺寸错误

The file was modifieddata/ssep/forward_ec.cpp
Commit 287eb3bcd4c2f508146bde8ff18ca49462e64ff0 by wuyanjun110
fix:可能崩溃的bug

The file was modifieddata/plan/switch_data.cpp
Commit 855d2b1c96f7de60850239d21a32a6f98e61f30f by 5081703.cr
fix: wbca debug msg.

The file was modifiedsink/ros_sink_plan_debug.cpp
Commit cdecea5362b67b0f41903e5516d1daeeefe47fca by 5081703.cr
fix: end_velocity for wbca calc exception.

The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
Commit 1ae8cc1f873e2595332aed90540bd7f6b7fe5867 by 5081703.cr
fix: velocity profile exception.

The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
Commit 99ab390ee555fefbb05351f68f6053e949d3fa26 by wuyanjun110
fix:人工对准误创建约束

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit c9b7c7ef30f2b802baf67b8bccd1563874f76bc8 by wuyanjun110
feat:open space的优化

The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/config/cfg_region.hpp
The file was modifieddata/config/cfg_region.cpp
Commit 39e1051cec249f83e81811588c26ec21da0e61e6 by wuyanjun110
refactor:直线步进 优化步进时间

The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_fsm.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_env_const.hpp
Commit 3d538b2a494e397c1228ebfacf648da8c4937b20 by wuyanjun110
refactor:直线步进 优化步进时间

The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_fsm.cpp
Commit af06d40a9c93410b70af80c0a7a567fdcdc9e2bf by tangwenqing
feat: SSEP: keb optimizer优化多段路径。car模型适配keb optimizer。

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/cost_features/truck_kinematic_constraint.h
The file was addedssep/keb_optimizer/cost_features/curvature_cost.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/ssep_planner.cc
The file was addedssep/keb_optimizer/cost_features/soft_disk_collision_cost.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/keb_optimizer/data_structure.h
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/keb_optimizer/cost_features/tractor_trailer_kinematic_constraint.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/ssep_heat_net/inference_ml_trajectory_cli.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
Commit 4b484fe1c68b82f2cec136f8ff46093fc81216d0 by tangwenqing
feat: ssep_data中保存重规划原因

The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/decide/decide_reaction.hpp
The file was modifieddata/plan/ssep_data.hpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifiedtasks/deciders/search_decider/forward_search_decider.cpp
Commit 09de05492e0e8f6c4bc5470cd7a23eaa1498f4e0 by 5081703.cr
fix: add wbca debug var.

The file was modifiedsink/ros_sink_plan_debug.cpp
Commit 42a20025d749e2115e2fd0f8b96c75a4d7f9c718 by 5081703.cr
fix: add lateral acc cost.

The file was modifiedalgorithm/wbca/path_optimization/car_path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/truck_path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit efed77162e1f93c135d20545829be3b0a1286036 by 5081703.cr
fix: add wbca cost and time_consuming.

The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit cefa5a09de39a144c872149d480be9276a6a4058 by tangwenqing
fix: SSEP: 修复car+optimizer中代码的bug

The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/cost_features/curvature_cost.h
Commit e144a3fa9d9dc5d60f442f1886c83d42cdd6f6d2 by wuyanjun110
fix:修复代码合并的bug

The file was modifieddata/ssep/forward_ec.cpp
Commit 7e361d0240c561704b8c58c95e44c4c30176b3be by 5081703.cr
fix: pub lane_pts debug msg.
The file was modifiedreplayer/replayer_data_process/replayer_data_process.hpp
The file was modifiedreplayer/logic.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit d0500b751819bfe5c281dfbc993ab848ea89d1ca by tangwenqing
feat: SSEP: 增加IMV-either-facing-goal搜索功能（可以头朝前也可以尾朝前）

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/conditions/along_lane_condition.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was addedssep/coarse_search/geometric_searcher/conditions/path_direction_condition.h
Commit 9e2f67a11b970c72d57dd91cb7628c86bb90f48f by wuyanjun110
feat:暂时可以调试

The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifieddata/app/reaction/app_reaction.cpp
The file was modifieddata/app/app_data.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/app/cmd/cmd_set_target.hpp
The file was modifieddata/other/flow_control.hpp
The file was modifieddata/ssep/forward_ec.hpp
The file was modifieddata/other/flow_control.cpp
The file was modifiedhmi/draw/draw_map.hpp
The file was modifieddata/app/cmd/cmd_set_target.cpp
The file was modifieddata/app/reaction/app_reaction.hpp
The file was modifiedhmi/draw/draw_map.cpp
Commit a193839bd84db355132d1d6a326861fe47276f7b by tangwenqing
feat: SSEP: 增加集卡多段倒车场景

The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit b87283f764a230ae850ebacb69489c7210a44636 by 5081703.cr
fix: wbca bd expanding.

The file was modifiedalgorithm/wbca/occupancy_grid_map/data_render.cpp
Commit bc1112a9d52f45b8ad8918bb1b057535b9e58ed7 by tangwenqing
feat: SSEP: 增加IMV-either-facing-goal搜索功能（可以头朝前也可以尾朝前）

The file was addedssep/coarse_search/geometric_searcher/conditions/path_direction_condition.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/conditions/along_lane_condition.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/ssep_planner.h
Commit a280eeda09dc73323f7028324017ff21ba288ae8 by tangwenqing
feat: SSEP: 增加集卡多段倒车场景

The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit a4f849972654c0837f58e4ea61e4e7b260435529 by tangwenqing
fix: SSEP: Resolve crashing issue.

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit aa57cf43920b34fe51b46fd9a051e89f533822f3 by tangwenqing
fix: SSEP: Resolve crashing issue.

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit 6af1002eef64b39603e65a6e9a8097bd08c959b4 by 5081703.cr
 feat: add distance2bend

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 7cf7d48885a66176adede13d881909f4dd380122 by 5081703.cr
fix: WBCA lane change path
The file was modifieddata/plan/guide_line_info.cpp
The file was modifieddata/plan/switch_data.hpp
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedtasks/deciders/lat_decider/wbca_path_boundary_decider.cpp
The file was modifiedalgorithm/wbca/wbca_manager.hpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifieddata/config/cfg_lat_decide.cpp
The file was modifieddata/config/cfg_lat_decide.hpp
The file was modifieddata/plan/switch_data.cpp
The file was modifiedtasks/deciders/lat_decider/wbca_path_boundary_decider.hpp
The file was modifieddata/plan/switch_helper.cpp
Commit da28a47375f1766e488d585a4a1627690ee1af1d by 5081703.cr
fix: choosing WBCA start_pt at guide_line in SMOOTH MODE

The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifiedtasks/plan/path_optimization_task.hpp
Commit ef5c89f3285fb795c957d97d2d638e9607e23189 by wuyanjun110
feat:适配状态机场景

The file was addedscenarios/fallback_scenario/fallback_stage.hpp
The file was modifieddata/scenario/scenario_region_condition.cpp
The file was modifiedcommon/util/express.cpp
The file was modifieddata/app/cmd/cmd_set_target.cpp
The file was addedscenarios/fallback_scenario/fallback_stage.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/scenario/scenario_planner_condition.cpp
The file was modifieddata/scenario/scenario_region_bt.cpp
The file was modifieddata/scenario/scenario_planner_action.cpp
The file was addedscenarios/fallback_scenario/fallback_scenario.cpp
The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.hpp
The file was addedscenarios/fallback_scenario/fallback_scenario.hpp
The file was modifieddata/scenario/scenario_planner.hpp
The file was modifieddata/scenario/scenario_region.hpp
The file was modifieddata/scenario/scenario_planner_bt.cpp
The file was modifieddata/config/cfg_stage.cpp
The file was modifiedtasks/other_tasks/create_reference_line.cpp
The file was modifieddata/app/fsm/task_fsm/task_state.hpp
The file was modifieddata/app/fsm/task_command_type.cpp
The file was modifieddata/config/cfg_stage.hpp
The file was modifieddata/scenario/scenario_region_condition.hpp
The file was modifieddata/scenario/scenario_region_action.cpp
The file was modifiedscenarios/scenario_supervise.cpp
Commit 5385854ced1c4f0a38ecc0337eebc0d1a0ae820d by 5081703.cr
feat: WBCA serialization for debug.

The file was modifieddata/plan/guide_line_info.hpp
The file was modifieddata/wbca/grid_map/grid_map.hpp
The file was modifieddata/wbca/grid_map/esdf_map.hpp
The file was modifieddata/wbca/wbca_data.hpp
Commit 349cf66c11d9628ff7dde4ff4fe034f46ad4eab1 by 5081703.cr
fix: using history_pts for lattice velocity reference.

The file was modifieddata/lattice/trajectory_evaluator.cpp
Commit c5b717740c81e6085311e306132e5adec38bc508 by 5081703.cr
fix: use_func_use_wbca_speed_limit = true

The file was modifieddata/config/cfg_func_sw.cpp
Commit f630959754c596f5112e6b06ca27455f75817e36 by tangwenqing
feat: SSEP: 增加引导线跟随模式搜索

The file was addedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.cc
The file was modifiedssep/conf/ssep_preprocess.yaml
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.h
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/main_test/main_ssep_input.cc
Commit eb15b8594d32856bc558eaf00a2cdd79e9f88a8f by tangwenqing
feat: ssep适配脱困模式

The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifieddata/ssep/ssep_ec.cpp
Commit d2aa1263316b362fa95667833a95cb387ed4db95 by wuyanjun110
feat:boost 编译错误

The file was modifiedCMakeLists.txt
Commit 5b151ef7dc7b81438899a4a14d899c76fddb1cbf by tangwenqing
fix: SSEP: 修复引导线跟随搜索的一些bug

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
Commit 536b1fde473aa41238cb47d4343d807c3c507ab3 by 5081703.cr
fix: lateral acceleration parameters.

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/config/cfg_long_plan.hpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
Commit 9676b1db3bfc55a692b673dd152ae900129bc6c9 by 5081703.cr
fix: ComputeLonGuideVelFromLatAcc

The file was modifieddata/lattice/trajectory_evaluator.cpp
The file was modifieddata/lattice/trajectory_evaluator.hpp
Commit 6f04708b7e57863992eea101db7db54f7fca94a5 by 5081703.cr
feat: clear align times when align2nd to align1st.

The file was modifiedplan/prepare/prepare_status.hpp
The file was modifiedplan/prepare/prepare_status.cpp
Commit 8b77a84d05f84cafc18356acda48b4e4c5183ad0 by wuyanjun110
feat:脱离模式 路径切换的适配

The file was modifieddata/plan/guide_line.cpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
The file was modifieddata/plan/path_direction_data.cpp
The file was modifieddata/plan/ssep_data.hpp
The file was modifieddata/vehicle/vehicle_destination.cpp
The file was modifiedplan/prepare/prepare_state.cpp
The file was modifiedplan/prepare/prepare_status.cpp
Commit a1d9f0a0191c2974cae7191e8a81f09b421a643b by tangwenqing
chore: SSEP: 新增DirectionalPath数据结构，简化对reference line的处理

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/coarse_search/data_structure/directional_path.cc
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.cc
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.h
The file was addedssep/coarse_search/data_structure/directional_path.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.cc
Commit e77151e6ba5e36a4b850362ec661d98588ba6c7f by 5081703.cr
fix: lon_decision for car.

The file was modifiedalgorithm/decision/semantic_set_transformation_2.cpp
Commit d9e6b8da0a9a98d6c7466d51872046e2ff487ffb by wuyanjun110
feat:cut ego 添加参数

The file was modifieddata/obstacle/ogm.hpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_env_const.hpp
Commit f0374d1e424b9eb8bfc116e85a1f4b8631991c0a by wuyanjun110
feat:适配新的障碍物类型

The file was modifieddata/obstacle/perception_obstacle.hpp
Commit 07da24972be561730ba0607d76f6a479db4b96a9 by wuyanjun110
feat:脱困模式，适配重搜索逻辑以及地图版本校验

The file was modifieddata/app/cmd/cmd_set_target.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.hpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/plan/ssep_data.cpp
Commit b1212f643913fed0b5782662c89feda43ff994d7 by 5081703.cr
fix: add min_turn_radius

The file was modifieddata/config/cfg_long_plan.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/lattice/trajectory_evaluator.cpp
Commit 2cd209182765e48ef76e10b8f4f73986d6099459 by chenran
fix: add lattice_velocity_reference_mode

The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/lattice/trajectory_evaluator.cpp
The file was modifieddata/config/cfg_long_plan.hpp
Commit 8c9e246300c0a81187d7dfc9d967a17080931b86 by chenran
fix: disable wbca debug mode.

The file was modifieddata/wbca/grid_map/grid_map.hpp
Commit 71bc6b3762ae5bf4b93ed630fa3f60584aacd28b by chenran
fix: max_lat_acc in wbca params

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifieddata/wbca/grid_map/grid_map.hpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifieddata/lattice/trajectory_evaluator.cpp
The file was modifieddata/config/cfg_long_plan.cpp
Commit d39503b26035a503132b582c968445d29d89232d by chenran
fix: ignore dynamic obstacle in risk evaluation.

The file was modifiedalgorithm/plan/obstacle_risk_evaluation.cpp
Commit 31d2d9ac0ecaaa2d8efc795df33b733c0fb6ca29 by wuyanjun110
fix:调整危险限速距离的bug

The file was modifiedalgorithm/plan/obstacle_risk_evaluation.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit f20ef566b368c578bb66db1dcab56ddb8873788a by wuyanjun110
feat:调整状态机

The file was modifieddata/app/fsm/task_fsm/task_fsm.hpp
Commit 091eaeb602a8d3e4a3aeb0d35cdd4283121e0dd9 by wuyanjun110
feat:远程步步进，停车时间参数化

The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_fsm.cpp
The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
Commit d0b10cfb5be8ed25111675d3f7302e8517235829 by chenran
fix_out: lat_acc_baed ref vel cal error. add debug msg.

The file was modifieddata/lattice/trajectory_evaluator.cpp
The file was modifiedsink/ros_sink_plan_debug.cpp
The file was modifiedalgorithm/plan/lattice.cpp
The file was modifieddata/lattice/trajectory_evaluator.hpp
The file was modifieddata/plan_frame.hpp
Commit 60fa8bbb4ce743b21bdf1c01f4aef06360f6b000 by wuyanjun110
fix:修复因为距离阈值，带来场景识别错误的bug

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 7882b227a73b2918bc10db5449921c29d0017d89 by chenran
fix: bug

The file was modifieddata/lattice/trajectory_evaluator.cpp
Commit 9cfc82949d744490a620b28f81c98283fbb7d048 by chenran
fix: disable wbca_debug mode.

The file was modifieddata/wbca/grid_map/grid_map.hpp
Commit 45d74acfedd027e5cec0bc21e40ecac6d1e9d6e2 by wuyanjun110
fix:修复终点距离计算的bug

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit dd5ed89ec56fd354a8530f7587a801e2e069cd45 by wuyanjun110
chore(format):格式

The file was modifieddata/config/cfg_env_const.hpp
Commit 013bc56b3aa76e9ae6726f6005ef1f0824c30635 by tangwenqing
chore: 适配remote guide line变更

The file was modifiedhmi/draw/draw_map.cpp
The file was modifieddata/ssep/ssep_ec.cpp
Commit b17f0d5fb704e33ac5c479ea638e8dc7e745462c by wuyanjun110
fix:修复海润进弯道后第一个停车位停不正的bug

The file was modifieddata/plan/switch_data.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 9ae3bb642cab7844f04669b423c74cf6d8361bd3 by chenran
fix: delete log.

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 694cad1303ba2c0e2957174ca71764e0749fa783 by wuyanjun110
fix:修复误触发open space的bug

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit d188c11ec9081cf9e63baf839a39f0254f7a5c6b by chenran
fix: delete log

The file was modifieddata/plan/guide_line.cpp
Commit a0714073667b61cb782dc1cec5778ef2037679a8 by wuyanjun110
feat:执行remote后进入stop auto

The file was modifieddata/app/fsm/stop_reason.cpp
The file was modifieddata/app/fsm/stop_reason.hpp
The file was modifieddata/app/fsm/motion_fsm/motion_fsm.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp
Commit 5dbd19046e7b94b72f150bcdc72f4ad2cc43aff3 by wuyanjun110
feat:添加obj障碍物的跟车距离

The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/constrain/longitude_constrain.cpp
The file was modifieddata/config/cfg_long_plan.hpp
Commit 78040d89b4fb954c95b42c8c2b47d5824f95a9a7 by wuyanjun110
refactor:优化bulk场景的限速

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit aab9cba29215396bf75e3caa78691569a3d9726e by wuyanjun110
fix:修复park lock 切换 park out， 不重搜索的bug

The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit ffc89ba1cab4ef45708d83dc857e6c9a11c38ce0 by wuyanjun110
fix:修复极限变道时没有应用变道路径，然后状态机切换的bug

The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
The file was modifieddata/plan/switch_data.cpp
Commit cd51af59b0d3bb60f8bd54fa148b89afeb852b36 by wuyanjun110
refactor:优化跟车距离

The file was modifieddata/config/cfg_long_plan.cpp
Commit 4f10762950f9fd6f6e02b069bbca40b8285ccdaa by wuyanjun110
fix:临时修复重搜索的bug

The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit 4e81a167aca0f81d3e5e8b0e924c8b7419efebd5 by 5081703.cr
feat: lon_decision from SQ

The file was modifieddata/config/cfg_decision.cpp
The file was modifieddata/semantic/semantic.cpp
The file was modifieddata/semantic/semantic_description.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/semantic/semantic.hpp
The file was modifiedalgorithm/decision/longitudinal_decision_3.cpp
The file was modifieddata/config/cfg_decision.hpp
The file was modifiedalgorithm/decision/semantic_set_transformation_2.cpp
The file was modifiedalgorithm/decision/simulator/forward_simulation.cpp
The file was modifiedalgorithm/decision/simulator/forward_simulation.hpp
The file was modifiedalgorithm/decision/rule_base_behavior.cpp
Commit 147d9f3b1fe5be1fb37588d6bcca491a816b522a by 5081703.cr
fix: add min_safe_ttc

The file was modifieddata/config/cfg_long_plan.hpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/lattice/path_time_graph.cpp
Commit f074a761a574f268fb8e14617d5518c45908112a by 5081703.cr
fix: v_min_coef = 9.9 wbca

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit 29f933aad008ad55073d42d39716f22995f151bc by 5081703.cr
fix: disable dynamic and steering speed constraints

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 262ba25a61e529ba682a868668332b982d754d4c by 5081703.cr
fix: disable dynamic and steering speed constraints

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 25ea413341d494cc2bd5f20fce8ca02f978988ae by 5081703.cr
fix: add min_velocity_coefficient_for_velocity_cost.

The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifieddata/config/cfg_lat_plan.cpp