Changes

Summary

1. fix: plan from cur_pt when ssep search succeed. (details)
2. fix: wbca boundary bug. (details)
3. fix: crash issue. (details)
4. fix: esdf_map=nullptr (details)
5. fix: lon_decision, using prediction for v > 8km/h (details)

Commit e4525332c6aefa0305c62e08a81cfb2a115d1603 by 5081703.cr fix: plan from cur_pt when ssep search succeed.
	data/plan/start_point_data.cpp
Commit 755833bd19eb819a21bf56b17db1f2ea592d11c4 by 5081703.cr fix: wbca boundary bug.
	algorithm/wbca/occupancy_grid_map/data_render.cpp
Commit 2a82b175edd18d1fb5cfb4aef9df72a7a9bd8bd3 by 5081703.cr fix: crash issue.
	data/plan/start_point_data.cpp
Commit 4dbb7629f37bcc9071c0bf2e4a5e7d603aba6daa by 5081703.cr fix: esdf_map=nullptr
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/wbca_manager.hpp
	tasks/plan/path_optimization_task.cpp
Commit 0508851aaf1938e3341edb44d900c1a01148b4eb by 5081703.cr fix: lon_decision, using prediction for v > 8km/h
	data/semantic/semantic_description.cpp