[Jenkins]Jenkins

Changes

Summary

  1. feat:wcba求解路径过短的问题修复 (details)
  2. fix:wcba路径过短的问题 (details)
  3. fix: using guide_line pt for smooth mode. (details)
  4. Refactor: SSEP: 整理代码目录结构，分离onboard代码与offboard代码 (details)
  5. Refactor: SSEP: minor updates (details)
  6. feat: SSEP: 前进/后退时使用不同的碰撞检测策略。增加前进方向的额外碰撞检测。 (details)
  7. feat: SSEP: IMV更换新的运动学模型，额外状态量从后轮转向更改为beta (details)
  8. fix: wbca smooth_mode path opt. (details)
  9. feat: 增加ssep-heatnet-2.0训练场景生成器 (details)
  10. refactor: 将ssep的依赖改为sub_directory的形式，添加proto数据结构 (details)
  11. feat: SSEP增加IMV进堆场场景 (details)
  12. chore: SSEP: 调试IMV路径 (details)
Commit 114d5dcaed7d91629f8c8efe87a79d3571ac3ced by 5081703.cr
feat:wcba求解路径过短的问题修复

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 012f45533bb1d2beb5cb330355c3ac7992895458 by 5081703.cr
fix:wcba路径过短的问题

The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/plan/ssep_data.cpp
Commit fa59b60ded3ea6f813d55fa15b94eefa4a050f08 by 5081703.cr
fix: using guide_line pt for smooth mode.

The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 34d64cccd76a784f90fdb03fcf0e466db9c9a3c9 by tangwenqing
Refactor: SSEP: 整理代码目录结构，分离onboard代码与offboard代码
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_imv.h
The file was addedssep/offboard/main_test/hdmap_interface/hdmap.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/encodings.h
The file was addedssep/offboard/tools/scene_data_generator/generate_scene_data_cli.cc
The file was addedssep/maps/sl_projection_map.cc
The file was addedssep/offboard/tools/obstacle_penalty/penalty_func_fit_seaside.m
The file was removedssep/smoother/cg_cost_function.hpp
The file was addedssep/offboard/main_test/hdmap_interface/common/math/linear_interpolation.hpp
The file was removedssep/tools/obstacle_penalty/penalty_func_fit_seaside.m
The file was removedssep/tools/scene_data_generator/data_structures.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/pow10.h
The file was removedssep/tools/executable/main_region_cut_boost.cc
The file was addedssep/maps/ogm_builder.cc
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/encodedstream.h
The file was removedssep/influence_map/obstacle_layer.cc
The file was removedssep/tools/executable/third_party/tabulate.hpp
The file was removedssep/smoother/fem_pos_deviation_sqp_osqp_interface.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/road.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/map_info.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/object_info.h
The file was removedssep/CMakeLists.txt
The file was removedssep/main_test/hdmap_interface/common/math/polygon2d.hpp
The file was removedssep/tools/executable/main_clipper.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/coarse_search/disk_collision_checker.h
The file was removedssep/images/init_result_comparison.png
The file was modifiedssep/keb_optimizer/keb_utils.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/fwd.h
The file was removedssep/tools/executable/third_party/matlab_plot_cplusplus.hpp
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/prettywriter.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/junction_info.h
The file was addedssep/offboard/main_test/hdmap_interface/common/math/box2d.hpp
The file was removedssep/main_test/hdmap_interface/map_elements/lane_info.h
The file was removedssep/main_test/hdmap_interface/rapidjson/istreamwrapper.h
The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.h
The file was addedssep/offboard/main_test/hdmap_interface/common/glog_helper.h
The file was removedssep/conf/ssep.yaml
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/lane_info.h
The file was removedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.h
The file was removedssep/third_party/matplotlibcpp.h
The file was addedssep/offboard/ssep_activation_sdk.h
The file was addedssep/offboard/install.sh
The file was removedssep/smoother/smoother.h
The file was modifiedssep/coarse_search/state_hasher.h
The file was removedssep/tools/executable/third_party/matplotlibcpp.h
The file was addedssep/offboard/main_test/hdmap_interface/parser/map_loader.h
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_car.h
The file was addedssep/offboard/main_test/hdmap_interface/common/math/polygon2d.hpp
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/strtod.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/rapidjson.h
The file was addedssep/offboard/tools/scene_data_generator/state_augment_util.h
The file was addedssep/offboard/tools/obstacle_penalty/penalty_func_fit_normal.m
The file was addedssep/offboard/ssep_visualizer.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/reader.h
The file was removedssep/main_test/main_ssep_test.cc
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/error/en.h
The file was modifiedssep/keb_optimizer/cost_features/disk_collision_cost.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was removedssep/tools/executable/liang_barsky_clipper.hpp
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/ieee754.h
The file was removedssep/influence_map/reference_line_layer.h
The file was removedssep/main_test/hdmap_interface/rapidjson/uri.h
The file was modifiedssep/coarse_search/evaluator/trailer_shortest_path_heur_computer.h
The file was removedssep/tools/obstacle_penalty/penalty_func_fit.asv
The file was modifiedssep/ssep_heat_net/ssep_heat_net.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/memorystream.h
The file was removedssep/ogm_map/ogm.cc
The file was addedssep/offboard/main_test/hdmap_interface/libhdmap_interface_shm.so
The file was addedssep/offboard/tools/executable/inference_ml_trajectory_cli.cc
The file was addedssep/offboard/demo/src/main_ssep_activation.cc
The file was modifiedssep/ssep_planner.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/section_info.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedalgorithm/plan/plot_st_graph.cpp
The file was removedssep/main_test/main_test_dg.cc
The file was removedssep/sdk/ssep_activation_impl.cc
The file was removedssep/smoother/cg_smoother.cc
The file was addedssep/offboard/demo/src/package.xml
The file was addedssep/offboard/ssep_visualizer.cc
The file was addedssep/offboard/third_party/json.hpp
The file was removedssep/main_test/hdmap_interface/rapidjson/msinttypes/inttypes.h
The file was modifiedssep/coarse_search/evaluator/ref_line_cost_computer.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/dtoa.h
The file was addedssep/offboard/tools/executable/third_party/json.hpp
The file was removedssep/main_test/hdmap_interface/hdmap_impl.h
The file was removedssep/smoother/fem_pos_deviation_osqp_interface.h
The file was modifiedssep/coarse_search/topology_analysis/voronoi_graph_builder.h
The file was removedssep/cmake/Findosqp.cmake
The file was addedssep/offboard/third_party/matlab_plot_cplusplus.hpp
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was addedssep/data_structures/path_utils.h
The file was modifiedssep/coarse_search/evaluator/ref_line_heuristic_computer.h
The file was addedssep/offboard/tools/obstacle_penalty/exp_test.m
The file was addedssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.h
The file was removedssep/main_test/hdmap_interface/rapidjson/fwd.h
The file was removedssep/main_test/hdmap_interface/rapidjson/prettywriter.h
The file was removedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.h
The file was removedssep/main_test/hdmap_interface/libhdmap_interface_shm.so
The file was removedssep/ssep_activation_sdk.h
The file was removedssep/main_test/hdmap_interface/rapidjson/encodedstream.h
The file was removedssep/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cc
The file was modifiedssep/keb_optimizer/cost_features/trailer_disk_collision_cost.h
The file was removedssep/conf/ssep_imv_xugong.yaml
The file was addedssep/offboard/tools/scene_data_generator/data_structures.h
The file was removedssep/main_test/hdmap_interface/common/math/line_segment2d.hpp
The file was removedssep/main_test/hdmap_interface/map_elements/junction_info.h
The file was removedssep/main_test/hdmap_interface/map_elements/overlap.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/biginteger.h
The file was removedssep/main_test/hdmap_interface/map_elements/object.h
The file was addedssep/offboard/main_test/main_test_zhoushan.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was addedssep/offboard/tools/scene_data_generator/conf/scene_conf.yaml
The file was addedssep/offboard/main_test/main_test_car.cc
The file was addedssep/offboard/conf/ssep.yaml
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/ostreamwrapper.h
The file was addedssep/offboard/main_test/main_test_diagonal.cc
The file was addedssep/offboard/conf/ssep_imv_xugong.yaml
The file was addedssep/offboard/start.sh
The file was removedssep/main_test/hdmap_interface/common/math/vec2d.hpp
The file was removedssep/sdk/ssep_activation_impl.h
The file was modifiedssep/common/utils/plotter.hpp
The file was removedssep/main_test/hdmap_interface/map_elements/map_info.h
The file was removedssep/main_test/hdmap_interface/map_elements/lane.h
The file was removedssep/main_test/main_test_zhoushan.cc
The file was modifiedssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
The file was removedssep/smoother/cg_smoother.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was removedssep/main_test/hdmap_interface/map_elements/overlap_info.h
The file was addedssep/offboard/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.cc
The file was addedssep/offboard/main_test/main_ssep_test.cc
The file was removedssep/smoother/fem_pos_deviation_sqp_osqp_interface.cc
The file was removedssep/main_test/hdmap_interface/rapidjson/writer.h
The file was removedssep/influence_map/sl_projection_map.h
The file was removedssep/tools/obstacle_penalty/penalty_func_fit_normal.m
The file was removedssep/main_test/hdmap_interface/rapidjson/stream.h
The file was removedssep/senior.sh
The file was removedssep/main_test/hdmap_interface/parser/interface_param_parser.h
The file was addedssep/offboard/main_test/hdmap_interface/hdmap_impl.h
The file was removedssep/smoother/safety_corridor_smoother.h
The file was addedssep/offboard/main_test/hdmap_interface/parser/interface_param_parser.h
The file was removedssep/main_test/hdmap_interface/hdmap.h
The file was removedssep/main_test/main_test_park.cc
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/meta.h
The file was removedssep/main_test/hdmap_interface/common/data_types.h
The file was removedssep/main_test/hdmap_interface/rapidjson/schema.h
The file was removedssep/tools/executable/main_obb_port.cc
The file was removedssep/influence_map/obstacle_layer.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/cursorstreamwrapper.h
The file was modifiedssep/coarse_search/geometric_search_visualizer.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/clzll.h
The file was addedssep/offboard/tools/executable/third_party/optional_lite.hpp
The file was removedssep/smoother/fem_pos_smoother.cc
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/diyfp.h
The file was addedssep/offboard/tools/executable/third_party/matlab_plot_cplusplus.hpp
The file was addedssep/offboard/tools/imv/imv_kinematic.py
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_imv.cc
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/filereadstream.h
The file was addedssep/offboard/tools/executable/main_clipper.cc
The file was removedssep/tools/scene_data_generator/ogm_builder/ogm_builder.cc
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/regex.h
The file was removedssep/main_test/hdmap_interface/rapidjson/encodings.h
The file was addedssep/offboard/tools/executable/third_party/tabulate.hpp
The file was removedssep/tools/obstacle_penalty/exp_test.m
The file was addedssep/offboard/tools/executable/CMakeLists.txt
The file was addedssep/offboard/main_test/hdmap_interface/common/data_types.h
The file was addedssep/offboard/third_party/optional_lite.hpp
The file was modifiedhmi/widget/replayer_pnc_mat.cpp
The file was removedssep/main_test/hdmap_interface/rapidjson/msinttypes/stdint.h
The file was removedssep/main_test/hdmap_interface/rapidjson/memorybuffer.h
The file was removedssep/start.sh
The file was removedssep/tools/executable/inference_ml_trajectory_cli.cc
The file was modifieddata/lattice/path_time_graph.cpp
The file was removedssep/main_test/hdmap_interface/public_data_struct.h
The file was removedssep/main_test/main_ssep_input.cc
The file was addedssep/offboard/conf/ssep_car.yaml
The file was removedssep/influence_map/layer_base.h
The file was addedssep/offboard/main_test/main_test_dg.cc
The file was removedssep/main_test/hdmap_interface/rapidjson/stringbuffer.h
The file was modifiedssep/coarse_search/topology_analysis/voronoi_graph_visualizer.h
The file was removedssep/main_test/hdmap_interface/rapidjson/pointer.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/diyfp.h
The file was addedssep/offboard/sdk/ssep_activation_impl.h
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
The file was removedssep/main_test/hdmap_interface/common/glog_helper.h
The file was addedssep/offboard/main_test/main_test_park.cc
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/stream.h
The file was addedssep/offboard/tools/executable/main_obb.cc
The file was removedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cc
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.cc
The file was removedssep/conf/ssep_preprocess.yaml
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/stringbuffer.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/map.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/itoa.h
The file was addedssep/offboard/tools/obstacle_penalty/createFit.m
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/overlap.h
The file was addedssep/coarse_search/evaluator/shortest_path_heur_table.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/filewritestream.h
The file was addedssep/offboard/conf/ssep_tt.yaml
The file was removedssep/main_test/hdmap_interface/rapidjson/filewritestream.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/memorybuffer.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/overlap_info.h
The file was removedssep/main_test/hdmap_interface/rapidjson/cursorstreamwrapper.h
The file was removedssep/demo/src/main_ssep_activation.cc
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/object.h
The file was removedssep/main_test/hdmap_interface/rapidjson/memorystream.h
The file was addedssep/offboard/tools/executable/main_obstacle_publisher.cc
The file was addedssep/offboard/ssep_type_definition.h
The file was addedssep/offboard/main_test/hdmap_interface/common/math/vec2d.hpp
The file was addedssep/offboard/tools/executable/main_region_cut_apollo.cc
The file was addedssep/offboard/tools/executable/main_region_cut_boost.cc
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/swap.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/section.h
The file was removedssep/tools/executable/main_obstacle_publisher.cc
The file was removedssep/main_test/hdmap_interface/rapidjson/allocators.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was removedssep/third_party/optional_lite.hpp
The file was addedssep/offboard/tools/executable/liang_barsky_clipper.hpp
The file was addedssep/offboard/main_test/hdmap_interface/parser/interface_singleton.hpp
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/regex.h
The file was removedssep/ssep_visualizer.h
The file was addedssep/offboard/main_test/hdmap_interface/libhdmap_interface.so
The file was removedssep/tools/scene_data_generator/utils.h
The file was removedssep/tools/executable/main_translation.cc
The file was addedssep/offboard/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.h
The file was removedssep/tools/executable/main_region_cut_apollo.cc
The file was addedssep/offboard/sdk/ssep_activation_impl.cc
The file was removedssep/main_test/hdmap_interface/common/math/geometry_utils.h
The file was removedssep/main_test/hdmap_interface/common/math/linear_interpolation.hpp
The file was addedssep/offboard/tools/scene_data_generator/scene_yaml_reader.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was removedssep/influence_map/obstacle_dis_layer.cc
The file was removedssep/influence_map/obstacle_dis_layer.h
The file was removedssep/tools/executable/third_party/json.hpp
The file was removedssep/tools/executable/main_obb.cc
The file was addedssep/offboard/main_test/hdmap_interface/common/math/line_segment2d.hpp
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/swap.h
The file was removedssep/main_test/main_ssep.cc
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.h
The file was removedssep/conf/ssep/ssep_imv.yaml
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_car.cc
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/document.h
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_tt.h
The file was addedssep/offboard/third_party/tabulate.hpp
The file was removedssep/main_test/hdmap_interface/map_elements/road.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/msinttypes/stdint.h
The file was removedssep/main_test/hdmap_interface/map_elements/section_info.h
The file was removedssep/main_test/hdmap_interface/parser/map_loader.h
The file was modifiedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was removedssep/third_party/json.hpp
The file was removedssep/tools/scene_data_generator/generate_scene_data_cli.cc
The file was removedssep/ssep_type_definition.h
The file was removedssep/tools/scene_data_generator/conf/scene_conf.yaml
The file was removedssep/main_test/hdmap_interface/map_elements/map.h
The file was modifiedssep/coarse_search/topology_analysis/barrier_detector.h
The file was addedssep/offboard/conf/ssep_imv.yaml
The file was removedssep/tools/imv/imv_kinematic.py
The file was removedssep/ReadMe.md
The file was removedssep/main_test/hdmap_interface/common/math/math_utils.hpp
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/biginteger.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/ieee754.h
The file was removedssep/main_test/main_test_diagonal.cc
The file was removedssep/tools/executable/CMakeLists.txt
The file was modifiedssep/ssep_heat_net/ssep_heat_net.cc
The file was removedssep/main_test/hdmap_interface/map_elements/object_info.h
The file was addedssep/offboard/tools/scene_data_generator/utils.h
The file was removedssep/main_test/hdmap_interface/rapidjson/reader.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/allocators.h
The file was addedssep/maps/ogm.h
The file was removedssep/images/search_smooth_comparison.png
The file was removedssep/smoother/fem_pos_deviation_osqp_interface.cc
The file was removedssep/smoother/fem_pos_smoother.h
The file was removedssep/main_test/hdmap_interface/libhdmap_interface.so
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/road_info.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/msinttypes/inttypes.h
The file was removedssep/smoother/safety_corridor_smoother.cc
The file was addedssep/offboard/main_test/hdmap_interface/common/math/geometry_utils.h
The file was removedssep/main_test/hdmap_interface/map_elements/section.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/schema.h
The file was removedssep/install.sh
The file was modifiedhmi/widget/pnc_mat.cpp
The file was removedssep/main_test/hdmap_interface/rapidjson/rapidjson.h
The file was removedssep/conf/ssep_tt.yaml
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/writer.h
The file was removedssep/main_test/hdmap_interface/rapidjson/error/error.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/itoa.h
The file was removedssep/tools/executable/main_obb_vehicle.cc
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/error/error.h
The file was removedssep/input/.gitkeep
The file was addedssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cc
The file was addedssep/offboard/ssep_activation_sdk.cc
The file was removedssep/ogm_map/ogm.h
The file was removedssep/main_test/hdmap_interface/common/math/box2d.hpp
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/strfunc.h
The file was removedssep/main_test/hdmap_interface/parser/interface_singleton.hpp
The file was addedssep/offboard/demo/src/CMakeLists.txt
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/strfunc.h
The file was addedssep/offboard/main_test/hdmap_interface/common/math/math_utils.hpp
The file was modifiedssep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.h
The file was removedssep/main_test/hdmap_interface/map_elements/junction.h
The file was modifiedCMakeLists.txt
The file was addedssep/offboard/main_test/main_ssep_input.cc
The file was addedssep/maps/ogm.cc
The file was addedssep/maps/sl_projection_map.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/meta.h
The file was addedssep/offboard/main_test/main_test_qhd.cc
The file was addedssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cc
The file was removedssep/main_test/main_test_tt.cc
The file was removedssep/main_test/main_test_qhd.cc
The file was removedssep/main_test/hdmap_interface/map_elements/road_info.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/istreamwrapper.h
The file was removedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.h
The file was removedssep/influence_map/sl_projection_map.cc
The file was removedssep/conf/ssep_car.yaml
The file was addedssep/offboard/senior.sh
The file was removedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.cc
The file was addedssep/offboard/tools/executable/main_obb_port.cc
The file was addedssep/offboard/third_party/matplotlibcpp.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/dtoa.h
The file was removedssep/main_test/hdmap_interface/rapidjson/document.h
The file was removedssep/tools/scene_data_generator/ogm_builder/ogm_builder.h
The file was removedssep/influence_map/dubin_layer.h
The file was modifiedssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.h
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_tt.cc
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/pointer.h
The file was removedssep/influence_map/layer_base.cc
The file was removedssep/input/ssep_2024_02_20_10_19_35_OUTYARD_output_hr_13_oy-rt-bf_0_nml_0_as.binary
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/uri.h
The file was addedssep/offboard/ReadMe.md
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/clzll.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/lane.h
The file was removedssep/demo/src/CMakeLists.txt
The file was removedssep/main_test/hdmap_interface/rapidjson/filereadstream.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/strtod.h
The file was removedssep/main_test/hdmap_interface/rapidjson/ostreamwrapper.h
The file was removedssep/tools/executable/third_party/optional_lite.hpp
The file was addedssep/offboard/CMakeLists.txt
The file was removedssep/images/enviroment.png
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/junction.h
The file was removedssep/tools/scene_data_generator/scene_yaml_reader.h
The file was modifiedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
The file was removedssep/conf/ssep_imv.yaml
The file was removedssep/main_test/main_test_car.cc
The file was removedssep/influence_map/dubin_layer.cc
The file was addedssep/offboard/conf/ssep/ssep_imv.yaml
The file was addedssep/maps/ogm_builder.h
The file was removedssep/demo/src/package.xml
The file was removedssep/ssep_activation_sdk.cc
The file was removedssep/cmake/FindMATLAB.cmake
The file was addedssep/offboard/tools/obstacle_penalty/penalty_func_fit.asv
The file was removedssep/tools/scene_data_generator/state_augment_util.h
The file was addedssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/stack.h
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was removedssep/influence_map/reference_line_layer.cc
The file was addedssep/offboard/tools/executable/main_obb_vehicle.cc
The file was removedssep/tools/obstacle_penalty/createFit.m
The file was addedssep/offboard/main_test/hdmap_interface/public_data_struct.h
The file was addedssep/offboard/tools/executable/third_party/matplotlibcpp.h
The file was modifiedssep/keb_optimizer/cost_features/soft_disk_collision_cost.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/pow10.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/stack.h
The file was addedssep/offboard/main_test/main_ssep.cc
The file was removedssep/third_party/tabulate.hpp
The file was addedssep/offboard/tools/executable/main_translation.cc
The file was addedssep/offboard/main_test/main_test_tt.cc
The file was removedssep/third_party/matlab_plot_cplusplus.hpp
The file was removedssep/ssep_visualizer.cc
The file was removedssep/main_test/hdmap_interface/rapidjson/error/en.h
Commit 12b0e620588a7ab3db97527f713595bcb508538f by tangwenqing
Refactor: SSEP: minor updates

The file was modifiedssep/data_structures/path.h
The file was addedssep/data_structures/path.cc
Commit 6e36aedad88b5865ef7af82b5c04642337dc8320 by tangwenqing
feat: SSEP: 前进/后退时使用不同的碰撞检测策略。增加前进方向的额外碰撞检测。
The file was modifiedssep/data_structures/directional_path.h
The file was modifiedssep/data_structures/ssep_output.hpp
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/data_structures/map_element_polyline.hpp
The file was modifiedssep/data_structures/pose.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/data_structures/ssep_input.hpp
The file was modifiedssep/data_structures/search_boundary.h
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/coarse_search/evaluator/collision_cost_computer.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/data_structures/type_definition.h
The file was modifiedssep/data_structures/path.h
Commit a0d264a66ed7d34e46c09b451ba582a5a0c69c94 by tangwenqing
feat: SSEP: IMV更换新的运动学模型，额外状态量从后轮转向更改为beta

The file was removedssep/keb_optimizer/cost_features/imv_rear_pinch_cost.h
The file was modifiedssep/keb_optimizer/cost_features/imv_dynamic_constraint.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was removedssep/keb_optimizer/cost_features/imv_center_curvature_cost.h
The file was modifiedssep/offboard/ssep_visualizer.cc
The file was modifiedssep/keb_optimizer/data_structure.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was addedssep/keb_optimizer/cost_features/beta_dot_cost.h
The file was removedssep/keb_optimizer/cost_features/imv_center_curvature_constraint.h
The file was removedssep/keb_optimizer/cost_features/imv_center_pinch_cost.h
The file was removedssep/keb_optimizer/cost_features/imv_rear_oversteer_cost.h
The file was removedssep/keb_optimizer/cost_features/imv_rear_curvature_cost.h
The file was addedssep/keb_optimizer/cost_features/beta_cost.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit d0fadc87730538548683cc2966d1c6bcc216b1e1 by 5081703.cr
fix: wbca smooth_mode path opt.

The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
Commit 2d87be158756a6bbced71e8e620cae86dfa1d273 by tangwenqing
feat: 增加ssep-heatnet-2.0训练场景生成器
The file was removedssep/offboard/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.h
The file was modifiedssep/ssep_planner.h
The file was addedssep/offboard/generate_scene_data/protos/scene.proto
The file was removedssep/offboard/tools/scene_data_generator/scene_yaml_reader.h
The file was removedssep/offboard/tools/scene_data_generator/data_structures.h
The file was addedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was addedssep/offboard/generate_scene_data/protos/geometry.proto
The file was removedssep/offboard/tools/scene_data_generator/state_augment_util.h
The file was addedssep/offboard/ssep_planner_wrapper.cc
The file was addedssep/offboard/generate_scene_data/trajectory_provider/search_based_trajectory_provider.cc
The file was addedssep/offboard/ssep_planner_wrapper.h
The file was addedssep/offboard/ssep_input_provider.h
The file was removedssep/offboard/tools/scene_data_generator/conf/scene_conf.yaml
The file was addedssep/offboard/generate_scene_data/state_augment_util.h
The file was addedssep/offboard/generate_scene_data/conf/scene_conf.yaml
The file was addedssep/offboard/generate_scene_data/trajectory_provider/search_based_trajectory_provider.h
The file was modifiedssep/ssep_planner.cc
The file was addedssep/offboard/generate_scene_data/utils.h
The file was addedssep/offboard/generate_scene_data/data_structures.h
The file was modifiedssep/maps/ogm.cc
The file was addedssep/offboard/generate_scene_data/protos/path.proto
The file was modifiedssep/coarse_search/evaluator/curvature_cost_computer.h
The file was modifiedssep/offboard/CMakeLists.txt
The file was removedssep/offboard/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.cc
The file was removedssep/offboard/tools/scene_data_generator/generate_scene_data_cli.cc
The file was modifiedssep/maps/ogm.h
The file was addedssep/offboard/generate_scene_data/CMakeLists.txt
The file was removedssep/offboard/tools/scene_data_generator/utils.h
The file was addedssep/offboard/ssep_input_provider.cc
Commit 3f0dc285c62627cc4e97987d149fdf3b933870b5 by tangwenqing
refactor: 将ssep的依赖改为sub_directory的形式，添加proto数据结构

The file was modifiedssep/data_structures/polyline.cc
The file was modifiedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was removedssep/offboard/generate_scene_data/protos/path.proto
The file was addedssep/protos/path.proto
The file was addedssep/CMakeLists.txt
The file was modifiedssep/data_structures/polyline.h
The file was addedssep/protos/geometry.proto
The file was addedssep/offboard/generate_scene_data/obstacle_polygon_extractor.cc
The file was removedssep/offboard/generate_scene_data/protos/geometry.proto
The file was addedssep/offboard/generate_scene_data/obstacle_polygon_extractor.h
The file was modifiedCMakeLists.txt
Commit 6d8fef9e38e100908e1c7171fb4985a9d826a9a8 by tangwenqing
feat: SSEP增加IMV进堆场场景
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was addedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was addedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
The file was addedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.h
The file was modifiedssep/offboard/CMakeLists.txt
Commit 21a0af3d66ac87da4dc368fb67239fdecf1482c0 by tangwenqing
chore: SSEP: 调试IMV路径

The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/coarse_search/legacy_searcher_adaptor.h