Changes

Summary

1. fix: add minco (details)
2. fix: add wbca test. (details)
3. fix:truck reverse in reverse truck planner (details)
4. fix: add update. (details)
5. fix: add LBFGSpp (details)
6. fix: (details)
7. fix: kappa penalty finished. (details)
8. fix: add grid_map (details)
9. fix: data render (details)
10. fix: pnc_map_path bug. (details)
11. fix: add esdf_map (details)
12. fix: add map size params. (details)
13. fix: path optimization using esdf. (details)
14. fix: add interp in esdf. (details)
15. fix: add draw_wbca_rlt (details)
16. fix: draw_esdf_gradient bug. (details)
17. fix: add nlopt (details)
18. fix: add debug obstacle. (details)
19. fix: draw path contour. (details)
20. fix: fillpoly (details)
21. fix: esdf calculation v2. (details)
22. fix: safe corridors generation. (details)
23. fix: optimization using sc data. (details)
24. fix: extract esdf map. (details)
25. fix: add sc to opt process. (details)
26. fix: add Poly_Cal_Status (details)
27. fix: enlarge SC (details)
28. fix: init map size (details)
29. fix: draw_wbca bug. (details)
30. fix: DataRender (details)
31. fix: fill FillLaneWithFixedWidth (details)
32. fix: add front_end (details)
33. fix: change map resolution for hybrid a star. (details)
34. fix: using shared_ptr (details)
35. fix: safe corridors optimization. (details)
36. fix: add wbca_manager, wbca_data. (details)
37. fix: delete map_path (details)
38. fix: add path_optimization_task (details)
39. fix: path_opt_task (details)
40. fix: update car parameter. (details)
41. fix: add qt thread in path_opt_task. (details)
42. fix: wbca multi thread bug. (details)
43. fix: extend route out of SC (details)
44. fix: init parameters. (details)
45. fix: refine path_opt (details)
46. fix: sc bug (details)
47. fix: add front_end_path (details)
48. fix: add back_end_path (details)
49. fix: front_end_path from reference_line. (details)
50. fix: consider deviation from history. (details)
51. fix: add CalcDeviationFromHisCost (details)
52. fix: add CheckReplan (details)
53. fix: CalRectangle. (details)
54. fix: path stability. (details)
55. fix: add init steer constraint. (details)
56. fix: add fill road (details)
57. fix: add dilate. (details)
58. fix: add FIRI and it's 2d version for SC generation. (details)
59. fix: using new SC for path opt (details)
60. fix: add new SC Opt method. (details)
61. fix: add ego_dense_vertices. (details)
62. fix: SC constrain optimization. (details)
63. fix: using pure h-polytgon for SC constraint. (details)
64. fix: delete outer_normal. (details)
65. fix: add obstacle and ogm_points in grid_map for opt. (details)
66. fix: wbca history optimization. (details)
67. fix: add path_opt module. (details)
68. fix: re-plan for collision. (details)
69. fix: ignore last 2 SC (details)
70. fix: DrawESDFGradient bug (details)
71. fix: add scenario. (details)
72. fix: add upper_ogm_pts (details)
73. fix: init path without SC. (details)
74. fix: temp (details)
75. fix: add WBCAStartPos, debug code. (details)
76. fix: Gen SC using Galaxy (details)
77. fix: update grid_map using Boundary. (details)
78. fix: FrontEndPathFromSearch (details)
79. fix: start pos error. (details)
80. fix: fix route, add Status. (details)
81. fix: boundary (details)
82. fix: road_boundary bug. (details)
83. fix: drivable_passage interval  = 0.5 (details)
84. fix: add WBCAWayPoints and WBCAHelper (details)
85. fix: delete heading rate. (details)
86. fix: WBCAData serialization. (details)
87. fix: lat_start_pt behind history. (details)
88. fix: add local_wbca_manager. (details)
89. fix: add debug mode. (details)
90. fix: spatial-temporal version. (details)
91. fix: using esdf. (details)
92. fix: ego_vertices in center line. (details)
93. fix: esdf serialization. (details)
94. fix: add velocity and acceleration cost. (details)
95. fix: delete log. (details)
96. fix: Boundary reference line reconstruction. (details)
97. fix: replace kinetics_bd with raw obstacle_bd (details)
98. fix: route reset. (details)
99. fix: kappa cost, keep in lane center. (details)
100. fix: vel/acc cost bug. (details)
101. fix: add minimum velocity cost. (details)
102. fix: add weight_min_d (details)
103. fix: reduce log. (details)
104. fix: release mode. (details)
105. fix: keep history when path generation failed. (details)
106. fix: using draw_radar. (details)
107. stash: qiangang search (details)
108. fix: boundary bug (details)
109. fix: add smooth mode. (details)
110. fix: delete log. (details)
111. fix: buffer distance. (details)
112. fix: kappa direction. (details)
113. fix: add car_path_opt (details)
114. fix: start point kappa direction. (details)
115. fix: bulk bug log test. (details)
116. refactor: path_optimization (details)
117. fix:修复状态机切换的bug (details)
118. fix: qg search algorithm (details)
119. fix: qg search (details)
120. fix: bulk move to lock. (details)
121. fix: enlarge bulk_align_lock_thr for manual (details)
122. fix: add imv_path_optimization. (details)
123. fix: auto start error. (details)
124. fix: add imv_wbca_manager (details)
125. feat:车辆静止后再切换bulk lock (details)
126. feat:调整remote 状态机逻辑 (details)
127. feat:添加忽略身后障碍物的开关 (details)
128. fix:关闭debug (details)
129. feat:优化绕行决策 (details)
130. refactor:优化弯道限速 (details)
131. fix: draw trailer using trailer_state. (details)
132. fix:修复使用历史边界的bug (details)
133. fix:修复状态机切换的bug (details)
134. fix: beta differentiable morphism (details)
135. fix: Steer cost. (details)
136. fix: bound_width (details)
137. fix: truck reverse traveling (details)
138. fix: commit bug (details)
139. fix: idx check (details)
140. fix: 参考线heading不反转，反转path heading/yaw (details)
141. feat:适配水沟数据 (details)
142. fix: imv init state. (details)
143. feat:根据障碍物的速度收缩边界 (details)
144. fix: start posture from history. (details)
145. fix: car start posture from history. (details)
146. fix:使用历史带来的问题 (details)
147. fix_out: bulk状态机切换bug (details)
148. fix_out: bulk状态机切换bug (details)
149. feat:添加绕行使用纵向扩展障碍物的开关 (details)
150. fix: car_path_opt bug. (details)
151. fix: reversing path_opt for car. (details)
152. fix: reversing path_opt for imv. (details)
153. feat:地图接口检测到崩溃后，直接中止程序 (details)
154. fix: using path_opt vei for lattice. (details)
155. refactor:优化弯道提速 (details)
156. feat:1.修改碰撞检测的距离判断 2. 优化预测线挡停场景 (details)
157. fix: stitch backward (details)
158. fix: reverse path heading (details)
159. feat:添加绕行限速 (details)
160. fix:修复误触发绕行的bug (details)
161. fix:修复崩溃的bug (details)
162. feat:添加绕行限速和优化绕行决策 (details)
163. fix: using reversing truck scenario. (details)
164. fix: reversing truck contour. (details)
165. fix: feat into liaodou (details)
166. fix: wbca_way_pts error. (details)
167. fix: draw_wbca_rlt bug. (details)
168. fix: lane change path error. (details)
169. fix: add lane change params. (details)
170. fix:修复和障碍物抢路的bug feat:把锥桶设置成感兴趣的障碍物 (details)
171. feat:当缓冲区点 任务终点 当前位置 比较靠近时，进入park状态机后，直接切换道park adjust (details)
172. fix:1.关闭cut in 限速。 2. 修复绕行限速的bug (details)
173. fix: draw way pts. (details)
174. fix: add ssep param (details)
175. fix:修复utun的junction 边界计算错误的bug (details)
176. fix:绕行等待 s计算的bug (details)
177. fix: collision avoidance bug. (details)
178. fix:修复静态障碍物碰撞检测的bug (details)
179. fix: qg ssep (details)
180. fix: imv kappa gradient calc error. (details)
181. fix: add parameters. (details)
182. fix: max_steer 0.35 (details)
183. fix: kappa cost. (details)
184. fix:修复小地图显示的问题 (details)
185. refactor:优化绕行禁停 (details)
186. fix: add target pass pt and  search reference (details)
187. fix: cost_kappa = 100.0 (details)
188. fix: beta cost bug. (details)
189. fix: generate  pass pt base rule (details)
190. fix: clear history when stop in bend. (details)
191. fix: clear history when stop in bend. (details)
192. fix:add ssep map object (details)
193. fix: 索引超限修复 (details)
194. fix: clear wbca_data except normal_follow. (details)
195. fix:bulk out replan thr 0.2 to 1.0 (details)
196. fix:bulk out replan thr 0.2 to 1.0 (details)
197. fix: add bulk in near dest change safe dis (details)
198. fix: add bulk in near dest change safe dis (details)
199. fix: safe buffer near dest logic (details)
200. fix: safe buffer near dest logic (details)
201. fix: qg _dest safe dis logic (details)
202. fix: qg _dest safe dis logic (details)
203. fix: delete undefinde dis thr (details)
204. fix: ssep use set theta (details)
205. fix: optimize wbca_data serialization (details)
206. fix: disable kappa cost in smooth mode. (details)
207. fix: disable kappa cost in smooth mode. (details)
208. fix: add truck wbca (details)
209. fix:修复跟车体感不好的问题 (details)
210. fix: trailer collision avoidance. (details)
211. fix: curve boundary (details)
212. fix: using underlying_trailer_width. (details)
213. fix: code refactor. (details)
214. feat:适配replayer的打开 (details)
215. fix:接受指令时，由于s不在路径上，获取heading失败，导致接受任务失败的问题 (details)
216. fix: junction boundary bug. (details)
217. fix: idx (details)
218. feat:地图接口参数 赋值默认值 (details)
219. fix:修复绕石墩过程中， 误回目标车道的bug (details)
220. fix:调整绕行决策的条件 (details)
221. fix: add crabs cost for imv. (details)
222. fix:修复绕行状态无法推出的bug (details)
223. fix: local_optimization length = 15m (details)
224. fix: log plan_cycle interval. (details)
225. fix: show wbca rlt. (details)
226. fix: smooth_mode for truck-trailer. (details)
227. fix: delete log (details)
228. fix: draw esdf (details)
229. fix: 索引超限修复 (details)
230. fix: 索引超限修复 (details)
231. fix: add ProcProcessCallBack (details)
232. fix: replan for imv (details)
233. fix: way_pts bug. (details)
234. fix: log cycle interval. (details)
235. fix: in_region_width = 0.2 (details)
236. fix: using ros::rate.sleep (details)
237. Revert "fix: using ros::rate.sleep" (details)
238. fix: generate road boundary from envelops (details)
239. fix: stop warning (details)
240. fix: smooth mode for imv (details)
241. fix: disable crabs cost for imv. (details)
242. fix: 崩溃修复，openspace 和ex_lane_change_planner切换 (details)
243. fix: crabs cost only be activated in straight lane. (details)
244. feat:添加低速障碍物的绕障功能 (details)
245. feat:添加低速障碍物的绕障功能 (details)
246. fix: imv smooth mode. (details)
247. Revert "Merge remote-tracking branch 'origin/feat_wbca_st' into feat_wbca_truck" (details)
248. feat:驾驶走廊 (details)
249. fix: 一次规划跨多个车道/section终点值计算错误的bug (details)
250. feat:添加dp搜索算法 (details)
251. feat:使用dp的结果构建边界 (details)
252. fix: 在弯道中禁止时触发下个弯道搜索，扩大搜索边界 (details)
253. feat:固定dp搜索点 (details)
254. fix: use_func_simulator = false, map_version = true (details)
255. fix: imv crabs mode. (details)
256. fix: disable shift near destination. (details)
257. fix: delete debug local path. (details)
258. fix: imv crabs mode selection. (details)
259. fix:修复崩溃的bug (details)
260. fix: Velocity cost opt. (details)
261. feat: 优化 trajectiory csot (details)
262. refeat:优化绕行决策 (details)
263. feat:添加驾驶走廊约束 (details)
264. feat:调整障碍物权重 (details)
265. feat:添加决策 (details)
266. feat:完善快照功能 (details)
267. feat:调整小地图的显示 (details)
268. fix:修复cost 计算错误的bug (details)
269. fix:小地图尺寸显示的问题 (details)
270. feat:绕行时，对堆高机类型的障碍物再次膨胀 (details)
271. fix: PathSegmentIsStraightLine bug. (details)
272. feat:dp搜索时， 不可绕行区域的特殊处理 (details)
273. fix: keep heading in smooth mode. (details)
274. fix:修复弯道禁停停车的bug (details)
275. feat:优化普通道路限速的问题 (details)
276. feat:1.添加绕行状态及2.绕行限速3.绕行停车等待 (details)
277. fix:修复锥桶不偏移的bug (details)
278. fix:修复决策停车的bug (details)
279. feat:优化dp cost的计算 (details)
280. fix:修复回放的bug (details)
281. Revert "fix:修复决策停车的bug" (details)
282. feat:side pass 过程中， 目标车道保持为当前车道 (details)
283. fix: add start_up_weight. (details)
284. fix: weight_start_up in cfg_lat_plan (details)
285. fix: imv reversing path heading bug. (details)
286. fix: path exception. (details)
287. fix:修复崩溃的bug (details)
288. refactor:优化轨迹的绘制 (details)
289. feat:不绕行区域，ref l 不强制赋值0 (details)
290. fix:修复长弯道，限速的问题 (details)
291. refactor:误绕行的优化 (details)
292. fix: reset wbca_data. (details)
293. fix: construct passing pt & map obj (details)
294. fix: imv path bug. (details)
295. fix: wbca_data serialization. (details)
296. fix: wbca serialization (details)
297. fix: prepare_default bug. (details)
298. fix: last trajectory bug. (details)
299. fix: stitch ssep path (details)
300. fix: ssep bulk align (details)
301. fix: local_optimization for car. (details)
302. fix: disable cost_min_d for imv in local_opt mode. (details)
303. fix: map obj (details)
304. fix:lka堆出时， 从当前点开始规划 (details)
305. fix: redundant variable (details)
306. fix: click img (details)
307. fix: click_image (details)
308. feat: ssep on fence search (details)
309. feat:优化石墩绕行的决策 (details)
310. feat:打开release (details)
311. feat:调整前后帧距离校验的阈值 (details)
312. fix: search bound & stage (details)
313. fix: truck bulk scenario (details)
314. fix: plan region优化 (details)
315. fix: backward stage用dubin曲线来决定是否向前搜索 (details)
316. fix: 散货状态机&绘制朝向角度 (details)
317. fix: using smooth near destination when type = buffer. (details)
318. fix: disable_region_dis2dest_buffer = 100.0 (details)
319. fix: wbca params (details)
320. feat:优化绕行决策 (details)
321. fix: xilian bulk (details)
322. fix:routing data match (details)
323. fix: extend path heading (details)
324. fix: w_deviation = 50, w_collision = 150. (details)
325. fix: into yard low bay judge (details)
326. fix: bend decider add area (details)
327. fix: seaside search expend shore crane param (details)
328. fix: seaside search (details)
329. feat:在直行道理打开场桥的碰撞检测 (details)
330. feat:优化忽略的逻辑 (details)
331. fix: extend shore crane stop func (details)
332. fix:修复关路禁停的bug (details)
333. fix: routing data nearest lane 20 to 30 (details)
334. fix:修复限速的bug (details)
335. fix: plan region (details)
336. fix:修复限速的bug (details)
337. feat:关路点云， 进出堆场 和穿场都处理 (details)
338. fix: reset wbca_data when scenario changed. (details)
339. fix: add pjpo_bound_width (0.2) (details)
340. add: source yard grid info (details)
341. fix: use occupy grid info for bulk search (details)
342. fix: boundary length after ego = 20 (details)
343. fix: ssep path extend (details)
344. fix: 西联9号库搜索边界 (details)
345. fix: 西联9号库搜索边界 (details)
346. fix: bulk lane match (details)
347. fix: bulk lane match (details)
348. fix: plot (details)
349. fix: plot (details)
350. fix: show_uradar_ = false. (details)
351. fix: boundary in seaside. (details)
352. fix: search region for qiangang (details)
353. fix: IsBulkInReverse judge (details)
354. fix: bend decider for lane change use switch target lane id (details)
355. fix: reverse direction judge (details)
356. fix: ssep data serialize (details)
357. fix: extend end pos in out seaside (details)
358. fix: out yard in dx extend obstacle (details)
359. fix: hairun out yard high bay in middle lane tunnel (details)
360. fix: auto start in forward ssep bug (details)
361. fix (details)
362. fix: scenario in ssep switch logic (details)
363. fix: seaside search int out seaside (details)
364. fix: ssep serialize bug (details)
365. fix: 搜索模式判断 (details)
366. fix: ssep serialize version (details)
367. feat:提取的数据添加transmit command (details)
368. fix: 大榭低贝位搜索优化 (details)
369. fix: ssep data reset logic (details)
370. fix: ssep reset bug (details)
371. fix: 大榭N场调整 (details)
372. add: draw yard area info (details)
373. fix: bulk out场景才校验参考线 (details)
374. fix:错误的进行场桥碰撞检测 (details)
375. fix: add heading_morphism_coeff for imv_path_opt. (details)
376. fix: 缓冲点附近被挡停，切入park_lock (details)
377. fix: draw map (details)
378. fix:修复move brake， move nstop, move estop状态下，规划曲线的减速度 (details)
379. fix: 前港缓冲点不施加终点约束&不回退障碍物 (details)
380. fix: 打开搜索边界 (details)
381. feat:wcba和dev分支合并 (details)
382. feat:鸣笛参数默认修改为false (details)
383. add: hmi draw obj line (details)
384. fix: lock guard (details)
385. fix: hmi draw obs & occupy grid (details)
386. fix: yaml-cpp (details)
387. fix: yard grid process (details)
388. fix: 搜索失败回退时，采用随机途经点搜索 (details)
389. fix: lock2adjust (details)
390. feat:添加基于参考线的引导线 (details)
391. fix: lock2adjust修复&根据堆场id取消start_tunnel (details)
392. fix: 搜索失败时回退栅格&区分占据和未定义栅格的颜色 (details)
393. fix:修复og点停车原因错误的bug (details)
394. fix: radius (details)
395. fix: lock2adjust阈值 (details)
396. fix: QG步进时不控转向 (details)
397. feat:pnc junction (details)
398. feat:完善guide line的数据结构 (details)
399. feat:wbca适配 (details)
400. feat:调整场景基类 (details)
401. cache:编译通过 (details)
402. feat:地图限速 (details)
403. fix:优化前港显示 (details)
404. feat:优化road boundary的计算 (details)
405. fix: 倒车卸料任务，被挡停时切lock (details)
406. fix: judge in yard (details)
407. fix:优化前港显示 (details)
408. fix: 朝向角增加参数配置 (details)
409. fix: 角度不满足，挡停时切到stop_auto (details)
410. fix:merge bulk flag (details)
411. feat:在参考线上ok (details)
412. fix: flow_control.FromHis&crash fix (details)
413. fix: 触发挡停时才不进入stop_auto (details)
414. add: taiyangzhiye region (details)
415. refactor:修复远望系统序列化的bug (details)
416. feat:倒车ok (details)
417. fix:修复bulk out 场景识别错误的bug (details)
418. refactor:修改场景参数 (details)
419. feat:适配快照 (details)
420. fix: 搜索失败时使用随机途经点 (details)
421. fix: 优化前港搜索引导线 (details)
422. fix:qiangang search start pos from ref line (details)
423. fix: reverse search 增加hmi交互障碍物 (details)
424. refactor:调整关路禁停的点云的过滤方式 (details)
425. fix:连续路口拼接的bug (details)
426. fix: get  gate line crash bug (details)
427. fix: IsBulkInReverse judge (details)
428. refactor:优化倒车处理 (details)
429. fix: forward search bezier guide line (details)
430. fix:修复起始点选取的bug (details)
431. fix:修复dp搜索的bug (details)
432. fix:修复引桥线拼接模式的bug (details)
433. fix:修复回放崩溃的bug (details)
434. fix: hmi_virtual_obs文件权限修复 (details)
435. fix: 修改hmi绘制障碍物的文件存放位置 (details)
436. fix: load file path (details)
437. fix: travel out 2 normal logic (details)
438. fix: add search process flag (details)
439. fix: lock2adjust条件修复 (details)
440. fix: safe distance for bulk reverse in yard (details)
441. feat:map related相关的数据降频处理 (details)
442. feat:优化dp搜索 (details)
443. fix: velocity constrain opt. (details)
444. fix: expend search area (details)
445. fix: 状态机切换的bug (details)
446. fix: 安全模块提前接管切lock (details)
447. Revert "fix: velocity constrain opt." (details)
448. feat:优化snapshot的快照 (details)
449. fix:修复安全模块接管，状态机不切换的bug (details)
450. feat:添加安全模块状态下拒绝对准的功能开关 (details)
451. Revert "Revert "fix: velocity constrain opt."" (details)
452. fix: 修改堆场里reverse的终点约束 (details)
453. fix: time calculation bug. (details)
454. fix: travel out not trigger ssep search (details)
455. fix:修复快照崩溃的bug (details)
456. fix (details)
457. fix: 修改lock2adjust的距离校验门限 (details)
458. fix:解决路径跳变的问题 (details)
459. fix:修复可能崩溃的bug (details)
460. fix: add search mode for travel out in qian gang (details)
461. fix: hmi交互删除障碍物改为shift+鼠标右键 (details)
462. fix: 修改删除线段的方式 (details)
463. fix:修复程序无法正常退出的bug (details)
464. feat:普通变道ok (details)
465. feat: destination type (details)
466. fix:修复普通变道场景的bug (details)
467. fix: Adjust2Lock增加投影点的横向距离校验 (details)
468. fix: 自车周围一定范围内的栅格不考虑 (details)
469. fix: add head/trailer deviation from raw_ref_line in diagnose. (details)
470. fix:修复状态机切换的bug (details)
471. fix:修复状态机切换的bug (details)
472. fix: Adjust2Lock增加投影点的横向距离校验 (details)
473. fix: 自车周围一定范围内的栅格不考虑 (details)
474. fix: destination type judge (details)
475. fix: 进料斗没有搜索途经点时，用reverse search (details)
476. fix: add change path deviation check (details)
477. fix: 修改栅格显示尺寸 (details)
478. fix: IsToBulkGantry (details)
479. fix: lock2adjust (details)
480. fix: hr high bay tunnel extend (details)
481. feat:终点后忽略障碍物 (details)
482. feat:终点后忽略障碍物 (details)
483. fix: 去缓冲点 (details)
484. fix: path optimization bug. (details)
485. fix:hr out yard end tunnel (details)
486. fix: path optimization bug. (details)
487. fix: lock2adjust不指定终点类型，堆场里2段时会有料斗任务 (details)
488. fix: 进堆场场景内，弯道外，可从当前点搜索 (details)
489. fix: st out yard end tunnel (details)
490. fix: (details)
491. fix:挂角无效时，云端轨迹赋值-1000.0 (details)
492. cache (details)
493. fix: weight_start_up = 10.0 (details)
494. fix: out seaside in region 100 (details)
495. fix: dx into yard end tunnel offset 0.1m (details)
496. feat:添加dubug 模式下， eigen库的优化 (details)
497. fix: qg forward ssep (details)
498. fix: 1. replan logic 2.forward search start pt (details)
499. fix: 末段ssep路径才切lock (details)
500. feat:优化wcba的绘制 (details)
501. feat:弯道提速 (details)
502. feat:弯道提速 (details)
503. fix: get trailer deviation from trailer_yaw. (details)
504. fix: add vehicle type identifiy (details)
505. fix: forward vehicle type (details)
506. feat:在弯道使用地图包络构建边界 (details)
507. fix: pnc target (details)
508. fix: add mission type (details)
509. fix: type error (details)
510. feat:调整Mission Type (details)
511. feat:堆料机任务，步进时，忽略og点相关的安全 (details)
512. feat:料堆任务，在bulk状态机下，安全模块错误可恢复 (details)
513. fix: perception contour crash condition for path operation (details)
514. feat:调整Mission Type (details)
515. feat:堆料机任务，步进时，忽略og点相关的安全 (details)
516. feat:料堆任务，在bulk状态机下，安全模块错误可恢复 (details)
517. fix: end tunnel & stop for cluster (details)
518. fix:切换park lock的时候考虑 close ogm emergency stop (details)
519. fix:切换park lock的时候考虑 close ogm emergency stop (details)
520. fix:修复 包络框 sl 计算的bug (details)
521. fix:修复path sl 计算条件的bug (details)
522. fix:修复path sl 计算的bug (details)
523. fix: enable O1 option. (details)
524. fix: vehicle expanding in wbca. (details)
525. feat:障碍物的sl budndary 根据 guide line 处理 (details)
526. fix: 优化回退逻辑 (details)
527. fix: add open_space_wbca_params (details)
528. refactor:优化聚类限速 (details)
529. fix:修复合并后编译的错误 (details)
530. fix: routing 第二段倒车不考虑感知包络框碰撞 (details)
531. fix:修复崩溃的bug和前港出堆场 bulk out 场景识别的bug (details)
532. fix:修复上码头收到新任务,参考线跳变的bug (details)
533. fix: add ssep scenario task change (details)
534. feat:根据实线和虚线限制roadboundary (details)
535. fix: 获取港区位置修复，防止定位后启导致的区域识别错误 (details)
536. feat:添加拒绝对准的逻辑 (details)
537. feat:remote ctrl 状态下,平行驾驶接管退出 (details)
538. fix: add initersection_wbca_params. (details)
539. fix: expand obstacle box in driving corridor. (details)
540. fix: history_pts from his. (details)
541. feat: 联和利华 (details)
542. Revert "fix: 获取港区位置修复，防止定位后启导致的区域识别错误" (details)
543. fix: 通过开关调整步进不控转向 (details)
544. fix:修复崩溃的bug (details)
545. refactor:修复远望系统序列化的bug (details)
546. fix: into yard end tunnel in left decrease 0.1m (details)
547. fix: travel out replan logic (details)
548. fix: guardian mode set (details)
549. fix:修复快照崩溃的bug (details)
550. feat imv reverse for ssep (details)
551. fix:修复使用历史参考线， 参考线变短的问题 (details)
552. fix:修复合并的bug (details)
553. refactor:car 人字形路径的适配 (details)
554. fix: lane_points backward. (details)
555. fix: add gantry classify (details)
556. refactor:添加序列化数据 (details)
557. fix: replan in travel out (details)
558. fix: replan in travel out param (details)
559. feat:通过时间差，清理wbca的数据 (details)
560. fix: add constrain slow down in bulk before (details)
561. fix: replan in travel out (details)
562. fix: replan in travel out param (details)
563. fix:删除日志打印 (details)
564. fix: lane_pts direction. (details)
565. fix: weihai port truck reverse (details)
566. fix:修复崩溃 (details)
567. fix: auto start in bulk out constrain (details)
568. fix:修复imv 车型 wcba 求解器时间不赋值的bug (details)
569. feat:适配动态上下码头面 (details)
570. feat:远程步进时，忽略安全 (details)
571. fix: motion_remote之后不允许从lock切adjust (details)
572. fix: stitch reference (details)
573. fix: u turn search in out yard (details)
574. fix: s into yard end tunnel (details)
575. fix: no_trajectory_stop bug. (details)
576. fix: response_decision_lane_change (details)
577. fix: open space search end in loc station (details)
578. fix: continuous bend in open space (details)
579. fix:修复忽略安全的bug (details)
580. fix:修复崩溃的bug (details)
581. fix: into yard search  in end lane size 1 (details)
582. fix: into yard tunnel reference guide (details)
583. refactor:手刹不中止直线步进 (details)
584. feat:调整安全模块区域限速 (details)
585. fix: 1.scenario before bend 2.into yard low bay (details)
586. fix: stockpile end tunnel (details)
587. feat:西连进充电桩使用平滑模式 (details)
588. fix: road boundary optimization for no_shift_region. (details)
589. fix: add weight_collision_negative in wbca. (details)
590. feat:引导线添加转向的属性 (details)
591. fix: continuous bend ssep identify (details)
592. fix: ssep data keep history for backup (details)
593. fix: close info in base stop line (details)
594. fix: start_up acc limitation. (details)
595. fix:merge bug (details)
596. fix: wei hai search tunnel (details)
597. fix: 西联centerline 匹配的bug (details)
598. fix:修复wcba 图生成耗时的bug (details)
599. fix:修复西联出停车位场景， 一次规划有两段路径时， 当前段匹配错误的bug (details)
600. fix: 增加imv变道时Contour的扩展，防止og点校验和安全模块不一致导致的挡停 (details)
601. fix: qg path operation (details)
602. fix:修复状态机切换的bug (details)
603. fix: extend ssep path (details)
604. fix: ssep crash (details)
605. fix:优化回放路径的生成 (details)
606. fix: trailer_ego_path bug. (details)
607. fix: wh car search ssep reference (details)
608. fix:挂角无效时，云端轨迹赋值-1000.0 (details)
609. fix:bulkload 状态下 没有云端路径的bug (details)
610. feat:变道安全调整 (details)
611. fix: add lateral acc cost( disable) (details)
612. refactor:1优化guide的转向，2.静态障碍物的扩展3.dp结果的不稳定 (details)
613. refactor:删除多余的打印 (details)
614. fix:驾驶走廊是否考虑ogm的赋值bug (details)
615. fix:调整扩展 (details)
616. fix: wbca path length optimization. (details)
617. fix: wbca path len bug. (details)
618. fix: ssep extend direction (details)
619. fix: wbca smooth mode for align_step_move (details)
620. fix: using ssep destination for bulkload_ssep_forward_stage. (details)
621. feat:绕行限速参数化 (details)
622. fix: expand road_boundary for startup (details)
623. fix: collision cost for no_shift region. (details)
624. feat:障碍物提阿加平均速度 (details)
625. fix:场桥场景识别的bug (details)
626. feat:添加进堆场的跟车距离 (details)
627. fix:在ssep路径上，偏离边界时，扩展边界的bug refactor:优化边界构建 (details)
628. fix:修复imv停车位，终点方向计算的bug (details)
629. fix: start_up boundary. (details)
630. fix: smooth mode for imv (details)
631. fix: add total_length and start_point. (details)
632. fix: start_point in replayer. (details)
633. fix: draw history ogm in replayer. (details)
634. refactor:优化吊具信息的校验 (details)
635. feat:装后箱的高度判断参数化 (details)
636. fix: replayer boundary bug. (details)
637. feat:沟点不进行碰撞检测 (details)
638. fix: add to_normal (details)
639. feat:低速时,降低安全阈值 (details)
640. 1.修复hybrid_search_car的崩溃问题 (details)
641. fix: merge bug. (details)
642. fix: update config (details)
643. fix: truck config. (details)
644. fix: road boundary in lat/lon road. (details)
645. fix: proc process callback. (details)
646. fix:修复由于平滑或者ssep路径拼接，导致参考线overlap的s问题bug (details)
647. fix: bd_extend_start_pt update. (details)
648. fix: bd_extend_start_pt update. (details)
649. fix:修复region错误的bug (details)
650. fix: road_boundary opt. (details)
651. fix:修复编译的错误 (details)
652. fix:极限变道的bug (details)
653. feat:brake到norm切换添加开关 (details)
654. fix:回放中,SL 边界没有计算的bug (details)
655. fix:修复倒车过程中，后向障碍物不考虑的bug (details)
656. fix:修复dp结构不稳定的bug (details)
657. fix:临时解决状态机切换的bug (details)
658. feat:1. 散水池和不可以绕行区域的处理2.静态障碍物的扩展优化 (details)
659. feat:海南洋浦适配 (details)
660. fix:变道的bug (details)
661. fix: add sweep area for road_boundary. (details)
662. fix: area expanding = 0.1 (details)
663. fix: imv backward align_step_forward bug. (details)
664. fix: imv backward align_step_forward bug. (details)
665. fix: add sweep area for road_boundary. (details)
666. fix: delete sweep_area log. (details)
667. feat:路径消失的bug (details)
668. feat:绕行的优化 (details)
669. feat:转向限速添加功能开关 (details)
670. feat:修改驾驶走廊 障碍物的膨胀 (details)
671. fix:修复崩溃的bug (details)
672. fix:修复og的bug (details)
673. fix: into yard low bay tunnel (details)
674. feat:添加是否sweepboundary的参数和修复崩溃的bug (details)
675. fix: steering rate speed constrain optimization. (details)
676. fix: steering rate speed constrain optimization. (details)
677. fix: add use_func_boundary_expanding_for_start_up_=false. (details)
678. fix: add use_func_boundary_expanding_for_start_up_=false. (details)
679. fix:修复冲路径突判断的bug (details)
680. fix: yangpu 进出堆场适配 (details)
681. fix:修复dp结果跳变的bug (details)
682. fix: normal junction search (details)
683. fix:修改guardian区域和no shift 区域 重叠区域， wcba 求解失败的bug (details)
684. feat:添加龙须点的支持 (details)
685. fix: delete local_wbca in path_task_opt (details)
686. fix:修复合并的bug (details)
687. fix:xl park search bug (details)
688. fix: wbca_optimizer in plan thread. (details)
689. fix: delete static variable. (details)
690. fix:狭窄区域，回目标车道的bug (details)
691. fix: init tt curve manager (details)
692. fix: upper collision detection option for path_time_graph. (details)
693. fix:修复快照内存泄漏的bug (details)
694. fix: display history ogm in replayer. (details)
695. fix: car wbca bug. (details)
696. fix: init_wbca_manger. (details)
697. fix:参考线拼接的bug (details)
698. fix:修复路径冲突判断的bug (details)
699. fix:参考线拼接的bug (details)
700. fix:修复路径冲突判断的bug (details)
701. fix: path_optimization_task for debug_mode. (details)
702. fix:修复park场景不变道的bug (details)
703. fix:修复park场景不变道的bug (details)
704. fix:修复回放变道路径不显示的bug (details)
705. fix:修复回放变道路径不显示的bug (details)
706. fix: wbca weight_deviation=10.0 (details)
707. fix: wbca result in debug mode (details)
708. fix: wbca failed if ptr_esdf_map == null (details)
709. fix: wbca failed if ptr_esdf_map == null (details)
710. fix: init tt curve manager (details)
711. fix: yp low bay classify (details)
712. fix: close search base log (details)
713. fix: using stacker_crane polygon in drivable passage. (details)
714. fix: draw path_bd in guide_line_info. (details)
715. fix: truck/car params. (details)
716. fix:优化wcba 开线程参数传递修改为copy的方式 (details)
717. fix:绘制 guideline 相关的边界数据 (details)
718. fix:pjpo 求解失败的bug (details)
719. feat:偏离限速的bug (details)
720. fix: copy wbca_data in debug_mode. (details)
721. fix:修复junction overlap 前驱 后继 获取的bug (details)
722. fix: copy wbca_data in debug_mode. (details)
723. Extract line segments from ogm and use og line obstacles in ssep. (details)
724. SSEP line obstacle适配前港 (details)
725. resolve conflicts (details)
726. fix:pnc map path 中drivable l 计算的bug (details)
727. fix: road boundary opt. (details)
728. fix: shift_l compensation bug. (details)
729. fix: wbca_opt debug mode. (details)
730. fix: params for yangpu (details)
731. fix:修复变道准备阶段road boundary的bug以及路径条跳变的bug (details)
732. fix: open space down intersect search failed (details)
733. fix:修复快照内存泄漏的bug (details)
734. fix: open space down intersect search failed (details)
735. fix: stitch back up ssep pathfor open space (details)
736. improve latency of line segment extractor (details)
737. fix:修复云端障碍物显示的bug (details)
738. feat:ogm lines replyaer 处理优化，并且添加功能开关 (details)
739. fix: wbca velocity reference optimization. (details)
740. fix: road boundary opt. (details)
741. fix: shift_l compensation bug. (details)
742. fix:修复驾驶走廊不现实的bug (details)
743. fix: ignore IMV and C2V obstacle when build_ogm (details)
744. fix: imv parameters. (details)
745. fix: draw path boundary. (details)
746. fix: 1.qg calib param 2.add extract yard grid info (details)
747. fix: xl park search  faild (details)
748. fix: start_pos bug (details)
749. fix: velocity generator for imv. (details)
750. fix: lka for single side lane points. (details)
751. fix: update bound_width for yangpu (details)
752. feat:天津是否聚类og点的开关 (details)
753. fix:参考线拼接的bug (details)
754. fix:平滑的bug (details)
755. refactor:优化路径拼接 (details)
756. fix:删除日志打印 (details)
757. fix:修复崩溃的bug (details)
758. 修复ogm线段提取时访问越界的问题 (details)
759. fix: sweep area in bend. (details)
760. fix: boundary expanding bug. (details)
761. fix:使用ssep路径过程中,无法打点的bug (details)
762. fix:修复imv wcba 求解成功后,is_success不赋值的bug (details)
763. fix: wbca process_debug bug. (details)
764. fix: wbca process_debug bug. (details)
765. fix: reverse search truck (details)
766. fix: wbca debug mode bug. (details)
767. fix: wbca debug mode bug. (details)
768. fix: vehicle_type error in wbca.. (details)
769. fix: vehicle_type error in wbca.. (details)
770. fix: msg error. (details)
771. fix:修复多线程竞争导致的崩溃bug (details)
772. fix:优化扩展岸桥禁停 (details)
773. fix:优化扩展岸桥禁停2 (details)
774. fix:代码格式 (details)
775. fix:优化扩展岸桥禁停 (details)
776. fix:优化扩展岸桥禁停2 (details)
777. fix: replayer bug. (details)
778. fix:修复扩展引桥， 显示不对的bug (details)
779. fix:修复扩展引桥， 显示不对的bug (details)
780. feat:减少聚类停车 (details)
781. Add skeleton and samplers for geometric searcher (details)
782. tmp commit (details)
783. fix: lka deviation. (details)
784. add topology analysis (details)
785. fix sl-projection-map crashing issue (details)
786. fix:参考线哦拼接优化 (details)
787. fix: pnc_map_path bug. (details)
788. Complete geometric search V1.0 (details)
789. fix: add dg search simulator (details)
790. fix: ssep cmakelist (details)
791. fix: ssep yaml (details)
792. fix:锁站不走中间的bug (details)
793. fix:修复倒车规划的bug (details)
794. fix:1.当前车道识别错误的bug2.当时车道识别错误后，后继车道连接跳变的bug (details)
795. feat:直线步进的时候,添加忽略安全的逻辑 (details)
796. feat:直线步进的时候,添加忽略安全的逻辑 (details)
797. fix:参考线构建的bug (details)
798. fix:参考线构建的bug (details)
799. fix: CHECK(var_size_ <= SDLQ_MAX_VAR_SIZE) (details)
800. fix: CHECK(var_size_ <= SDLQ_MAX_VAR_SIZE) (details)
801. fix:倒车场景切换的bug (details)
802. fix:调整安全相关的逻辑 (details)
803. refeat:优化终点计算，路径方向切换， guide line 拼接 (details)
804. fix: add ssep calib param for reverse (details)
805. feat:优化bug (details)
806. fix: clear steer for backward align. (details)
807. fix: add use_func_clear_steer_for_backward_align (details)
808. fix:修复终点距离计算 和 引导线拼接的bug (details)
809. Improve the latency of reading TTCurveTrajectoryLib. (details)
810. Decrease the "max_safety_buffer". (details)
811. feat:调整cfg static (details)
812. feat:代码合并的bug (details)
813. fix:不添加停止线的bug (details)
814. 修复了SSep路径段数错误的问题，对前后方向切换时增加了路径延长策略，修复了结果不是最优路径的问题。。。 (details)
815. feat:合并的bug (details)
816. fix: imv wbca parallel mode: dheading < 1deg (details)
817. feat:调整上下层的显示 (details)
818. fix: vehicle_type_->vehicle_type() (details)
819. feat:更新序列化 (details)
820. feat:调整上下层碰撞 (details)
821. feat:调整上下层碰撞 (details)
822. feat:调整CMakeLists (details)
823. fix:代码合并的bug (details)
824. fix:规范成员函数的名称 (details)
825. feat:打开container size 的赋值 (details)

Commit fd76c9c081577368d0fcf38b5b8f36a62ba7fe04 by 5081703.cr fix: add minco
	algorithm/path_opt/path_optimization_test.hpp
	replayer/replayer_data_process/replayer_data_process.cpp
	data/plan_frame.hpp
	thirdparty/lbfgs/lbfgs.hpp
	hmi/draw/draw_path.hpp
	hmi/draw/draw_path.cpp
	algorithm/path_opt/minco/minco.hpp
	algorithm/path_opt/minco/root_finder.hpp
	algorithm/path_opt/path_optimization_test.cpp
	algorithm/path_opt/minco/trajectory.hpp
	replayer/replayer_data_process/replayer_data_process.hpp
Commit cf2265e6346cffad433e684d909cbae669504324 by 5081703.cr fix: add wbca test.
	algorithm/wbca/minco/trajectory.hpp
	algorithm/wbca/path_optimization_test.hpp
	algorithm/path_opt/path_optimization_test.cpp
	algorithm/path_opt/path_optimization_test.hpp
	algorithm/wbca/quiticpolynomial.cpp
	algorithm/path_opt/minco/root_finder.hpp
	algorithm/wbca/minco/minco.hpp
	replayer/replayer_data_process/replayer_data_process.cpp
	algorithm/wbca/quiticpolynomial.hpp
	algorithm/path_opt/minco/minco.hpp
	algorithm/path_opt/minco/trajectory.hpp
	algorithm/wbca/path_optimization_test.cpp
	hmi/draw/draw_path.cpp
	algorithm/wbca/minco/root_finder.hpp
Commit 21359529f28612bcfeb03f10b8ea649af51cdfd4 by 5081703.cr fix:truck reverse in reverse truck planner
	data/ssep/reverse_ec.cpp
	data/config/cfg_ssep.cpp
	data/config/cfg_ssep.hpp
Commit 96ebbcb7ac0654218980d4b9b59cde6b677e1f61 by 5081703.cr fix: add update.
	data/config/cfg_ssep.cpp
Commit 7f397416ba33444b5594f6abd7d94e445c45a6e7 by 5081703.cr fix: add LBFGSpp
	thirdparty/LBFGSpp/include/LBFGSpp/LineSearchBracketing.h
	thirdparty/LBFGSpp/include/LBFGSpp/LineSearchMoreThuente.h
	thirdparty/LBFGSpp/include/LBFGSpp/Param.h
	algorithm/wbca/quiticpolynomial.hpp
	thirdparty/LBFGSpp/examples/CMakeLists.txt
	thirdparty/LBFGSpp/examples/example-rosenbrock.cpp
	thirdparty/LBFGSpp/include/LBFGSpp/BKLDLT.h
	thirdparty/LBFGSpp/examples/example-rosenbrock-bracketing.cpp
	thirdparty/LBFGSpp/examples/example-rosenbrock-comparison.cpp
	thirdparty/LBFGSpp/examples/example-quadratic.cpp
	thirdparty/LBFGSpp/include/LBFGSB.h
	thirdparty/LBFGSpp/include/LBFGSpp/Cauchy.h
	algorithm/wbca/path_optimization_test.hpp
	algorithm/wbca/path_optimization_test.cpp
	thirdparty/LBFGSpp/include/LBFGS.h
	algorithm/wbca/quiticpolynomial.cpp
	thirdparty/LBFGSpp/examples/example-rosenbrock-box.cpp
	thirdparty/LBFGSpp/include/LBFGSpp/BFGSMat.h
	thirdparty/LBFGSpp/include/LBFGSpp/LineSearchNocedalWright.h
	thirdparty/LBFGSpp/include/LBFGSpp/LineSearchBacktracking.h
	thirdparty/LBFGSpp/include/LBFGSpp/SubspaceMin.h
	thirdparty/lbfgs/lbfgs.hpp
Commit 578f4ca67fc2945325e11f25ea177cf86cc55af3 by 5081703.cr fix:
	algorithm/wbca/path_optimization_test.cpp
Commit 9ba90068e57461b23ea8fbc3f9ff013a1d51e615 by 5081703.cr fix: kappa penalty finished.
	algorithm/wbca/path_optimization_test.hpp
	thirdparty/LBFGSpp/examples/example-rosenbrock-bracketing.cpp
	algorithm/wbca/path_optimization_test.cpp
	thirdparty/LBFGSpp/examples/example-quadratic.cpp
	thirdparty/LBFGSpp/examples/example-rosenbrock.cpp
	thirdparty/LBFGSpp/examples/example-rosenbrock-box.cpp
	thirdparty/LBFGSpp/examples/CMakeLists.txt
	thirdparty/LBFGSpp/examples/example-rosenbrock-comparison.cpp
	algorithm/wbca/minco/minco.hpp
Commit 905f36606f98fc271f1e935985d48ea99eb62773 by 5081703.cr fix: add grid_map
	algorithm/wbca/occupancy_grid_map/data_render.hpp
	algorithm/wbca/path_optimization_test.cpp
	data/basic.hpp
	data/map/grid_map/grid_map.cpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	data/map/grid_map/grid_map.hpp
Commit a1738f49de0ed569207d362a834fb48fd850ea15 by chenran fix: data render
	data/plan_frame.hpp
	math/util/math_utils.cc
	algorithm/wbca/occupancy_grid_map/data_render.hpp
	algorithm/wbca/path_optimization_test.hpp
	replayer/replayer_data_process/replayer_data_process.cpp
	math/util/math_utils.h
	algorithm/wbca/path_optimization_test.cpp
	data/map/grid_map/grid_map.cpp
	hmi/draw/draw_collision_detection.cpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	data/map/grid_map/grid_map.hpp
Commit ddd5f7206e6839e33cd564e2d0ef4ed7c1ff8a4a by chenran fix: pnc_map_path bug.
	data/map/pnc_map/pnc_map_path.cpp
Commit 6738e55c3c6f613a61eeaeea14e2ccb5fe4f856e by chenran fix: add esdf_map
	hmi/draw/draw_collision_detection.cpp
	data/plan_frame.hpp
	data/map/grid_map/esdf_map.cpp
	data/map/grid_map/esdf_map.hpp
	algorithm/wbca/path_optimization_test.cpp
	data/map/grid_map/grid_map.hpp
	algorithm/wbca/occupancy_grid_map/data_render.hpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
Commit 7ebf62b416c8cb76c294a333ae1f7d214338886e by chenran fix: add map size params.
	algorithm/wbca/occupancy_grid_map/data_render.hpp
	data/map/grid_map/esdf_map.cpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	data/map/grid_map/grid_map.cpp
	data/map/grid_map/grid_map.hpp
	data/map/grid_map/esdf_map.hpp
Commit 1eca10bf03f342d1fa4d3fe08774513c469a7128 by chenran fix: path optimization using esdf.
	algorithm/wbca/occupancy_grid_map/data_render.hpp
	hmi/draw/draw_path.cpp
	algorithm/wbca/path_optimization_test.cpp
	replayer/replayer_data_process/replayer_data_process.cpp
	data/map/grid_map/esdf_map.hpp
	data/map/grid_map/grid_map.hpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	data/map/grid_map/esdf_map.cpp
	hmi/draw/draw_collision_detection.cpp
	algorithm/wbca/path_optimization_test.hpp
Commit 56433f70476981f8a0908602915bb53ba31b19e5 by chenran fix: add interp in esdf.
	data/map/grid_map/grid_map.hpp
	algorithm/wbca/occupancy_grid_map/data_render.hpp
	hmi/draw/draw_collision_detection.cpp
	algorithm/wbca/path_optimization_test.hpp
	data/map/grid_map/esdf_map.cpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	algorithm/wbca/path_optimization_test.cpp
	data/map/grid_map/grid_map.cpp
	data/map/grid_map/esdf_map.hpp
Commit c3eb00bf244f003a636446c9333cb1df099eb2f7 by chenran fix: add draw_wbca_rlt
	hmi/draw/draw_wbca_rlt.cpp
	hmi/draw/draw_path.cpp
	hmi/draw/draw_wbca_rlt.hpp
	hmi/draw/draw_collision_detection.cpp
	hmi/draw/draw_path.hpp
Commit 86f201e1e11025a98c340861301ae48c737265fd by chenran fix: draw_esdf_gradient bug.
	algorithm/wbca/occupancy_grid_map/data_render.hpp
	data/map/grid_map/esdf_map.cpp
	hmi/draw/draw_wbca_rlt.cpp
	algorithm/wbca/path_optimization_test.cpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	data/map/grid_map/esdf_map.hpp
Commit ac92e0be0703cade8497ac19fe4468216a5c92b5 by chenran fix: add nlopt
	algorithm/wbca/path_optimization_test.cpp
	algorithm/wbca/path_optimization_test.hpp
	hmi/draw/draw_wbca_rlt.cpp
	CMakeLists.txt
Commit 2959dc62df4aac5f5d37226a0016504d52b6b532 by chenran fix: add debug obstacle.
	algorithm/wbca/occupancy_grid_map/data_render.hpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
Commit ad95c1f19ca03d8d4466917b6fd7e5ac1f8ea5ce by chenran fix: draw path contour.
	hmi/draw/draw_wbca_rlt.hpp
	hmi/draw/draw_wbca_rlt.cpp
	algorithm/wbca/path_optimization_test.cpp
Commit b6428f3242ded140a6f7a2f31c6dfc4a1ee3199c by chenran fix: fillpoly
	algorithm/wbca/path_optimization_test.cpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	hmi/draw/draw_wbca_rlt.cpp
Commit 5bc0e808d328b757ab4b6dda302e4585b840f2cb by chenran fix: esdf calculation v2.
	algorithm/wbca/occupancy_grid_map/data_render.hpp
	algorithm/wbca/path_optimization_test.hpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	algorithm/wbca/path_optimization_test.cpp
	data/map/grid_map/esdf_map.hpp
	data/map/grid_map/esdf_map.cpp
Commit cb544af392b22fbccef3e41b0ec8788c89a045d6 by chenran fix: safe corridors generation.
	algorithm/wbca/safe_corridors_generation.hpp
	data/map/grid_map/esdf_map.cpp
	algorithm/wbca/path_optimization_test.hpp
	algorithm/wbca/safe_corridors_generation.cpp
	data/map/grid_map/esdf_map.hpp
	hmi/draw/draw_wbca_rlt.cpp
	algorithm/wbca/path_optimization_test.cpp
	data/plan_frame.hpp
	hmi/draw/draw_wbca_rlt.hpp
Commit dea01b1eda196eb88272839b3275942e876212cd by chenran fix: optimization using sc data.
	algorithm/wbca/safe_corridors_generation.cpp
	algorithm/wbca/path_optimization_test.cpp
	algorithm/wbca/path_optimization_test.hpp
	algorithm/wbca/safe_corridors_generation.hpp
	hmi/draw/draw_wbca_rlt.cpp
Commit 7220704dd5aa4fb384e8ecc0acdbf87adf824ebe by chenran fix: extract esdf map.
	replayer/replayer_data_process/replayer_data_extraction.cpp
Commit 6ef6ababd7b436281693c0947081bc687823ad41 by chenran fix: add sc to opt process.
	algorithm/wbca/path_optimization_test.hpp
	algorithm/wbca/path_optimization_test.cpp
	algorithm/wbca/safe_corridors_generation.cpp
	algorithm/wbca/safe_corridors_generation.hpp
Commit 1a2d73d07396c146d01695aff55d1adf8b852c0a by chenran fix: add Poly_Cal_Status
	algorithm/wbca/safe_corridors_generation.cpp
	algorithm/wbca/safe_corridors_generation.hpp
	replayer/replayer_data_process/replayer_data_process.cpp
	algorithm/wbca/path_optimization_test.cpp
Commit 305e15c1585283bc808a848c364d33d9433be79a by chenran fix: enlarge SC
	hmi/draw/draw_wbca_rlt.cpp
	algorithm/wbca/safe_corridors_generation.cpp
	algorithm/wbca/path_optimization_test.cpp
	algorithm/wbca/safe_corridors_generation.hpp
Commit f4b679ed18b8fa60bbc53d6b40a2f4c92ca5ceb6 by chenran fix: init map size
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	algorithm/wbca/safe_corridors_generation.cpp
	data/map/grid_map/esdf_map.cpp
Commit f7a6cb285c24c555db83e0bd0c0a7248c020d93b by chenran fix: draw_wbca bug.
	hmi/draw/draw_wbca_rlt.cpp
Commit 7a37fa71da40ca7e25613e2e725edcb61787d698 by chenran fix: DataRender
	algorithm/wbca/safe_corridors_generation.cpp
	algorithm/wbca/occupancy_grid_map/data_render.hpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
Commit 4956e902dbceb9576019add0b16a8bb3c615e09b by chenran fix: fill FillLaneWithFixedWidth
	algorithm/wbca/occupancy_grid_map/data_render.cpp
Commit 55d45ccab292d3e6453cbadebb4dd48654693968 by chenran fix: add front_end
	replayer/replayer_data_process/replayer_data_process.cpp
	algorithm/wbca/front_end/node3d.cpp
	algorithm/wbca/front_end/node2d.cpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	data/map/grid_map/grid_map.cpp
	algorithm/wbca/front_end/node3d.hpp
	data/map/grid_map/esdf_map.hpp
	algorithm/wbca/path_optimization_test.hpp
	algorithm/wbca/front_end/constants.hpp
	algorithm/wbca/front_end/hybrid_a_star.cpp
	algorithm/wbca/safe_corridors_generation.cpp
	algorithm/wbca/front_end/hybrid_a_star.hpp
	algorithm/wbca/front_end/node2d.hpp
	algorithm/wbca/path_optimization_test.cpp
	data/map/grid_map/esdf_map.cpp
Commit 3d48ac60c00818a40d2f18ef8444b622bb39a94a by chenran fix: change map resolution for hybrid a star.
	algorithm/wbca/front_end/hybrid_a_star.hpp
	algorithm/wbca/front_end/constants.hpp
	algorithm/wbca/path_optimization_test.cpp
	algorithm/wbca/front_end/hybrid_a_star.cpp
Commit d5f4133ffeeec438a79670bd8b41c7f30b3be923 by chenran fix: using shared_ptr
	algorithm/wbca/path_optimization_test.cpp
	algorithm/wbca/front_end/node3d.hpp
	algorithm/wbca/front_end/node2d.hpp
	algorithm/wbca/front_end/hybrid_a_star.cpp
	algorithm/wbca/front_end/node2d.cpp
	algorithm/wbca/front_end/hybrid_a_star.hpp
	algorithm/wbca/front_end/node3d.cpp
Commit efa89b83b015bbed5c2802601d66313eb2fd0ba4 by chenran fix: safe corridors optimization.
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	algorithm/wbca/front_end/constants.hpp
	algorithm/wbca/safe_corridors_generation.cpp
	algorithm/wbca/safe_corridors_generation.hpp
	algorithm/wbca/path_optimization_test.cpp
Commit 382021363340ac6f0921aab0f439ef0184b42616 by chenran fix: add wbca_manager, wbca_data.
	replayer/replayer_data_process/replayer_data_process.cpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	algorithm/wbca/minco/minco.hpp
	algorithm/wbca/path_optimization_test.cpp
	algorithm/wbca/occupancy_grid_map/data_render.hpp
	algorithm/wbca/path_optimization.hpp
	data/map/grid_map/esdf_map.cpp
	algorithm/wbca/front_end/hybrid_a_star.cpp
	data/plan_frame.hpp
	data/map/grid_map/grid_map.hpp
	hmi/draw/draw_wbca_rlt.cpp
	data/wbca/grid_map/esdf_map.hpp
	data/wbca/grid_map/esdf_map.cpp
	data/config/cfg_lat_plan.cpp
	algorithm/wbca/path_optimization_test.hpp
	data/wbca/wbca_data.cpp
	algorithm/wbca/front_end/hybrid_a_star.hpp
	data/config/cfg_lat_plan.hpp
	data/map/grid_map/esdf_map.hpp
	data/wbca/grid_map/grid_map.hpp
	replayer/replayer_data_process/replayer_data_extraction.cpp
	algorithm/wbca/wbca_manager.hpp
	algorithm/wbca/path_optimization.cpp
	data/wbca/grid_map/grid_map.cpp
	data/wbca/wbca_data.hpp
	algorithm/wbca/wbca_manager.cpp
	data/map/grid_map/grid_map.cpp
	hmi/draw/draw_wbca_rlt.hpp
	algorithm/wbca/safe_corridors_generation.cpp
	algorithm/wbca/safe_corridors_generation.hpp
Commit 5601c85aeff748e29b4197088ac3f005602d5cd1 by chenran fix: delete map_path
	config/config_truck/plan.yaml
	config/config_imv/plan.yaml
Commit 1c3f57541cb4a729d236180bd00748319b3cc5a2 by chenran fix: add path_optimization_task
	algorithm/wbca/path_optimization.hpp
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/path_optimization.cpp
	config/config_imv/scenario.yaml
	tasks/task_factory.cpp
	hmi/draw/draw_wbca_rlt.cpp
	CMakeLists.txt
	data/config/cfg_stage.cpp
	data/config/cfg_stage.hpp
	tasks/plan/path_optimization_task.hpp
Commit 8ac9dcee36947543470273612661fe360f8f83b3 by chenran fix: path_opt_task
	sink/ros_sink_snapshot.cpp
	algorithm/wbca/path_optimization.hpp
	tasks/plan/path_optimization_task.cpp
	hmi/draw/draw_wbca_rlt.cpp
	algorithm/wbca/path_optimization.cpp
Commit 4438e3fc574db9158ef8033b9432131ddd171244 by chenran fix: update car parameter.
	data/config/cfg_lat_plan.cpp
	config/config_car/plan.yaml
	config/config_car/scenario.yaml
Commit 4117c4a7e844c34da323349ad8361bb0bde68513 by chenran fix: add qt thread in path_opt_task.
	hmi/draw/draw_wbca_rlt.cpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	algorithm/wbca/wbca_manager.hpp
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/path_optimization.cpp
	data/plan_frame.cpp
	algorithm/wbca/wbca_manager.cpp
	tasks/plan/path_optimization_task.hpp
	hmi/draw/draw_collision_detection.cpp
	replayer/replayer_data_process/replayer_data_extraction.cpp
	algorithm/wbca/occupancy_grid_map/data_render.hpp
	algorithm/wbca/path_optimization.hpp
	data/plan_frame.hpp
Commit cd9179a5c04ecc2009c16c1c3e2ccfe1376ea883 by chenran fix: wbca multi thread bug.
	tasks/plan/path_optimization_task.hpp
	algorithm/wbca/occupancy_grid_map/data_render.hpp
	algorithm/wbca/safe_corridors_generation.hpp
	data/wbca/wbca_data.hpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/safe_corridors_generation.cpp
	algorithm/wbca/wbca_manager.hpp
	replayer/replayer_data_process/replayer_data_process.cpp
	data/wbca/wbca_data.cpp
	hmi/draw/draw_wbca_rlt.cpp
	tasks/plan/path_optimization_task.cpp
Commit a9ca9ba966e08cbc35890312bd030a0c657b88f0 by chenran fix: extend route out of SC
	data/config/cfg_lat_plan.cpp
	algorithm/wbca/path_optimization.cpp
	algorithm/wbca/safe_corridors_generation.hpp
	hmi/draw/draw_wbca_rlt.cpp
	algorithm/wbca/safe_corridors_generation.cpp
Commit 0127a9f0ccdc77cf3b93f2d3bd663dea1d63e95c by chenran fix: init parameters.
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	algorithm/wbca/wbca_manager.hpp
	data/config/cfg_lat_plan.hpp
	data/wbca/wbca_data.hpp
	algorithm/wbca/safe_corridors_generation.hpp
	algorithm/wbca/path_optimization.cpp
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/occupancy_grid_map/data_render.hpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/safe_corridors_generation.cpp
	algorithm/wbca/path_optimization.hpp
Commit f5155f3b88f17e8011d700d43dbe2f45d45e1f60 by chenran fix: refine path_opt
	algorithm/wbca/path_optimization.cpp
	algorithm/wbca/path_optimization.hpp
Commit 456e4fbac07fc9a8b673dc1ba9bf180c78887377 by chenran fix: sc bug
	algorithm/wbca/safe_corridors_generation.cpp
	algorithm/wbca/wbca_manager.cpp
Commit 63a08040ae3403b217024a7f461cbf4cdec65c62 by chenran fix: add front_end_path
	algorithm/wbca/wbca_manager.hpp
	data/wbca/wbca_data.hpp
	algorithm/wbca/safe_corridors_generation.hpp
	algorithm/wbca/safe_corridors_generation.cpp
	algorithm/wbca/wbca_manager.cpp
Commit 593a808557c353984efd9ba29be88eb162c7940a by chenran fix: add back_end_path
	algorithm/wbca/path_optimization.cpp
	data/wbca/wbca_data.hpp
	tasks/plan/path_optimization_task.cpp
	hmi/draw/draw_wbca_rlt.cpp
Commit 6c2f3b6b179a580a8a3a70215b478ed3882e8a43 by chenran fix: front_end_path from reference_line.
	algorithm/wbca/front_end/hybrid_a_star/node3d.cpp
	algorithm/wbca/front_end/hybrid_a_star/node3d.hpp
	algorithm/wbca/path_optimization.cpp
	algorithm/wbca/wbca_manager.hpp
	algorithm/wbca/front_end/node2d.hpp
	algorithm/wbca/path_optimization.hpp
	algorithm/wbca/front_end/hybrid_a_star/hybrid_a_star.cpp
	algorithm/wbca/front_end/node3d.hpp
	algorithm/wbca/front_end/hybrid_a_star/hybrid_a_star.hpp
	algorithm/wbca/front_end/hybrid_a_star/constants.hpp
	algorithm/wbca/front_end/hybrid_a_star.cpp
	algorithm/wbca/front_end/hybrid_a_star/node2d.hpp
	algorithm/wbca/front_end/hybrid_a_star.hpp
	algorithm/wbca/front_end/hybrid_a_star/node2d.cpp
	algorithm/wbca/front_end/constants.hpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/front_end/node2d.cpp
	algorithm/wbca/front_end/node3d.cpp
Commit 7394de2c6cd4b6f679214b30efc584b0f2b4dde9 by chenran fix: consider deviation from history.
	algorithm/wbca/path_optimization.hpp
	data/wbca/wbca_data.hpp
	algorithm/wbca/path_optimization.cpp
	hmi/draw/draw_wbca_rlt.cpp
	hmi/draw/draw_wbca_rlt.hpp
Commit 0111401b38ad35ca37abd25034c2970775ce67ce by chenran fix: add CalcDeviationFromHisCost
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/path_optimization.cpp
	algorithm/wbca/path_optimization.hpp
	data/config/cfg_lat_plan.cpp
	data/config/cfg_lat_plan.hpp
Commit 8374c4a6a6b31aa4058511bc8d3c3f0c418d0778 by chenran fix: add CheckReplan
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/wbca_manager.hpp
Commit 2f8ca135447944cbd23a08b3be86088f608e527f by chenran fix: CalRectangle.
	algorithm/wbca/safe_corridors_generation.cpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
Commit 9ffe71e73c0e28346be18395da862fa992ee5e94 by 5081703.cr fix: path stability.
	data/wbca/wbca_data.hpp
	CMakeLists.txt
	algorithm/wbca/safe_corridors_generation.cpp
	tasks/plan/path_optimization_task.cpp
	data/wbca/wbca_data.cpp
	plan/prepare/prepare_his.cpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/path_optimization.cpp
	algorithm/wbca/wbca_manager.hpp
	data/plan_frame.hpp
	data/config/cfg_lat_plan.cpp
	data/plan_frame.cpp
Commit 9ff6a0c8159ad82a8149b35b19a42a9256956b74 by 5081703.cr fix: add init steer constraint.
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/safe_corridors_generation.cpp
	algorithm/wbca/path_optimization.cpp
	data/config/cfg_lat_plan.cpp
	algorithm/wbca/occupancy_grid_map/data_render.hpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	algorithm/wbca/wbca_manager.hpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/safe_corridors_generation.hpp
Commit fa26d4282842a525f5e24dc04c3fa50dc6db9193 by 5081703.cr fix: add fill road
	algorithm/wbca/occupancy_grid_map/data_render.hpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
Commit eb9e1e0d55d2b44c9d1b8bc91a09fee562fa97f8 by 5081703.cr fix: add dilate.
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	data/wbca/grid_map/grid_map.cpp
	algorithm/wbca/occupancy_grid_map/data_render.hpp
	data/wbca/grid_map/esdf_map.hpp
	data/wbca/grid_map/grid_map.hpp
	hmi/draw/draw_wbca_rlt.cpp
Commit aa56669fab64818aa27e25aabb4f144a616f1349 by 5081703.cr fix: add FIRI and it's 2d version for SC generation.
	algorithm/wbca/wbca_manager.cpp
	data/wbca/wbca_data.hpp
	algorithm/wbca/sc_gen/geo_utils.hpp
	algorithm/wbca/sc_gen/safe_corridors_generation.hpp
	algorithm/wbca/safe_corridors_generation.cpp
	hmi/draw/draw_wbca_rlt.hpp
	algorithm/wbca/sc_gen/safe_corridors_generation.cpp
	algorithm/wbca/sc_gen/firi.hpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	hmi/draw/draw_wbca_rlt.cpp
	algorithm/wbca/safe_corridors_generation.hpp
	thirdparty/quickhull/quickhull.hpp
	algorithm/wbca/wbca_manager.hpp
	algorithm/wbca/sc_gen/firi_2d.hpp
Commit 088f494bc688c5b31c8ddd70be37f81bbb2ffc37 by 5081703.cr fix: using new SC for path opt
	algorithm/wbca/path_optimization.cpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/sc_gen/safe_corridors_generation.cpp
Commit e4fc50263389a9089c1c39e1d8922768557d277f by 5081703.cr fix: add new SC Opt method.
	algorithm/wbca/path_optimization.hpp
	algorithm/wbca/path_optimization.cpp
Commit fa844d9867a7588e8c82ec43ff93c8196d3962b4 by 5081703.cr fix: add ego_dense_vertices.
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/sc_gen/safe_corridors_generation.cpp
	algorithm/wbca/path_optimization.cpp
	data/wbca/wbca_data.hpp
	hmi/draw/draw_wbca_rlt.cpp
Commit aad550d527b9f81dd5db0f6fc4662cde6959b057 by 5081703.cr fix: SC constrain optimization.
	algorithm/wbca/sc_gen/safe_corridors_generation.cpp
	tasks/plan/path_optimization_task.cpp
	plan/prepare/prepare_his.cpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/path_optimization.hpp
	algorithm/wbca/path_optimization.cpp
	data/wbca/wbca_data.hpp
Commit d33acdb3439e90e62d6c5446ea8fa23f883a5362 by 5081703.cr fix: using pure h-polytgon for SC constraint.
	algorithm/wbca/path_optimization.cpp
	algorithm/wbca/sc_gen/safe_corridors_generation.cpp
	data/wbca/wbca_data.hpp
	algorithm/wbca/path_optimization.hpp
Commit e459cf06d8f714e549b10abeb6a860856d9a0203 by 5081703.cr fix: delete outer_normal.
	algorithm/wbca/path_optimization.cpp
Commit ee5e22387f983c657baeff92b3bcc63d45a76977 by 5081703.cr fix: add obstacle and ogm_points in grid_map for opt.
	algorithm/wbca/wbca_manager.hpp
	replayer/replayer_data_process/replayer_data_process.cpp
	hmi/draw/draw_wbca_rlt.cpp
	algorithm/wbca/occupancy_grid_map/data_render.hpp
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	algorithm/wbca/wbca_manager.cpp
	data/wbca/wbca_data.hpp
	data/wbca/wbca_data.cpp
Commit 5a9273d4f45f0f3e8e3f2e3253e14949cf0865f5 by 5081703.cr fix: wbca history optimization.
	data/plan_frame.hpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/wbca_manager.hpp
	data/plan_frame.cpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	plan/prepare/prepare_his.cpp
	tasks/plan/path_optimization_task.cpp
Commit 221dfd3c5acb077664753dc697f61d2530c8b95a by 5081703.cr fix: add path_opt module.
	algorithm/wbca/minco/minco.hpp
	algorithm/wbca/path_optimization.hpp
	algorithm/wbca/minco/root_finder.hpp
	algorithm/wbca/path_optimization/minco/root_finder.hpp
	algorithm/wbca/path_optimization/path_optimization.hpp
	algorithm/wbca/path_optimization/quiticpolynomial.hpp
	algorithm/wbca/path_optimization/minco/minco.hpp
	algorithm/wbca/quiticpolynomial.hpp
	algorithm/wbca/minco/trajectory.hpp
	algorithm/wbca/path_optimization/quiticpolynomial.cpp
	algorithm/wbca/path_optimization/minco/trajectory.hpp
	algorithm/wbca/path_optimization.cpp
	algorithm/wbca/quiticpolynomial.cpp
	algorithm/wbca/wbca_manager.hpp
	algorithm/wbca/path_optimization/path_optimization.cpp
Commit 52d9b6dd79f0309d1c364ecca8df14c55183b20e by 5081703.cr fix: re-plan for collision.
	hmi/draw/draw_wbca_rlt.hpp
	plan/prepare/prepare_his.cpp
	hmi/draw/draw_wbca_rlt.cpp
	algorithm/wbca/path_optimization/path_optimization.cpp
	data/wbca/grid_map/esdf_map.cpp
	algorithm/wbca/sc_gen/safe_corridors_generation.cpp
	algorithm/wbca/wbca_manager.cpp
Commit 7f1b49f6e6503fbdf6810156d59a7fd7bc22f5bf by 5081703.cr fix: ignore last 2 SC
	algorithm/wbca/path_optimization/path_optimization.cpp
Commit 68945a64e0dc8cb4f74a56b706e58ff0ca15e101 by 5081703.cr fix: DrawESDFGradient bug
	hmi/draw/draw_wbca_rlt.cpp
Commit 9f6cbee0cfa2017ff8a11dd7593479b90aee017a by 5081703.cr fix: add scenario.
	tasks/plan/path_optimization_task.hpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/wbca_manager.hpp
	replayer/replayer_data_process/replayer_data_process.cpp
	tasks/plan/path_optimization_task.cpp
Commit f2e1318d4febeb4b5b8f5ebb33dc3e841090e1bb by 5081703.cr fix: add upper_ogm_pts
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/occupancy_grid_map/data_render.hpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	algorithm/wbca/wbca_manager.hpp
Commit 93f1af40942023ff3318370379fb595bae594051 by 5081703.cr fix: init path without SC.
	algorithm/wbca/wbca_manager.hpp
	algorithm/wbca/wbca_manager.cpp
	tasks/plan/path_optimization_task.cpp
Commit fb813344b320b2c9d90047753f2f9b4962892302 by 5081703.cr fix: temp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/path_optimization/path_optimization.cpp
	algorithm/wbca/sc_gen/safe_corridors_generation.hpp
	hmi/draw/draw_wbca_rlt.hpp
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/sc_gen/safe_corridors_generation.cpp
	hmi/draw/draw_wbca_rlt.cpp
	data/wbca/wbca_data.hpp
Commit a191a4e3a952676f8972335d385352ffd583937a by 5081703.cr fix: add WBCAStartPos, debug code.
	algorithm/wbca/path_optimization/path_optimization.cpp
	algorithm/wbca/sc_gen/safe_corridors_generation.hpp
	algorithm/wbca/occupancy_grid_map/data_render.hpp
	tasks/plan/path_optimization_task.hpp
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/sc_gen/safe_corridors_generation.cpp
	data/wbca/wbca_data.hpp
	algorithm/wbca/wbca_manager.hpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	algorithm/wbca/path_optimization/path_optimization.hpp
Commit 31be55a144a4c5daccf29d15a5809f10fee4bc8b by 5081703.cr fix: Gen SC using Galaxy
	algorithm/wbca/sc_gen/CorridorBuilder2d.hpp
	algorithm/wbca/sc_gen/safe_corridors_generation.cpp
	algorithm/wbca/sc_gen/safe_corridors_generation.hpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/path_optimization/path_optimization.cpp
Commit 7b29deb545da5b4e12a3bbc20c6eb522cacbdaa4 by 5081703.cr fix: update grid_map using Boundary.
	hmi/draw/draw_wbca_rlt.cpp
	tasks/other_tasks/create_reference_line.cpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	algorithm/wbca/occupancy_grid_map/data_render.hpp
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/wbca_manager.cpp
	tasks/deciders/lat_decider/path_bounds_decider.cpp
	config/config_car/scenario.yaml
	replayer/replayer_data_process/replayer_data_process.cpp
	tasks/deciders/lat_decider/path_bounds_decider.hpp
	algorithm/wbca/path_optimization/path_optimization.cpp
	algorithm/wbca/sc_gen/safe_corridors_generation.cpp
	algorithm/wbca/wbca_manager.hpp
	config/config_car/plan.yaml
Commit eba01e7d4fcade1cbbf193697df027325620956d by 5081703.cr fix: FrontEndPathFromSearch
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/wbca_manager.hpp
Commit fb58bbc49b8026ee28e29bcb6e0e1024a5b0b5c5 by 5081703.cr fix: start pos error.
	algorithm/wbca/wbca_manager.cpp
Commit dfc274aedea6f7e4b5e154f3a4ec1ba1859d19ff by 5081703.cr fix: fix route, add Status.
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/wbca_manager.hpp
	data/config/cfg_lat_plan.cpp
Commit 7012d3700845e28fa5dd30f9c1e832c337ea4bb1 by chenran fix: boundary
	hmi/draw/draw_path_boundary.cpp
	tasks/deciders/lat_decider/path_bounds_decider.cpp
	data/boundary/road_boundary.cpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
Commit b11e2e9ee4854ae316af5afbabd7b3e9a4516585 by 5081703.cr fix: road_boundary bug.
	data/boundary/road_boundary.cpp
Commit 26bb40593c11fdcff4346e2299e188880473c23d by 5081703.cr fix: drivable_passage interval  = 0.5
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	data/boundary/passage_segment.cpp
	data/boundary/drivable_passage.cpp
	tasks/deciders/lat_decider/path_bounds_decider.cpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/sc_gen/safe_corridors_generation.cpp
	data/plan/start_point_data.cpp
Commit b7c210bd2f1a7da71d220e63e0b26a514a5325c8 by 5081703.cr fix: add WBCAWayPoints and WBCAHelper
	algorithm/wbca/wbca_helper.cpp
	data/wbca/wbca_data.cpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	algorithm/wbca/wbca_manager.cpp
	data/wbca/grid_map/esdf_map.cpp
	data/wbca/grid_map/esdf_map.hpp
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/wbca_helper.hpp
	sink/ros_sink_plan_debug.cpp
	data/wbca/wbca_data.hpp
	algorithm/wbca/path_optimization/path_optimization.cpp
	algorithm/wbca/sc_gen/safe_corridors_generation.cpp
Commit 5d393ea72b2e60aa30adb7dbdeae56c4c0634fc9 by 5081703.cr fix: delete heading rate.
	tasks/plan/path_optimization_task.cpp
	data/wbca/wbca_data.cpp
	algorithm/wbca/path_optimization/path_optimization.cpp
	data/wbca/wbca_data.hpp
Commit d7b3221e47c25d00271b6c3d4657b4060085530c by 5081703.cr fix: WBCAData serialization.
	algorithm/wbca/wbca_helper.cpp
	data/plan_frame.hpp
	replayer/replayer_data_process/replayer_data_process.cpp
	data/config/cfg_lat_plan.hpp
	data/plan_frame.cpp
	algorithm/wbca/wbca_manager.cpp
	data/wbca/wbca_data.cpp
	hmi/draw/draw_wbca_rlt.hpp
	hmi/draw/draw_wbca_rlt.cpp
	sink/ros_sink_plan_debug.cpp
	data/wbca/wbca_data.hpp
	algorithm/wbca/wbca_helper.hpp
Commit 3cb26645d16406efa54f89189382ad97c847535d by 5081703.cr fix: lat_start_pt behind history.
	data/plan/start_point_data.cpp
	tasks/plan/path_optimization_task.cpp
Commit 39aea9d8b310dd90a7b8997da68ffbacd0b76287 by 5081703.cr fix: add local_wbca_manager.
	algorithm/wbca/path_optimization/path_optimization.hpp
	algorithm/wbca/wbca_helper.hpp
	hmi/draw/draw_wbca_rlt.cpp
	data/plan_frame.hpp
	algorithm/wbca/path_optimization/path_optimization.cpp
	data/wbca/grid_map/esdf_map.hpp
	tasks/plan/path_optimization_task.hpp
	plan/prepare/prepare_status.cpp
	data/wbca/wbca_data.cpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/wbca_manager.hpp
	data/boundary/path_boundary.cpp
	data/wbca/wbca_data.hpp
	algorithm/wbca/sc_gen/safe_corridors_generation.hpp
	data/wbca/grid_map/esdf_map.cpp
	algorithm/wbca/sc_gen/safe_corridors_generation.cpp
	algorithm/wbca/wbca_helper.cpp
	tasks/plan/path_optimization_task.cpp
Commit 7e213728e8ef9571a89b377aecdececd1ac38c95 by 5081703.cr fix: add debug mode.
	config/config_car/plan.yaml
	algorithm/wbca/path_optimization/path_optimization.hpp
	algorithm/wbca/wbca_manager.hpp
	data/wbca/wbca_data.cpp
	replayer/replayer_data_process/replayer_data_process.cpp
	algorithm/wbca/path_optimization/path_optimization.cpp
	algorithm/wbca/wbca_manager.cpp
	data/config/cfg_lat_plan.hpp
	data/plan_frame.cpp
Commit 952e9faae50f27f2fc04ca10cdf058f23477d95a by 5081703.cr fix: spatial-temporal version.
	algorithm/wbca/path_optimization/quiticpolynomial.cpp
	algorithm/wbca/wbca_manager.cpp
	hmi/draw/draw_wbca_rlt.cpp
	algorithm/wbca/path_optimization/minco/minco.hpp
	data/config/cfg_lat_plan.cpp
	algorithm/wbca/path_optimization/path_optimization.hpp
	algorithm/wbca/path_optimization/path_optimization.cpp
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/wbca_manager.hpp
	algorithm/wbca/path_optimization/quiticpolynomial.hpp
Commit 7489abe8f4ffe3277c510045b18beb67f7f22af3 by 5081703.cr fix: using esdf.
	algorithm/wbca/path_optimization/path_optimization.hpp
	replayer/replayer_data_process/replayer_data_process.cpp
	data/config/cfg_lat_plan.cpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/path_optimization/path_optimization.cpp
Commit 7b01090acc91baeddc5d7004e65e572f4ba8acfc by 5081703.cr fix: ego_vertices in center line.
	algorithm/wbca/path_optimization/path_optimization.cpp
	algorithm/wbca/wbca_manager.cpp
	data/config/cfg_lat_plan.cpp
Commit 107f0f05222b7d4e9ed94fa7b78fa580f667d87e by 5081703.cr fix: esdf serialization.
	data/wbca/wbca_data.hpp
	data/wbca/grid_map/grid_map.hpp
	tasks/plan/path_optimization_task.cpp
	replayer/replayer_data_process/replayer_data_process.cpp
	algorithm/wbca/path_optimization/path_optimization.cpp
	algorithm/wbca/wbca_manager.cpp
	data/wbca/grid_map/esdf_map.hpp
Commit f60e94735becdd0a80e58abdd981f553d7074c71 by 5081703.cr fix: add velocity and acceleration cost.
	algorithm/wbca/path_optimization/path_optimization.cpp
	algorithm/wbca/path_optimization/quiticpolynomial.cpp
	algorithm/wbca/wbca_helper.hpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/path_optimization/quiticpolynomial.hpp
	algorithm/wbca/path_optimization/path_optimization.hpp
	algorithm/wbca/wbca_helper.cpp
	algorithm/wbca/wbca_manager.hpp
Commit 0ec4eee163be4f574c2d9b25e9f9be3d895cab0f by 5081703.cr fix: delete log.
	algorithm/wbca/path_optimization/path_optimization.cpp
Commit 5aba359fd11a59fad46d525b6b5fb1e783e29de8 by 5081703.cr fix: Boundary reference line reconstruction.
	algorithm/wbca/occupancy_grid_map/data_render.hpp
	algorithm/wbca/wbca_manager.cpp
	config/config_car/plan.yaml
	data/config/cfg_lat_plan.hpp
	algorithm/wbca/sc_gen/geo_utils.hpp
	data/config/cfg_lat_plan.cpp
	tasks/deciders/lat_decider/path_bounds_decider.cpp
	tasks/deciders/lat_decider/path_bounds_decider.hpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
Commit f5f6a52e455ded509a308a69ffb6ce93dabc3fef by 5081703.cr fix: replace kinetics_bd with raw obstacle_bd
	data/config/cfg_lat_plan.cpp
	tasks/deciders/lat_decider/path_bounds_decider.cpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
Commit 191a15213dbab598912b51fe65e18dcf56e04078 by 5081703.cr fix: route reset.
	algorithm/wbca/wbca_manager.cpp
	config/config_car/plan.yaml
Commit 9c73be8420f4f56098500b2a5ade5bc79a788db4 by 5081703.cr fix: kappa cost, keep in lane center.
	tasks/plan/path_optimization_task.hpp
	algorithm/wbca/path_optimization/path_optimization.cpp
	data/config/cfg_lat_plan.hpp
	algorithm/wbca/wbca_manager.cpp
	hmi/draw/draw_wbca_rlt.cpp
	tasks/plan/path_optimization_task.cpp
	replayer/replayer_data_process/replayer_data_process.cpp
	algorithm/wbca/path_optimization/path_optimization.hpp
	tasks/deciders/lat_decider/path_bounds_decider.cpp
	data/config/cfg_lat_plan.cpp
Commit 58411ad7636a0778503ff99df406abe79634e6b9 by 5081703.cr fix: vel/acc cost bug.
	algorithm/wbca/path_optimization/path_optimization.cpp
	hmi/draw/draw_wbca_rlt.cpp
	tasks/deciders/lat_decider/path_bounds_decider.cpp
	algorithm/wbca/path_optimization/path_optimization.hpp
Commit 72a092b99c155b6ea6a705432d5b704ef84dd2e4 by 5081703.cr fix: add minimum velocity cost.
	algorithm/wbca/path_optimization/path_optimization.cpp
	data/wbca/wbca_data.hpp
	sink/ros_sink_plan_debug.cpp
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/wbca_manager.cpp
	data/common/point.hpp
	algorithm/wbca/wbca_manager.hpp
Commit b6fbbb7fbd089349b22ab1d7b628b7eed1216add by 5081703.cr fix: add weight_min_d
	data/config/cfg_lat_plan.cpp
	data/config/cfg_lat_plan.hpp
	algorithm/wbca/path_optimization/path_optimization.cpp
Commit ef692d665aed761a02c18cbaa90e41095409ab98 by 5081703.cr fix: reduce log.
	algorithm/wbca/wbca_manager.cpp
Commit 62d6474e9e3ff6618046bda392e0389eb67370dc by 5081703.cr fix: release mode.
	CMakeLists.txt
Commit ef4f3fcc403564f07c51ce7874801cde5a56990b by 5081703.cr fix: keep history when path generation failed.
	tasks/plan/path_optimization_task.cpp
	hmi/draw/draw_collision_detection.cpp
	algorithm/wbca/path_optimization/path_optimization.cpp
Commit 7c0fcd6bc6106247aabc36d3e2455b49adffc281 by 5081703.cr fix: using draw_radar.
	hmi/draw/draw_collision_detection.cpp
	hmi/draw/draw_uradar.cpp
Commit 727b59d12ecb054c5d04bad61f2cbe75db6cf4a3 by linhua stash: qiangang search
	data/ssep/forward_ec.cpp
	config/config_car/plan.yaml
	ssep/coarse_search/hybrid_a_star_car.h
	ssep/ssep_planner.cc
	data/ssep/field_junction_ec.cpp
	scripts/ssep_tool/__pycache__/ssep.cpython-38.pyc
	CMakeLists.txt
	ssep/coarse_search/hybrid_a_star_car.cc
	ssep/coarse_search/reeds_shepp_path.cc
	config/config_car/ssep.yaml
Commit 30392f9c3de11de613c4ef7d54e3307f8383e36b by 5081703.cr fix: boundary bug
	data/boundary/road_boundary.cpp
	config/config_car/plan.yaml
	tasks/deciders/lat_decider/path_bounds_decider.cpp
	hmi/draw/draw_uradar.cpp
	data/boundary/passage_segment.cpp
Commit b7f72d903d4cb51f0e9b5a565df10ac1a5474bfb by 5081703.cr fix: add smooth mode.
	algorithm/wbca/wbca_manager.hpp
	tasks/plan/path_optimization_task.cpp
	data/boundary/road_boundary.cpp
	algorithm/wbca/wbca_manager.cpp
	data/boundary/road_boundary.hpp
Commit 76a18444e934e2db8c3ea8cda4839f312a975808 by 5081703.cr fix: delete log.
	tasks/plan/path_optimization_task.cpp
Commit c962558801efc887a03da918d00ce0621265ccc1 by 5081703.cr fix: buffer distance.
	data/constrain/block_data.cpp
Commit 9bd34f8f68692a01aaeded60cbdf4cb14b17e406 by 5081703.cr fix: kappa direction.
	algorithm/wbca/path_optimization/path_optimization.cpp
	algorithm/wbca/wbca_manager.cpp
	tasks/plan/path_optimization_task.cpp
Commit 1b76aed51dd7f3b26f0f784233816a92d2e5557a by 5081703.cr fix: add car_path_opt
	algorithm/wbca/path_optimization/car_path_optimization.hpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/wbca_manager.hpp
	algorithm/wbca/path_optimization/path_optimization.cpp
	algorithm/wbca/path_optimization/car_path_optimization.cpp
	algorithm/wbca/path_optimization/path_optimization.hpp
	replayer/replayer_data_process/replayer_data_process.cpp
Commit a15f4185cee9ba21baa5a7b69c2ddae6cc5e7639 by 5081703.cr fix: start point kappa direction.
	data/plan/start_point_data.cpp
Commit df53ff8299e254f538ca781326fda21051b5f0ec by chenran fix: bulk bug log test.
	data/app/fsm/task_fsm/task_fsm.cpp
	replayer/replayer_data_process/replayer_data_process.cpp
Commit 77d994b975f3173423a79ad8eb5beb0066446416 by 5081703.cr refactor: path_optimization
	algorithm/wbca/path_optimization/car_path_optimization.hpp
	algorithm/wbca/path_optimization/path_optimization.hpp
	data/wbca/wbca_data.cpp
	algorithm/wbca/wbca_manager.hpp
	algorithm/wbca/path_optimization/car_path_optimization.cpp
	algorithm/wbca/path_optimization/minco/minco.hpp
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/path_optimization/path_optimization.cpp
	algorithm/wbca/wbca_manager.cpp
	data/wbca/wbca_data.hpp
Commit 4d0ac7f44d82120e1138eab2e13496011cf09ce8 by wuyanjun110 fix:修复状态机切换的bug
	data/app/fsm/task_fsm/task_fsm.cpp
Commit f2fe4b673ce387d1b7c24a188861f4544946c8f0 by ljl fix: qg search algorithm
	ssep/main_test/main_test_car.cc
	ssep/param_loader/param.h
	ssep/coarse_search/hybrid_a_star_car.h
	ssep/conf/ssep_car.yaml
	data/ssep/forward_ec.cpp
	data/ssep/ssep_ec.cpp
	ssep/coarse_search/hybrid_a_star_car.cc
	ssep/coarse_search/reeds_shepp_path.cc
	ssep/common/utils/plotter.hpp
Commit e17db0d443be9f1be4ee107567f5ec7b1ca1caaa by ljl fix: qg search
	ssep/ssep_planner.cc
Commit 7a8e38187baa1b3744a654c9f2482306730bad24 by chenran fix: bulk move to lock.
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit 0bc77ffa0adcec7e9ac75373597c07e5c346ec22 by chenran fix: enlarge bulk_align_lock_thr for manual
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit 2970dd8e874f6cdcacc0c605b5b060db0328a279 by 5081703.cr fix: add imv_path_optimization.
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	algorithm/wbca/wbca_manager.hpp
	algorithm/wbca/car_wbca_manager.cpp
	data/wbca/wbca_data.hpp
	tasks/plan/path_optimization_task.hpp
	algorithm/wbca/path_optimization/path_optimization.hpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/path_optimization/car_path_optimization.hpp
	algorithm/wbca/car_wbca_manager.hpp
	algorithm/wbca/path_optimization/car_path_optimization.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.hpp
	algorithm/wbca/path_optimization/quiticpolynomial.hpp
	algorithm/wbca/path_optimization/quiticpolynomial.cpp
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/path_optimization/path_optimization.cpp
	algorithm/wbca/path_optimization/minco/minco.hpp
Commit 4e5c5649e86dcfcb5b96c4fb52e09049188a2969 by chenran fix: auto start error.
	data/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp
Commit bd4d801033ff8d29080f37235cef891fb771ac5d by 5081703.cr fix: add imv_wbca_manager
	algorithm/wbca/path_optimization/path_optimization.cpp
	data/wbca/wbca_data.cpp
	algorithm/wbca/imv_wbca_manager.cpp
	tasks/plan/path_optimization_task.hpp
	data/wbca/wbca_data.hpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	data/plan/start_point_data.hpp
	algorithm/wbca/path_optimization/minco/minco.hpp
	config/config_imv/scenario.yaml
	config/config_imv/plan.yaml
	algorithm/wbca/imv_wbca_manager.hpp
	data/plan/start_point_data.cpp
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/wbca_manager.hpp
Commit b0bd8f028ad6efb38aac4b93dca674428f9916cf by wuyanjun110 feat:车辆静止后再切换bulk lock
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit bbdb05c96a1f45ff2e97af816ab1b184102097e6 by wuyanjun110 feat:调整remote 状态机逻辑
	data/app/cmd/cmd_nstop.cpp
	plan/prepare/prepare_status.cpp
	data/app/cmd/cmd_remote_ctrl.cpp
	data/app/cmd/cmd_align.cpp
	data/app/fsm/motion_fsm/motion_fsm.cpp
	data/app/cmd/cmd_estop.cpp
Commit 3f306a9c622177d8b2d135a40ee4739e86248046 by wuyanjun110 feat:添加忽略身后障碍物的开关
	data/config/cfg_func_sw.cpp
	data/config/cfg_func_sw.hpp
	CMakeLists.txt
	data/obstacle/obstacle_decider_attr.cpp
Commit de3a19c898923f55d99b79c2fc3bc3318caf316b by wuyanjun110 fix:关闭debug
	CMakeLists.txt
Commit c7589ea19692dde336117c3645cea7cdd8150c70 by wuyanjun110 feat:优化绕行决策
	data/boundary/drivable_passage.cpp
Commit 834137819b0416c98f5ab86b277332bbe3361938 by wuyanjun110 refactor:优化弯道限速
	data/map/pnc_map/pnc_map_path.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
	data/config/cfg_safe_const.cpp
Commit fabd257bdea6f4c65211f0552d027c2d48d67ff1 by chenran fix: draw trailer using trailer_state.
	hmi/draw/draw_ego.cpp
Commit ac55470ef0982e65c7a4538e03bf196adb47ec88 by wuyanjun110 fix:修复使用历史边界的bug
	data/boundary/drivable_passage.hpp
	data/boundary/drivable_passage.cpp
	tasks/deciders/lat_decider/path_bounds_decider.cpp
	data/plan/side_pass_data.cpp
Commit b8b18ab4c646b359c5cfff455b5f3ea2acc570e7 by wuyanjun110 fix:修复状态机切换的bug
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
	data/app/fsm/task_fsm/task_fsm.cpp
Commit e745b5d21a41861e87baed5e04cd3d9a768216a5 by 5081703.cr fix: beta differentiable morphism
	algorithm/wbca/path_optimization/path_optimization.hpp
	algorithm/wbca/imv_wbca_manager.cpp
	algorithm/wbca/path_optimization/quiticpolynomial.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.hpp
	algorithm/wbca/path_optimization/quiticpolynomial.hpp
	algorithm/wbca/path_optimization/path_optimization.cpp
Commit 8a1b0a0529da6e35dea3d94a52a8e09fcf1ccba5 by 5081703.cr fix: Steer cost.
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	algorithm/wbca/path_optimization/path_optimization.cpp
Commit e78bbee3fcc5d300e206d8243a52d79d230cea87 by 5081703.cr fix: bound_width
	hmi/draw/draw_wbca_rlt.cpp
	config/config_imv/plan.yaml
Commit ec101fad683f4a4220d654dcc3573ce7e936648a by linhua fix: truck reverse traveling
	tasks/deciders/long_decider/constrain_decider.cpp
	data/plan/switch_data.cpp
	plan/prepare/prepare_destination.cpp
	data/plan/path_direction_data.cpp
	tasks/deciders/lat_decider/path_bounds_decider.cpp
	data/map/pnc_map/pnc_map_path.hpp
	data/map/reference/reference_segment.cpp
	data/map/reference/reference_road_section.cpp
	data/map/reference/reference_road_section.hpp
	data/plan/smooth_data.cpp
	tasks/plan/pjpo_task.cpp
	data/map/pnc_map/pnc_map_path.cpp
	data/vehicle/vehicle_destination.hpp
	data/map/pnc_map/routing_extension/routing_data.cpp
	data/vehicle/vehicle_destination.cpp
	data/plan/reference_line_info.cpp
	config/config_car/plan.yaml
	tasks/other_tasks/stitch_path_data_to_path.cpp
Commit 24d99ba13698867945c851d31b70104889224494 by linhua fix: commit bug
	tasks/other_tasks/stitch_path_data_to_path.cpp
Commit 83c1248fc87df2be74c815b6b1d298808752b445 by linhua fix: idx check
	data/plan/smooth_data.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
	tasks/deciders/lat_decider/path_bounds_decider.cpp
	data/map/reference/reference_segment.cpp
Commit 408582ce33710c6d3ec41c23f877218ad396bbaa by linhua fix: 参考线heading不反转，反转path heading/yaw
	data/plan/reference_line_info.cpp
	tasks/plan/pjpo_task.cpp
Commit b8b7c219436a361806ba844bc3a10a26f7dc7dff by wuyanjun110 feat:适配水沟数据
	hmi/draw/draw_perception.cpp
	data/boundary/drivable_passage.cpp
Commit a2cfe168679874a1540b21ed487234e0bb387c8b by 5081703.cr fix: imv init state.
	data/wbca/wbca_data.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	tasks/plan/path_optimization_task.hpp
	data/wbca/wbca_data.hpp
	algorithm/wbca/imv_wbca_manager.cpp
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/wbca_helper.cpp
	algorithm/wbca/wbca_helper.hpp
Commit 8e81780a6874ebfb23049c48c5fefb3d7f70ae4f by wuyanjun110 feat:根据障碍物的速度收缩边界
	data/obstacle/obstacle_decider_attr.hpp
	data/boundary/drivable_passage.cpp
	data/obstacle/obstacle_decider_attr.cpp
Commit 8d721f5eeae5fd7dbf12bd26f92e64f79d6c88aa by 5081703.cr fix: start posture from history.
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	data/wbca/wbca_data.hpp
	tasks/plan/path_optimization_task.cpp
	data/config/cfg_lat_plan.cpp
	sink/ros_sink_plan_debug.cpp
	algorithm/wbca/imv_wbca_manager.cpp
	algorithm/wbca/path_optimization/car_path_optimization.cpp
	algorithm/wbca/car_wbca_manager.cpp
Commit afe456e80390a98ad64afcd50b0a0dc68af9004e by 5081703.cr fix: car start posture from history.
	hmi/draw/draw_wbca_rlt.cpp
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/wbca_manager.cpp
Commit 1ff3f53c01641ff14d53470565fc03ab3d0601b5 by wuyanjun110 fix:使用历史带来的问题
	data/config/cfg_func_sw.cpp
	data/boundary/drivable_passage.cpp
	data/config/cfg_func_sw.hpp
	data/plan/side_pass_data.cpp
	data/boundary/drivable_passage.hpp
	data/plan/start_point_data.cpp
Commit b088d51c02f13be9db57d94cb808666ed30ac095 by 5081703.cr fix_out: bulk状态机切换bug
	data/app/fsm/task_fsm/task_fsm.cpp
Commit 21d23dd0d0a122a64a70c24b1986430545502ceb by chenran fix_out: bulk状态机切换bug
	data/app/fsm/task_fsm/task_fsm.cpp
Commit b7ba0cbe6d862eb0476cf94fd9688552b77a7721 by wuyanjun110 feat:添加绕行使用纵向扩展障碍物的开关
	data/boundary/drivable_passage.cpp
Commit 14769476932fdfb87cad2ce9ca2e913cabb8db5c by 5081703.cr fix: car_path_opt bug.
	algorithm/wbca/imv_wbca_manager.cpp
	algorithm/wbca/wbca_manager.cpp
	data/boundary/passage_segment.cpp
	tasks/plan/path_optimization_task.cpp
	config/config_imv/plan.yaml
	algorithm/wbca/imv_wbca_manager.hpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	algorithm/wbca/car_wbca_manager.cpp
	algorithm/wbca/wbca_manager.hpp
	data/config/cfg_func_sw.cpp
	algorithm/wbca/path_optimization/car_path_optimization.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit 32b5cda48ffc64f5c2686b1412c1fdf6d741e05c by 5081703.cr fix: reversing path_opt for car.
	tasks/plan/path_optimization_task.cpp
	tasks/deciders/lat_decider/path_bounds_decider.cpp
	tasks/plan/path_optimization_task.hpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/path_optimization/car_path_optimization.cpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	data/wbca/wbca_data.hpp
	algorithm/wbca/car_wbca_manager.cpp
	algorithm/wbca/wbca_manager.hpp
Commit ae17523d5eff13333e7f1064e3aa34da9c4d1a32 by 5081703.cr fix: reversing path_opt for imv.
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/imv_wbca_manager.cpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
Commit c9e6bcdc516364372a66df8603eecb9d420e93ef by wuyanjun110 feat:地图接口检测到崩溃后，直接中止程序
	common/util/hdmap_wrapper.cpp
Commit 77c047fc0a2b18c5fefa4abde08858f5b96b9a60 by 5081703.cr fix: using path_opt vei for lattice.
	data/lattice/trajectory_evaluator.hpp
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	data/constrain/long_target.hpp
	data/lattice/trajectory_evaluator.cpp
	data/wbca/wbca_data.hpp
	algorithm/wbca/path_optimization/car_path_optimization.cpp
	data/plan_frame.hpp
	data/wbca/wbca_data.cpp
Commit 4251189e436fc2b9262ccca1d1501eb45cb9dab3 by wuyanjun110 refactor:优化弯道提速
	data/map/pnc_map/pnc_map_path.cpp
Commit 997dd3d17ecf15afa2ae93b5a0849cf35fbea75c by wuyanjun110 feat:1.修改碰撞检测的距离判断 2. 优化预测线挡停场景
	data/lattice/path_time_graph.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
	data/obstacle/prediction_trajectory.cpp
	algorithm/plan/trajectories_collistion_detection.cpp
Commit c4111f6a21e7903288a5c9c17def54535f16a263 by linhua fix: stitch backward
	tasks/other_tasks/stitch_path_data_to_path.cpp
Commit 6c05da248d55351bcb3adf11979874cbd7b8a3ed by linhua fix: reverse path heading
	tasks/plan/pjpo_task.cpp
Commit 1a8dc8ec1b01dca7cfe856d625a2acffd97c9c62 by wuyanjun110 feat:添加绕行限速
	data/plan/side_pass_data.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
	data/plan/side_pass_data.hpp
Commit 9af982c2a9d58c8b448d94a73332242a0bcf5733 by wuyanjun110 fix:修复误触发绕行的bug
	data/boundary/drivable_passage.cpp
	data/boundary/passage_segment.cpp
Commit 8ea0c86aae91aa5f20b86c55df353dc8926feefa by wuyanjun110 fix:修复崩溃的bug
	hmi/draw/draw_constrain.cpp
Commit 72470d958236a7a6c4a65837d11973ef7520ad19 by wuyanjun110 feat:添加绕行限速和优化绕行决策
	tasks/deciders/lat_decider/path_bounds_decider.hpp
	data/boundary/drivable_passage.cpp
	data/plan/side_pass_data.cpp
	data/boundary/road_boundary.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
	data/config/cfg_lat_decide.cpp
	data/plan/side_pass_data.hpp
	tasks/deciders/lat_decider/path_bounds_decider.cpp
	data/obstacle/obstacle_decider_attr.cpp
	data/plan_frame.hpp
Commit 2de23726b01cf5af25ad691a6478809f75626ed4 by 5081703.cr fix: using reversing truck scenario.
	data/scenario/scenario_planner_condition.cpp
	algorithm/vehicle_model/kinematic_bicycle_model.cpp
	tasks/deciders/lat_decider/path_bounds_decider.hpp
	tasks/other_tasks/stitch_trailer_path_task.cpp
	tasks/plan/trailer_pjpo_task.cpp
	tasks/plan/pjpo_task.cpp
	tasks/deciders/other_decider/trailer_start_point_decider.cpp
	data/plan/start_point_data.cpp
	tasks/deciders/lat_decider/path_bounds_decider.cpp
Commit c643841199dc534472a4edf9c26388ebb554f232 by 5081703.cr fix: reversing truck contour.
	algorithm/vehicle_model/kinematic_bicycle_model.cpp
	data/plan/path_data.cpp
	algorithm/vehicle_model/kinematic_bicycle_model.hpp
Commit 48d725660a9599fc0ee646de56b6f208359d03d7 by linhua fix: feat into liaodou
	config/config_imv/plan.yaml
	ssep/coarse_search/reeds_shepp_path.cc
	data/ssep/forward_ec.hpp
	data/ssep/forward_ec.cpp
	CMakeLists.txt
Commit 255dc7836051646f59cc0572f516b6181b3666d3 by chenran fix: wbca_way_pts error.
	tasks/plan/path_optimization_task.cpp
Commit f821b4a01d892246afc20f66bf65757e71c30d09 by chenran fix: draw_wbca_rlt bug.
	hmi/draw/draw_wbca_rlt.cpp
Commit 6dc76badb4713705ddda0937813595fecb2bff30 by chenran fix: lane change path error.
	config/config_imv/scenario.yaml
	data/config/cfg_lat_plan.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	plan/prepare/prepare_his.cpp
	algorithm/wbca/wbca_manager.cpp
	tasks/plan/path_optimization_task.cpp
	data/map/pnc_map/pnc_map_path.cpp
	algorithm/wbca/wbca_manager.hpp
	data/config/cfg_lat_plan.hpp
Commit 90c772120eba05273a012fa836d961034b8c098d by chenran fix: add lane change params.
	config/config_imv/plan.yaml
Commit 5e800135877d69cf88d8931e4ae0d39466f16525 by wuyanjun110 fix:修复和障碍物抢路的bug feat:把锥桶设置成感兴趣的障碍物
	data/boundary/drivable_passage.cpp
	data/lattice/path_time_graph.cpp
	data/obstacle/obstacle.cpp
Commit bc8282a85a85f017e26945a5eb63051bd36db25b by wuyanjun110 feat:当缓冲区点 任务终点 当前位置 比较靠近时，进入park状态机后，直接切换道park adjust
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit 762f14a2a7f1c126cd61ec2491216f90ab656e4b by wuyanjun110 fix:1.关闭cut in 限速。 2. 修复绕行限速的bug
	tasks/deciders/long_decider/constrain_decider.cpp
	data/plan/side_pass_data.cpp
Commit 381b39cf41d073a5ae3cb1c4ee07504de42835df by 5081703.cr fix: draw way pts.
	hmi/draw/draw_wbca_rlt.cpp
	hmi/draw/draw_wbca_rlt.hpp
Commit a3f49992842040fa9f1ed3fd13597103d539fdcd by ljl fix: add ssep param
	ssep/conf/ssep_imv.yaml
	ssep/coarse_search/hybrid_a_star_car.cc
	ssep/param_loader/yaml_loader.cc
	ssep/param_loader/param.h
	ssep/conf/ssep_car.yaml
	ssep/conf/ssep_tt.yaml
Commit 9717de5b4c8b57d23e98a0379918b4577ce1884c by wuyanjun110 fix:修复utun的junction 边界计算错误的bug
	data/boundary/road_boundary.cpp
Commit f2d9cba914ced676a9b97bce41fd3c2256e23bd1 by wuyanjun110 fix:绕行等待 s计算的bug
	data/constrain/block_data.cpp
Commit 17643466e30d27ff43c91393fedc03ed14d10265 by 5081703.cr fix: collision avoidance bug.
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	data/wbca/grid_map/esdf_map.cpp
	algorithm/wbca/path_optimization/path_optimization.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.hpp
	algorithm/wbca/path_optimization/car_path_optimization.cpp
	algorithm/wbca/path_optimization/path_optimization.hpp
	data/wbca/grid_map/esdf_map.hpp
Commit 2fed00dcb422986124158fcaaa5b9c8ae4520cf0 by wuyanjun110 fix:修复静态障碍物碰撞检测的bug
	algorithm/plan/trajectories_collistion_detection.cpp
Commit e2c9b9ab0ece05af203c1a2a73323a47b77f0015 by ljl fix: qg ssep
	data/ssep/forward_ec.cpp
	data/other/flow_control.cpp
	data/plan/path_direction_data.cpp
	ssep/coarse_search/hybrid_a_star_car.cc
	plan/prepare/prepare_state.cpp
	data/config/cfg_ssep.cpp
	data/plan/ssep_data.hpp
	data/plan/ssep_data.cpp
Commit dd218d4d95282a020c6eec990426f6ce4b898d07 by 5081703.cr fix: imv kappa gradient calc error.
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit ba30288808022024319ff630616ae9a8f76a3c08 by 5081703.cr fix: add parameters.
	data/config/cfg_lat_plan.hpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	algorithm/wbca/path_optimization/car_path_optimization.cpp
	data/config/cfg_lat_plan.cpp
Commit bb433e312164e542223ddc29dad178247cb6c2f9 by 5081703.cr fix: max_steer 0.35
	data/config/cfg_lat_plan.cpp
Commit becc943c5523043efddb9326d49fc0fdc2836f30 by 5081703.cr fix: kappa cost.
	data/config/cfg_lat_plan.cpp
Commit 6fb7656a7580f516195739202b5688ed0983c065 by wuyanjun110 fix:修复小地图显示的问题
	hmi/common/click_image.cpp
	hmi/widget/map.hpp
	hmi/widget/map.cpp
Commit 2d90591f084ff68baa5e981f45d8b8077c45cb4d by wuyanjun110 refactor:优化绕行禁停
	data/boundary/drivable_passage.cpp
	data/boundary/road_boundary.cpp
	data/constrain/block_data.cpp
Commit a40c1900074bda6459de89e24eb7f9a923b6adcb by ljl fix: add target pass pt and  search reference
	data/app/reaction/app_reaction.hpp
	data/app/fsm/task_command_type.hpp
	data/ssep/forward_ec.cpp
	data/ssep/forward_ec.hpp
	data/app/reaction/app_reaction.cpp
Commit 86eb7e2271140e3daa68536059ff0d11e44f9544 by 5081703.cr fix: cost_kappa = 100.0
	data/config/cfg_lat_plan.cpp
Commit a02263464dac9b192ba10b3d44a210187f6be1ac by 5081703.cr fix: beta cost bug.
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit a364a36e487679130a6cf53923e80fac04e2d4c9 by ljl fix: generate  pass pt base rule
	data/ssep/ssep_util.hpp
	data/ssep/forward_ec.cpp
	data/ssep/ssep_util.cpp
Commit e777ba6c425884cb7e66fc9658834a22031e6802 by 5081703.cr fix: clear history when stop in bend.
	tasks/plan/path_optimization_task.cpp
Commit 7f65f1798ba50b4eeb9bae2fa494ab30b37d6ed3 by chenran fix: clear history when stop in bend.
	tasks/plan/path_optimization_task.cpp
Commit d6d36301ca150b03dae5a5a3d3b66d6af2e48659 by ljl fix:add ssep map object
	data/ssep/forward_ec.hpp
	data/ssep/forward_ec.cpp
	data/ssep/reverse_ec.cpp
	data/ssep/ssep_ec.hpp
	data/ssep/field_junction_ec.hpp
	common/util/hdmap_wrapper.hpp
	data/ssep/field_junction_ec.cpp
	common/util/hdmap_wrapper.cpp
Commit 03717f4a10fed9a317b72f237880f93981661109 by linhua fix: 索引超限修复
	data/plan/switch_data.cpp
Commit b72132615d28bfaee67af44ed0bab67c666bfeb3 by 5081703.cr fix: clear wbca_data except normal_follow.
	plan/prepare/prepare_his.cpp
Commit 8a6186eb7826839d0d569dcf32d18894eedd52cd by ljl fix:bulk out replan thr 0.2 to 1.0
	tasks/deciders/other_decider/replan_decider.cpp
Commit 9b3456125c4ff77dfa3fe31be3496bde8285d89a by ljl fix:bulk out replan thr 0.2 to 1.0
	tasks/deciders/other_decider/replan_decider.cpp
Commit 6d2f49bfd5bf6aec5f65e7167be9d91f0c097d59 by ljl fix: add bulk in near dest change safe dis
	data/config/cfg_long_plan.cpp
	data/config/cfg_long_plan.hpp
Commit aa77101cf3cd5feecb21088a04f2462349cac193 by ljl fix: add bulk in near dest change safe dis
	data/config/cfg_long_plan.cpp
	data/config/cfg_long_plan.hpp
Commit dd872ab12397fb53eb2b8bd35a1392ee21b63552 by ljl fix: safe buffer near dest logic
	data/config/cfg_long_plan.cpp
Commit 7cc7faaaa23dcbbd2e99f7ebdf886c09a46ad9de by ljl fix: safe buffer near dest logic
	data/config/cfg_long_plan.cpp
Commit 97f9c42977012e42f107e59aa87a251fe9a9ef13 by ljl fix: qg _dest safe dis logic
	data/config/cfg_long_plan.cpp
Commit dfd1af9668cff9bd9c97d4f5bc17fb7b141d398f by ljl fix: qg _dest safe dis logic
	data/config/cfg_long_plan.cpp
Commit f479f95d1e31bfc01963fe22cb3ab6efcc3b23d1 by ljl fix: delete undefinde dis thr
	data/config/cfg_long_plan.cpp
Commit 2e6418f235b24cd376656c94b4f98f0d285016ae by ljl fix: ssep use set theta
	data/plan/ssep_data.cpp
	data/ssep/forward_ec.cpp
	data/ssep/ssep_ec.cpp
	ssep/coarse_search/hybrid_a_star_car.cc
Commit afe647195c9065ee88cbadda207a5a5e5730d927 by 5081703.cr fix: optimize wbca_data serialization
	data/plan_frame.hpp
	data/common/point.hpp
	data/wbca/wbca_data.hpp
Commit 1b4acaf36c36837316fab5c20832085958433ab8 by 5081703.cr fix: disable kappa cost in smooth mode.
	algorithm/wbca/car_wbca_manager.cpp
Commit 50c3ef7bb89b9879d64efb2164742fd296500119 by 5081703.cr fix: disable kappa cost in smooth mode.
	algorithm/wbca/car_wbca_manager.cpp
Commit ecf021ab9a4fdcb4ee94eca6bd3e1dfb7d75d9c6 by 5081703.cr fix: add truck wbca
	algorithm/wbca/truck_wbca_manager.cpp
	algorithm/wbca/path_optimization/truck_path_optimization.cpp
	algorithm/wbca/truck_wbca_manager.hpp
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/path_optimization/path_optimization.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	tasks/plan/path_optimization_task.hpp
	algorithm/wbca/wbca_manager.hpp
	data/config/cfg_lat_plan.hpp
	algorithm/wbca/path_optimization/path_optimization.hpp
	algorithm/wbca/path_optimization/truck_path_optimization.hpp
	data/config/cfg_lat_plan.cpp
	algorithm/wbca/wbca_manager.cpp
	config/config_truck/plan.yaml
	config/config_truck/scenario.yaml
	data/wbca/wbca_data.hpp
Commit 47d9cd951a674733e6bd4091db9935e3ac9de6ca by wuyanjun110 fix:修复跟车体感不好的问题
	data/lattice/path_time_graph.cpp
Commit 34e9b6188fd49d33dbd2a09d0aabdb15c688e0a8 by 5081703.cr fix: trailer collision avoidance.
	algorithm/wbca/path_optimization/truck_path_optimization.cpp
	algorithm/wbca/path_optimization/car_path_optimization.cpp
	algorithm/wbca/wbca_helper.hpp
	algorithm/wbca/path_optimization/truck_path_optimization.hpp
	algorithm/wbca/truck_wbca_manager.hpp
	data/wbca/wbca_data.hpp
	hmi/draw/draw_wbca_rlt.hpp
	algorithm/wbca/wbca_helper.cpp
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/truck_wbca_manager.cpp
	hmi/draw/draw_wbca_rlt.cpp
	tasks/deciders/lat_decider/path_bounds_decider.cpp
Commit f8e5353b76f80200c063e5c08ecfd1d2fb824606 by 5081703.cr fix: curve boundary
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	config/config_truck/plan.yaml
Commit dcb073b44ed779db40d95598444ec36096ef21ed by 5081703.cr fix: using underlying_trailer_width.
	hmi/draw/draw_wbca_rlt.hpp
	data/config/cfg_hmi.cpp
	algorithm/wbca/truck_wbca_manager.cpp
	hmi/draw/draw_wbca_rlt.cpp
Commit 05e06644c826193d7c01631e565c1c49275a449e by 5081703.cr fix: code refactor.
	algorithm/wbca/truck_wbca_manager.hpp
	algorithm/wbca/imv_wbca_manager.cpp
	algorithm/wbca/imv_wbca_manager.hpp
	algorithm/wbca/path_optimization/path_optimization.cpp
	algorithm/wbca/car_wbca_manager.hpp
	algorithm/wbca/truck_wbca_manager.cpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/car_wbca_manager.cpp
	algorithm/wbca/path_optimization/car_path_optimization.cpp
	algorithm/wbca/path_optimization/path_optimization.hpp
	algorithm/wbca/wbca_manager.hpp
	algorithm/wbca/path_optimization/car_path_optimization.hpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	algorithm/wbca/path_optimization/truck_path_optimization.cpp
	algorithm/wbca/path_optimization/truck_path_optimization.hpp
	algorithm/wbca/path_optimization/imv_path_optimization.hpp
Commit 391d7f80d868772523b2ac3d41b6c0afa278ad0b by wuyanjun110 feat:适配replayer的打开
	replayer/logic.cpp
	replayer/replayer_data_process/load_snap_data.cpp
	replayer/logic.hpp
	hmi/draw/draw_path.cpp
	hmi/replayer_hmi.cpp
	replayer/main.cpp
	hmi/replayer_hmi.hpp
	replayer/replayer_data_process/load_snap_data.hpp
Commit 60b229bc97560c27c49717d807c9f536090c13bf by wuyanjun110 fix:接受指令时，由于s不在路径上，获取heading失败，导致接受任务失败的问题
	data/vehicle/request_routing_data.cpp
Commit 41950430e16731e2e589a5b382f79c34abd409a7 by 5081703.cr fix: junction boundary bug.
	data/boundary/road_boundary.cpp
Commit fd7b88caf95fd5e4b22b820edb68e65c6bb89fd9 by linhua fix: idx
	data/plan/path_data.cpp
Commit 6664d1bb6174dbd9a6686127743a3eb1cc97f3d3 by wuyanjun110 feat:地图接口参数 赋值默认值
	replayer/replayer_data_process/load_snap_data.hpp
Commit 359c4861bef7674587cdf2c2a6d7dbe8193666b1 by wuyanjun110 fix:修复绕石墩过程中， 误回目标车道的bug
	data/boundary/drivable_passage.cpp
Commit c6a27cbdc4efbd4020d6b58acd3dc2e41ae0a9e9 by wuyanjun110 fix:调整绕行决策的条件
	data/boundary/drivable_passage.cpp
Commit 3e3a74a966055687c4e9f7ddf6dab42bc2ae2852 by 5081703.cr fix: add crabs cost for imv.
	data/config/cfg_lat_plan.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	algorithm/wbca/imv_wbca_manager.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.hpp
Commit d1642fbe238ae28e434be6454739c2ecc6388ecd by wuyanjun110 fix:修复绕行状态无法推出的bug
	data/boundary/drivable_passage.cpp
Commit bc63907bde4034f80e117807b81e85b7dce7e9ea by 5081703.cr fix: local_optimization length = 15m
	tasks/plan/path_optimization_task.cpp
Commit 1c565780fcb00417feabc49b18e8e6d94e170635 by 5081703.cr fix: log plan_cycle interval.
	node/logic.cpp
Commit a1d0c4c12a51e39bf7cade222324ee4eab43bcf7 by 5081703.cr fix: show wbca rlt.
	hmi/draw/draw_all.cpp
Commit b185b1c74f519db78f797e0e525676c90f9cd2b6 by 5081703.cr fix: smooth_mode for truck-trailer.
	algorithm/wbca/truck_wbca_manager.hpp
	algorithm/wbca/truck_wbca_manager.cpp
Commit d86cb0bf937813cb2606ac484b265693f0ab448a by 5081703.cr fix: delete log
	data/boundary/road_boundary.cpp
Commit 6105fd42d8f4484a4cde02113c0e464d1edf9d26 by 5081703.cr fix: draw esdf
	hmi/draw/draw_wbca_rlt.cpp
Commit 62feeefbf63481c19a60642ac8ba99caf0db64e6 by linhua fix: 索引超限修复
	data/plan/switch_data.cpp
Commit f36feeaa90305c444a76c8c6f504107f4c7e0985 by linhua fix: 索引超限修复
	data/plan/switch_data.cpp
Commit e48a641762c3126d6efe4e760332ebec8789ee87 by 5081703.cr fix: add ProcProcessCallBack
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.hpp
Commit 6662c8878da4cd723ba219d62bc7eb272bb4bd59 by 5081703.cr fix: replan for imv
	algorithm/wbca/imv_wbca_manager.cpp
	algorithm/wbca/imv_wbca_manager.hpp
	algorithm/wbca/wbca_manager.cpp
Commit 521baf968335b57ff2e1659f35816d8c2b0b0b6d by 5081703.cr fix: way_pts bug.
	tasks/plan/path_optimization_task.cpp
Commit 8a2c52a257e0d616e9f43db3ed3b78ccbc6d2eb0 by 5081703.cr fix: log cycle interval.
	node/logic.cpp
Commit 8a1381c8a07ed95f4b097b0f6e85bf6832974619 by 5081703.cr fix: in_region_width = 0.2
	data/boundary/road_boundary.cpp
Commit 2d6232959cb37121c7c49846f8921bb844764c91 by 5081703.cr fix: using ros::rate.sleep
	common/util/system.hpp
	node/logic.cpp
Commit cea4acbb97a83407b366659ed2888d02e2b6d60d by 5081703.cr Revert "fix: using ros::rate.sleep" This reverts commit 2d6232959cb37121c7c49846f8921bb844764c91.
	common/util/system.hpp
	node/logic.cpp
Commit 1abc64bf8d70ca85e86f8b1ed7319e07add01b95 by 5081703.cr fix: generate road boundary from envelops
	data/boundary/road_boundary.hpp
	data/boundary/road_boundary.cpp
Commit a8f1e4bc9faf0eda33ee21fe21c4f4681ee48a8d by 5081703.cr fix: stop warning
	data/ssep/online_region_contour_creator.cpp
Commit 105a783400c2b461a36007101a12197908b2e99f by 5081703.cr fix: smooth mode for imv
	algorithm/wbca/imv_wbca_manager.cpp
	algorithm/wbca/imv_wbca_manager.hpp
Commit 7a6d4db2eb7c933e328f2bdb17607e8f9b8cab84 by 5081703.cr fix: disable crabs cost for imv.
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit a930357f6aae8d7afb02eca9f2467788a9852bb7 by linhua fix: 崩溃修复，openspace 和ex_lane_change_planner切换
	data/scenario/scenario_planner_action.cpp
Commit a29135a1340e30643eaf75f7623f08df8201bec1 by 5081703.cr fix: crabs cost only be activated in straight lane.
	algorithm/wbca/wbca_helper.cpp
	data/config/cfg_lat_plan.cpp
	algorithm/wbca/wbca_helper.hpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit 53916d3600e5a3376f8c00282bcc88e17024748e by wuyanjun110 feat:添加低速障碍物的绕障功能
	data/obstacle/obstacle_decider_attr.cpp
Commit ff2d9242ceb2529f2ffa2549ba244a4a4c1e490c by wuyanjun110 feat:添加低速障碍物的绕障功能
	data/obstacle/obstacle_decider_attr.cpp
Commit eeb8ba1b25ec092eed389b17a14e05edf10b7416 by 5081703.cr fix: imv smooth mode.
	algorithm/wbca/imv_wbca_manager.cpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit a4f7366edc524ab8bb23ec180d471b429677f39d by 5081703.cr Revert "Merge remote-tracking branch 'origin/feat_wbca_st' into feat_wbca_truck" This reverts commit 12c4789e0b8a4cd3155b31f66314e705c04c1075.
	data/obstacle/obstacle_decider_attr.cpp
Commit 12c7ae5b4856674bafbecb276010d650bb43165c by wuyanjun110 feat:驾驶走廊
	data/boundary/driving_corridor.cpp
	data/plan/reference_line_info.hpp
	data/boundary/driving_corridor.hpp
Commit 6b39c48144aa89a5156ef7b63b60a8b78dd1c0bb by linhua fix: 一次规划跨多个车道/section终点值计算错误的bug
	data/map/pnc_map/routing_extension/routing_data.cpp
Commit 7eeda11c8782e335afaf0b1acb024e5296a4db97 by wuyanjun110 feat:添加dp搜索算法
	data/boundary/driving_corridor.cpp
	math/util/math_utils.cc
	tasks/deciders/lat_decider/side_pass_decider.cpp
	data/dp_poly_path/dp_road_graph.hpp
	data/dp_poly_path/trajectory_cost.cpp
	hmi/draw/draw_path_boundary.cpp
	data/plan/reference_line_info.hpp
	data/dp_poly_path/dp_road_graph.cpp
	hmi/draw/draw_path_boundary.hpp
	data/dp_poly_path/comparable_cost.hpp
	data/obstacle/ogm.cpp
	data/config/cfg_lat_decide.hpp
	math/util/box_2d.cpp
	data/dp_poly_path/trajectory_cost.hpp
	data/boundary/driving_corridor.hpp
	math/util/math_utils.h
	data/obstacle/ogm.hpp
	math/curve1d/quintic_polynomial_curve1d_rt.cpp
	data/config/cfg_lat_decide.cpp
Commit 2ec446112cf32c4f673d9ddc325fa1c6756d9faf by wuyanjun110 feat:使用dp的结果构建边界
	data/dp_poly_path/dp_road_graph.cpp
	data/dp_poly_path/trajectory_cost.cpp
	data/dp_poly_path/dp_road_graph.hpp
	tasks/deciders/lat_decider/side_pass_decider.cpp
	data/boundary/driving_corridor.hpp
	hmi/draw/draw_path_boundary.cpp
	tasks/deciders/lat_decider/path_bounds_decider.hpp
	tasks/deciders/lat_decider/path_bounds_decider.cpp
	data/boundary/driving_corridor.cpp
Commit 830be6353b04b712f17864b9d30afe28874399a1 by linhua fix: 在弯道中禁止时触发下个弯道搜索，扩大搜索边界
	data/ssep/into_yard_junction_ec.cpp
Commit 3869ed5ccb475810dc96d7ba087eced09261cb3c by wuyanjun110 feat:固定dp搜索点
	data/config/cfg_lat_decide.cpp
	data/dp_poly_path/trajectory_cost.cpp
	data/dp_poly_path/dp_road_graph.hpp
	data/boundary/driving_corridor.cpp
	data/obstacle/obstacle_decider_attr.cpp
	data/dp_poly_path/dp_road_graph.cpp
	tasks/deciders/lat_decider/side_pass_decider.cpp
Commit aae3bef529239a15999dcb474751c47dcaeefc43 by 5081703.cr fix: use_func_simulator = false, map_version = true
	data/config/cfg_func_sw.cpp
Commit eb6db04e033179b8c99b02a2b7dab9bdbe78b278 by 5081703.cr fix: imv crabs mode.
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit 44c86b201b49f11d047ae864bd82e01d574e1e81 by 5081703.cr fix: disable shift near destination.
	data/boundary/road_boundary.cpp
Commit 0b9c12d9e0373da20bcc00ea6d3c606665dcaf80 by 5081703.cr fix: delete debug local path.
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	algorithm/wbca/path_optimization/car_path_optimization.cpp
	algorithm/wbca/path_optimization/truck_path_optimization.cpp
Commit 7711910408e3e7ef1de5f203853e54acaef018ef by 5081703.cr fix: imv crabs mode selection.
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	tasks/plan/path_optimization_task.cpp
Commit 73eac171675fea722a83df27c2de2abd42a6b810 by wuyanjun110 fix:修复崩溃的bug
	plan/prepare/prepare_default.cpp
	data/plan/start_point_data.cpp
	data/dp_poly_path/trajectory_cost.cpp
	data/dp_poly_path/dp_road_graph.hpp
	data/dp_poly_path/trajectory_cost.hpp
	data/boundary/driving_corridor.cpp
	data/obstacle/obstacle_decider_attr.cpp
	hmi/common/click_image.cpp
	data/obstacle/ogm.cpp
	data/dp_poly_path/dp_road_graph.cpp
Commit aba8c06c86955a34d5d6debb8e114385f0259633 by 5081703.cr fix: Velocity cost opt.
	algorithm/wbca/path_optimization/path_optimization.cpp
Commit 68930bf54040dbe797e1b2bb19d3124535a588ef by wuyanjun110 feat: 优化 trajectiory csot
	data/dp_poly_path/trajectory_cost.hpp
	tasks/deciders/lat_decider/path_bounds_decider.cpp
	data/dp_poly_path/trajectory_cost.cpp
	data/dp_poly_path/comparable_cost.hpp
	data/map/reference/reference_road_section.cpp
	data/boundary/driving_corridor.cpp
	data/config/cfg_lat_decide.cpp
	data/dp_poly_path/dp_road_graph.cpp
	data/dp_poly_path/dp_road_graph.hpp
Commit f970d5296ecd6844c32f9c7155188d096e348d36 by wuyanjun110 refeat:优化绕行决策
	data/boundary/drivable_passage.cpp
Commit 9e22d65bf63f2dfd76e1c83df2b33d64d3d069fa by wuyanjun110 feat:添加驾驶走廊约束
	data/config/cfg_lat_decide.cpp
	data/obstacle/obstacle.cpp
	data/dp_poly_path/comparable_cost.hpp
	data/boundary/driving_corridor.cpp
	hmi/draw/draw_path_boundary.cpp
	data/dp_poly_path/dp_road_graph.cpp
	data/boundary/driving_corridor.hpp
	data/dp_poly_path/trajectory_cost.hpp
	data/dp_poly_path/comparable_cost.cpp
	data/dp_poly_path/trajectory_cost.cpp
Commit 0af84c201bfb4f6ebca37d8ef6afba50438b8b7b by wuyanjun110 feat:调整障碍物权重
	data/dp_poly_path/dp_road_graph.cpp
	data/config/cfg_lat_decide.cpp
	data/dp_poly_path/trajectory_cost.cpp
Commit 8e65c7529483c9494725c91330aa620dedc899f9 by wuyanjun110 feat:添加决策
	data/config/cfg_lat_decide.cpp
	hmi/widget/diagnose.cpp
	data/dp_poly_path/dp_road_graph.cpp
	data/dp_poly_path/dp_road_graph.hpp
	data/config/cfg_lat_decide.hpp
	data/dp_poly_path/trajectory_cost.cpp
	scenarios/stage.cpp
	data/boundary/driving_corridor.cpp
	hmi/draw/draw_path_boundary.cpp
	tasks/deciders/lat_decider/side_pass_decider.cpp
Commit 4f111fcfeb5547b1d178706f6b71b8259347d9fe by wuyanjun110 feat:完善快照功能
	math/util/discrete_match_helper.hpp
	data/dp_poly_path/trajectory_cost.cpp
	replayer/replayer_data_process/replayer_data_process.cpp
	math/curve1d/quintic_polynomial_curve1d_rt.cpp
	data/common/trajectory.cpp
	data/dp_poly_path/dp_road_graph.cpp
	data/common/trajectory.hpp
Commit 8461e42792a62937ea0fd4349064e8c62f15c0f1 by wuyanjun110 feat:调整小地图的显示
	hmi/widget/replayer_map.cpp
	hmi/common/image_viewer.cpp
	hmi/common/image_viewer.hpp
	hmi/widget/map.cpp
	hmi/replayer_hmi.hpp
	data/hmi_frame.hpp
	hmi/common/click_image.cpp
	hmi/widget/replayer_map.hpp
	hmi/replayer_hmi.cpp
	hmi/widget/map.hpp
Commit 86627fe71340d532b956b9f2ab982a1821d1622d by wuyanjun110 fix:修复cost 计算错误的bug
	data/dp_poly_path/trajectory_cost.cpp
	data/dp_poly_path/trajectory_cost.hpp
Commit dcf4c437432377a7217ed853a4b018667256ea0e by wuyanjun110 fix:小地图尺寸显示的问题
	hmi/common/image_viewer.cpp
Commit 139703ae4fb7c2a7da41bc9d747d3ce89df46c3b by wuyanjun110 feat:绕行时，对堆高机类型的障碍物再次膨胀
	data/boundary/driving_corridor.cpp
Commit 963e7a493548b0b1c8288eaaad6912eaad3101ce by 5081703.cr fix: PathSegmentIsStraightLine bug.
	algorithm/wbca/wbca_helper.cpp
Commit f323da559841a60b5975915eed58be671e461d03 by wuyanjun110 feat:dp搜索时， 不可绕行区域的特殊处理
	data/dp_poly_path/trajectory_cost.cpp
	data/dp_poly_path/dp_road_graph.cpp
Commit c35785dcb9da1223b29498d2f54b0d5fe43c2eee by 5081703.cr fix: keep heading in smooth mode.
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit e7755f8d55d324306adc5c59ad815f97d69af732 by wuyanjun110 fix:修复弯道禁停停车的bug
	data/constrain/block_data.cpp
Commit d925d3441c323096d7baab5e0b13c5e3a51f2c90 by wuyanjun110 feat:优化普通道路限速的问题
	algorithm/wbca/path_optimization/path_optimization.cpp
Commit 1352bd4bc7a739a40f6ff9a02cb000f5735175a5 by wuyanjun110 feat:1.添加绕行状态及2.绕行限速3.绕行停车等待
	data/dp_poly_path/dp_road_graph.cpp
	data/boundary/driving_corridor.cpp
	tasks/deciders/lat_decider/side_pass_decider.cpp
	data/boundary/driving_corridor.hpp
	tasks/deciders/long_decider/constrain_decider.cpp
	data/dp_poly_path/dp_road_graph.hpp
	data/plan/side_pass_data.cpp
	data/constrain/block_data.cpp
Commit 25d6c8fe5dac2eea8639bb25fab2222b144cf27d by wuyanjun110 fix:修复锥桶不偏移的bug
	data/boundary/driving_corridor.cpp
Commit 3bfef46cb04fe0515f20e720f7b7d2fa0667ecd0 by wuyanjun110 fix:修复决策停车的bug
	data/obstacle/obstacle_decider_attr.cpp
Commit f9af35b3bd275592305fc889574d1e9c874cc8a5 by wuyanjun110 feat:优化dp cost的计算
	data/dp_poly_path/trajectory_cost.cpp
Commit 00662782313c15894bbc751f0288e3167f78842a by wuyanjun110 fix:修复回放的bug
	replayer/replayer_data_process/replayer_data_process.cpp
	data/dp_poly_path/dp_road_graph.cpp
	data/plan/reference_line_info.cpp
	data/plan/reference_line_info.hpp
	data/dp_poly_path/dp_road_graph.hpp
Commit b867c6672d328a92f5aa3612469c287cdfd8446f by wuyanjun110 Revert "fix:修复决策停车的bug" This reverts commit 3bfef46cb04fe0515f20e720f7b7d2fa0667ecd0.
	data/obstacle/obstacle_decider_attr.cpp
Commit eb67c11ab887704119dadc418d750a604b91e8bc by wuyanjun110 feat:side pass 过程中， 目标车道保持为当前车道
	data/map/reference/reference_road_section.cpp
Commit 58c21d30809c0732333cfb2accec15fdd07f1c91 by 5081703.cr fix: add start_up_weight.
	algorithm/wbca/path_optimization/car_path_optimization.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	algorithm/wbca/path_optimization/truck_path_optimization.cpp
	algorithm/wbca/imv_wbca_manager.cpp
	algorithm/wbca/path_optimization/minco/minco.hpp
	algorithm/wbca/path_optimization/path_optimization.cpp
	algorithm/wbca/wbca_manager.cpp
Commit b9846785b76c1e93101a22418ee06a0a0a45f307 by 5081703.cr fix: weight_start_up in cfg_lat_plan
	data/config/cfg_lat_plan.hpp
	data/config/cfg_lat_plan.cpp
Commit 36e9033186a6b4b8c6742007b4b35c0a97bfa17d by 5081703.cr fix: imv reversing path heading bug.
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit 368542b4c729ad2261b619c86f6f42b95250e6e6 by 5081703.cr fix: path exception.
	algorithm/wbca/imv_wbca_manager.cpp
	algorithm/wbca/wbca_manager.cpp
Commit a063091af5a756b20097547110d07a484ca6cc36 by wuyanjun110 fix:修复崩溃的bug
	plan/prepare/prepare_default.cpp
	data/dp_poly_path/dp_road_graph.cpp
Commit 0957f39847c791f0f9557cab770e17ae55c60cda by wuyanjun110 refactor:优化轨迹的绘制
	hmi/draw/draw_perception.cpp
Commit ef2890d02951b593c570f10464d23d68568013da by wuyanjun110 feat:不绕行区域，ref l 不强制赋值0
	data/dp_poly_path/dp_road_graph.cpp
Commit a25147f6fdef7a8561ca50b87b8d2bbfcb0c7f50 by wuyanjun110 fix:修复长弯道，限速的问题
	data/map/pnc_map/pnc_map_path.cpp
Commit 17de11be4ad1c6a043c09662f3fa5dbba305dcd9 by wuyanjun110 refactor:误绕行的优化
	data/obstacle/obstacle_decider_attr.cpp
Commit 387c112a74f8d8423f24bdcfc21fa42b6731b779 by 5081703.cr fix: reset wbca_data.
	tasks/plan/path_optimization_task.hpp
	tasks/plan/path_optimization_task.cpp
Commit 78a334ead50ca921615aa9a9de42946ee1259ac3 by linhua fix: construct passing pt & map obj
	data/app/fsm/task_command_type.hpp
	data/ssep/forward_ec.cpp
Commit 57f6c0e54366a3d4012360c4e673729c8a9b01ab by 5081703.cr fix: imv path bug.
	algorithm/wbca/imv_wbca_manager.cpp
Commit 7ab7181f4a9e3521f1130a28b5033e0d5c788ad4 by 5081703.cr fix: wbca_data serialization.
	data/wbca/grid_map/grid_map.cpp
	data/wbca/wbca_data.hpp
	hmi/draw/draw_wbca_rlt.cpp
	data/wbca/grid_map/esdf_map.hpp
	data/wbca/grid_map/grid_map.hpp
	data/wbca/grid_map/esdf_map.cpp
	sink/ros_sink_snapshot.cpp
	data/wbca/wbca_data.cpp
Commit d00591dad19f32bfe1e60c922ba6f38cd48e6603 by 5081703.cr fix: wbca serialization
	algorithm/wbca/sc_gen/safe_corridors_generation.cpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
Commit 967241d6804fe97a1e7226547a49c71e4607ddbf by 5081703.cr fix: prepare_default bug.
	plan/prepare/prepare_default.cpp
Commit 5f68f1ff8ed15dc4b2d670333754db37a9cdf637 by 5081703.cr fix: last trajectory bug.
	plan/prepare/prepare_default.cpp
	data/map/pnc_map/routing_extension/routing_data.cpp
	plan/prepare/module.cpp
Commit 4d32823b0de73155f5e8c8acd6d8be641b0b58d2 by ljl fix: stitch ssep path
	tasks/other_tasks/stitch_path_data_to_path.cpp
Commit f1f2db9886dc0689121e906c46e82b523ae1f718 by ljl fix: ssep bulk align
	data/plan/ssep_data.cpp
	data/plan/path_direction_data.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
	plan/prepare/prepare_default.cpp
Commit 86cf26d2120d26ae1d16d2d7f2c4d5576b954c26 by 5081703.cr fix: local_optimization for car.
	algorithm/wbca/wbca_helper.cpp
	algorithm/wbca/wbca_helper.hpp
	algorithm/wbca/wbca_manager.cpp
	tasks/plan/path_optimization_task.cpp
Commit 0e5506d95a59099d535bedad279c8478bf9de2d0 by 5081703.cr fix: disable cost_min_d for imv in local_opt mode.
	algorithm/wbca/imv_wbca_manager.cpp
Commit 91402b97121a3ca753dbc12008dedbb0fb9010d0 by linhua fix: map obj
	data/ssep/forward_ec.cpp
Commit 4faa8bcaf99a244edad895b405876743367933e7 by wuyanjun110 fix:lka堆出时， 从当前点开始规划
	data/plan/start_point_data.cpp
Commit 07a7a23b15c1a1045c3aa35b56bfa4b39b99cfbb by linhua fix: redundant variable
	data/config/cfg_func_sw.hpp
Commit 38a08b2aaaba0a73e1de3dc92152e2fddb16d48a by linhua fix: click img
	hmi/common/click_image.cpp
Commit 67b19acb3312ee5ff6c755cfa733dd376d356980 by 5081703.cr fix: click_image
	hmi/common/click_image.cpp
Commit c17b7bf30bed5de2ae4272b7bed382b620dee8b9 by linhua feat: ssep on fence search
	data/ssep/forward_ec.cpp
	hmi/draw/draw_center_line.cpp
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/park_base_fsm_transition.hpp
	config/config_car/ssep.yaml
	plan/prepare/prepare_destination.cpp
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
	data/app/fsm/task_fsm/task_park_fsm/task_park_fsm.hpp
	data/ssep/reverse_ec.hpp
	data/ssep/reverse_ec.cpp
	ssep/coarse_search/hybrid_a_star_car.cc
	data/plan/ssep_data.cpp
	scenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
	tasks/deciders/other_decider/replan_decider.cpp
	data/ssep/forward_ec.hpp
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/park_transition.cpp
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/park_transition.hpp
	common/util/hdmap_wrapper.cpp
	data/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.hpp
	data/app/fsm/task_fsm/task_park_fsm/task_park_fsm.cpp
	common/util/hdmap_wrapper.hpp
Commit 8acd4f9bb34aae98c03f4e1b9c1284d507faa8ab by wuyanjun110 feat:优化石墩绕行的决策
	data/dp_poly_path/trajectory_cost.cpp
	data/dp_poly_path/trajectory_cost.hpp
	data/config/cfg_lat_decide.cpp
Commit b3da1185c0d8ba11c3d6c844a6b24955c49cac9e by wuyanjun110 feat:打开release
	CMakeLists.txt
Commit c3ec1b828a4d92649ff59af797f53ac20a230778 by wuyanjun110 feat:调整前后帧距离校验的阈值
	plan/prepare/prepare_default.cpp
Commit 0375e008536bdb5162a055a3fe35ac9ea0e1e174 by linhua fix: search bound & stage
	data/other/flow_control.cpp
	data/ssep/forward_ec.cpp
Commit 864de4216d82a33fd4accdcf82ed397d1e4658b5 by ljl fix: truck bulk scenario
	data/vehicle/vehicle_destination.cpp
	data/ssep/forward_ec.cpp
	scenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
	tasks/deciders/other_decider/replan_decider.cpp
	data/app/fsm/task_fsm/task_fsm.cpp
	tasks/other_tasks/stitch_path_data_to_path.cpp
	data/ssep/reverse_ec.cpp
	data/ssep/forward_ec.hpp
	data/ssep/normal_junction_ec.cpp
	data/other/flow_control.cpp
	data/ssep/reverse_ec.hpp
	data/app/fsm/task_fsm/task_travel/task_travel_fsm.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
	data/app/fsm/motion_fsm/motion_fsm.cpp
Commit 636e43704c3a172fc54eafb3ab1044e041dc9894 by linhua fix: plan region优化
	data/ssep/field_junction_ec.cpp
	data/ssep/forward_ec.cpp
Commit 7e34a59c90bff0f721991e125284e34d57935d0d by linhua fix: backward stage用dubin曲线来决定是否向前搜索
	data/ssep/reverse_ec.cpp
	data/ssep/forward_ec.cpp
	data/ssep/field_junction_ec.hpp
	data/ssep/field_junction_ec.cpp
	data/ssep/forward_ec.hpp
Commit 1b8189ff5c87fa2feea1577679eb1b9d20aa071f by linhua fix: 散货状态机&绘制朝向角度
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
	hmi/draw/draw_distance.cpp
Commit 77555d618998f1c6592e4f884f8cacf901e8f2fc by 5081703.cr fix: using smooth near destination when type = buffer.
	tasks/plan/path_optimization_task.cpp
Commit 40c81e347669cdc8ac831949f0d4e25eb336dcd0 by 5081703.cr fix: disable_region_dis2dest_buffer = 100.0
	data/config/cfg_lat_plan.cpp
	data/config/cfg_lat_plan.hpp
Commit 2c0a1707264bb5d42648e8c1d09b4893c4d55c80 by 5081703.cr fix: wbca params
	data/config/cfg_lat_plan.cpp
Commit 295a67ea3ecd734cc3ee390b182122e823a7de3f by wuyanjun110 feat:优化绕行决策
	data/dp_poly_path/trajectory_cost.cpp
	data/config/cfg_lat_decide.cpp
	data/config/cfg_lat_decide.hpp
Commit 0026299909f3c8a8b777e9d336745b63d4f49743 by ljl fix: xilian bulk
	tasks/other_tasks/stitch_path_data_to_path.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
Commit ff24421c0d296a6b768acf9bff22a6d3c4396d8b by ljl fix:routing data match
	data/map/pnc_map/routing_extension/routing_data.cpp
Commit 247ca2d4ee4894848f2f5d71330802a15db8a468 by linhua fix: extend path heading
	ssep/ssep_planner.cc
	data/ssep/reverse_ec.cpp
Commit 1c94d9194cac9dfc20f33fc5937d6e43432e4845 by 5081703.cr fix: w_deviation = 50, w_collision = 150.
	data/config/cfg_lat_plan.cpp
Commit da43fc3fe10afcad4b1601ea12c945b29ef01bf8 by wuyanjun110 fix: into yard low bay judge
	data/ssep/into_yard_junction_ec.cpp
Commit 61d4a5d9bd8fad659c8b7e52332597bad8e9a77f by wuyanjun110 fix: bend decider add area
	data/map/reference/bends_decider/bend_decider.cpp
Commit ab7f5052890d70a335a3d01a6f7223a28569e522 by wuyanjun110 fix: seaside search expend shore crane param
	data/ssep/seaside_junction_ec.cpp
Commit 3db7c489372757ad8cc2c721d5eb2c9d965f0346 by wuyanjun110 fix: seaside search
	data/ssep/seaside_junction_ec.cpp
Commit 194cb311d873dcd9b8eb5073e1e4edc178e6f675 by wuyanjun110 feat:在直行道理打开场桥的碰撞检测
	data/ssep/out_yard_junction_ec.cpp
	algorithm/plan/ego_expanding.cpp
	data/map/reference/bends_decider/bend_decider.cpp
	data/config/cfg_func_sw.hpp
	replayer/replayer_data_process/replayer_data_process.cpp
	data/constrain/block_data.cpp
	data/obstacle/obstacle.hpp
	data/obstacle/obstacle.cpp
	plan/prepare/prepare_objs.cpp
	data/config/cfg_func_sw.cpp
	data/obstacle/obstacle_decider_attr.cpp
	algorithm/decision/lateral_decision.cpp
Commit 0ae57dc3cf5763f775c3def9a5c62d6c043046a5 by wuyanjun110 feat:优化忽略的逻辑
	data/lattice/path_time_graph.cpp
Commit 23e0db0f72762b423560471fc745f304ab222c57 by wuyanjun110 fix: extend shore crane stop func
	data/config/cfg_func_sw.cpp
	data/constrain/disable_stop_range.cpp
	data/config/cfg_func_sw.hpp
Commit 0973291eb841aed07175455d0e911d2cc2f2204c by wuyanjun110 fix:修复关路禁停的bug
	data/constrain/block_data.cpp
Commit 501f0b1e46336a23f60313f97332065d382447bd by wuyanjun110 fix: routing data nearest lane 20 to 30
	data/map/pnc_map/routing_extension/routing_data.cpp
Commit 34a10e07745d371031e2b12e6bb1428ed47b56e1 by wuyanjun110 fix:修复限速的bug
	data/map/reference/reference_line.cpp
Commit fe25a9a3a2559542fa62156e9638e86310f795bb by linhua fix: plan region
	data/ssep/forward_ec.cpp
Commit d7d63166ae59c353a72b456e3be66f82a107b067 by wuyanjun110 fix:修复限速的bug
	data/map/reference/reference_line.cpp
Commit da4dd24155df8aa0d59f522a44b08ce5bf93a050 by wuyanjun110 feat:关路点云， 进出堆场 和穿场都处理
	source/ros_source_forbidden_road_og.cpp
Commit ce8d1ff3006e802295e9831fb1b5b16152e9df74 by 5081703.cr fix: reset wbca_data when scenario changed.
	tasks/plan/path_optimization_task.cpp
Commit bb13a5b19846a5c443d1e249eeb263a8a082c53e by 5081703.cr fix: add pjpo_bound_width (0.2)
	data/boundary/road_boundary.cpp
	data/config/cfg_lat_plan.cpp
	data/config/cfg_lat_plan.hpp
Commit 256f5dc6d9d72572d61400af659d60180fa8a3ef by linhua add: source yard grid info
	data/plan_frame.cpp
	data/vehicle/yard_occupy_info.cpp
	data/config/cfg_topic.cpp
	data/vehicle/yard_occupy_info.hpp
	source/ros_source_yard_occupy_info.cpp
	source/ros_source_yard_occupy_info.hpp
	data/config/cfg_topic.hpp
	data/plan_frame.hpp
	source/module.cpp
Commit 58ccf33982165f8067fffe144062dc768c84e82a by linhua fix: use occupy grid info for bulk search
	data/vehicle/yard_occupy_info.cpp
	config/config_car/plan.yaml
	data/ssep/field_junction_ec.hpp
	data/ssep/forward_ec.cpp
	source/module.cpp
	data/vehicle/yard_occupy_info.hpp
	data/ssep/field_junction_ec.cpp
Commit d5e8febbd116f0a62ffec9643d79d58958c302b0 by 5081703.cr fix: boundary length after ego = 20
	data/config/cfg_lat_plan.cpp
	tasks/deciders/lat_decider/path_bounds_decider.cpp
Commit 467bb492be41f21c34e95de0a9820e15abd9286a by ljl fix: ssep path extend
	data/plan/ssep_data.cpp
Commit 6a7f12ab188ab35827a5b56ef0c5094faffaf301 by linhua fix: 西联9号库搜索边界
	data/ssep/into_yard_junction_ec.cpp
Commit 97f745b4ab4fab27e60c8bc559baa35585c5ca93 by linhua fix: 西联9号库搜索边界
	data/ssep/into_yard_junction_ec.cpp
Commit 9b26da64a1b9d44eebfa728bbb8217157ae56e46 by linhua fix: bulk lane match
	data/map/pnc_map/routing_extension/routing_data.cpp
Commit 553052898a526e2b6bbe3203bd0b3f9fcdded7f0 by linhua fix: bulk lane match
	data/map/pnc_map/routing_extension/routing_data.cpp
Commit c5e98f22d7d11caff46cb92764fcb37655c07c30 by linhua fix: plot
	data/ssep/reverse_ec.cpp
Commit 1c762a0721487dc1bee80ea45c153fcea5f1c302 by linhua fix: plot
	data/ssep/reverse_ec.cpp
Commit 0cd19ccb06cfba8e0d974221e8b9b34e9aa20fa3 by 5081703.cr fix: show_uradar_ = false.
	data/config/cfg_hmi.cpp
	hmi/draw/draw_all.cpp
Commit d2768a165b92642d24f68af5abe285aa74649254 by 5081703.cr fix: boundary in seaside.
	data/boundary/road_boundary.cpp
	data/boundary/road_boundary.hpp
	data/config/cfg_lat_plan.hpp
	data/config/cfg_lat_plan.cpp
Commit 125e90f49128be9d75bdf994b76d06a12e7903b4 by linhua fix: search region for qiangang
	data/ssep/forward_ec.cpp
	data/ssep/field_junction_ec.cpp
Commit f6868e4bfd671065620296b24889f6fba5df39b5 by linhua fix: IsBulkInReverse judge
	data/other/flow_control.cpp
Commit 056745d2f5cfedb867ef41aac56c22047e554a55 by ljl fix: bend decider for lane change use switch target lane id
	data/map/reference/bends_decider/bend_decider.cpp
Commit 090383377a1e46124e6fb139b6b33741a5603306 by linhua fix: reverse direction judge
	data/other/flow_control.cpp
Commit ccf6bba590247c86787b40d10efdf691220a39d4 by ljl fix: ssep data serialize
	data/plan/ssep_data.hpp
	data/ssep/field_junction_ec.hpp
	data/plan/ssep_data.cpp
	data/ssep/open_space_ec.hpp
	data/ssep/ssep_ec.cpp
	data/ssep/ssep_ec.hpp
	data/ssep/ssep_common.hpp
	data/ssep/seaside_junction_ec.hpp
	data/ssep/ex_lane_change_ec.hpp
Commit 64947e49f2ac977c96ec78a1a98602aa36132d92 by ljl fix: extend end pos in out seaside
	data/ssep/seaside_junction_ec.cpp
Commit afe7d98fe1544af067cc89b4cd9043e239452452 by ljl fix: out yard in dx extend obstacle
	data/ssep/out_yard_junction_ec.cpp
Commit 1b099fe87ae5b22b71939a27395111c61a615f26 by ljl fix: hairun out yard high bay in middle lane tunnel
	data/ssep/out_yard_junction_ec.cpp
Commit 3882a064fbf321d14352b5ae38d2523177c96fb9 by ljl fix: auto start in forward ssep bug
	data/plan/ssep_data.cpp
	data/plan/ssep_data.hpp
Commit 69b7a0410db9f387eed2cbf260ccd8dc02ab0916 by linhua fix
	data/ssep/reverse_ec.cpp
Commit 40625508a6b922da82d9f56f5ca3e86da8967411 by ljl fix: scenario in ssep switch logic
	tasks/deciders/other_decider/replan_decider.cpp
	plan/prepare/prepare_status.cpp
Commit d9cc0f956b04fe3383a5a50aaabfc78ef9763d3b by ljl fix: seaside search int out seaside
	data/ssep/seaside_junction_ec.cpp
Commit dcc593613e6ec3b5d9d3ffab81948ee6932ac8f6 by ljl fix: ssep serialize bug
	data/ssep/ssep_ec.cpp
	data/ssep/ssep_ec.hpp
Commit 6feff2f2a25f17ffa185a817ea3cb2cdc5170091 by linhua fix: 搜索模式判断
	data/other/flow_control.cpp
	data/ssep/forward_ec.cpp
Commit a442863b8d78c37fbfc73f5a97c4a4d620724175 by ljl fix: ssep serialize version
	data/ssep/ssep_ec.hpp
	data/plan/ssep_data.hpp
Commit 444294d8cc026058024ecc6d5fc7b2f38ef777e3 by wuyanjun110 feat:提取的数据添加transmit command
	data/vehicle/vehicle_command.hpp
	data/vehicle/vehicle_command.cpp
	data/boundary/drivable_passage.cpp
	replayer/replayer_data_process/replayer_data_extraction.cpp
Commit 488044e5f5b1fb5f6bd3d3fc1ff15136522f2cd6 by ljl fix: 大榭低贝位搜索优化
	data/ssep/into_yard_junction_ec.hpp
	data/ssep/into_yard_junction_ec.cpp
Commit 00a1736cfde034c73704fb8b19925712f9d6dbc6 by ljl fix: ssep data reset logic
	tasks/plan/ssep_task.cpp
Commit 175e72c40dd1753c752cc28b2f0bb5300c66de6b by ljl fix: ssep reset bug
	tasks/plan/ssep_task.cpp
Commit 8a08b172942144686e0aee3f1e4277f1e1abd54b by ljl fix: 大榭N场调整
	data/ssep/into_yard_junction_ec.cpp
Commit aff3cddf19933233c0e82c93ece030d59017438b by linhua add: draw yard area info
	common/util/hdmap_wrapper.cpp
	hmi/draw/draw_map.cpp
	hmi/draw/draw_map.hpp
	common/util/hdmap_wrapper.hpp
Commit cf4a8f2ef3b90c3302ccc7a3e6ab14e8fbf262cf by linhua fix: bulk out场景才校验参考线
	data/ssep/forward_ec.cpp
Commit 692ab5825fdf3c758b67544a698a83466774687f by wuyanjun110 fix:错误的进行场桥碰撞检测
	data/obstacle/obstacle.cpp
Commit 2a2a8d71f190459fe1ad30bef5c2cce424ed05b6 by 5081703.cr fix: add heading_morphism_coeff for imv_path_opt.
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.hpp
Commit c57d1fff07926cb05a2cc505a8cb3fe9e04dc4ed by linhua fix: 缓冲点附近被挡停，切入park_lock
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit 0f595024cf3a372df7d337381e0b2c431ef8245c by linhua fix: draw map
	hmi/draw/draw_map.cpp
Commit 9d7b91f47689e642b31b07a44973a1c176df87e3 by wuyanjun110 fix:修复move brake， move nstop, move estop状态下，规划曲线的减速度
	tasks/plan/lattice_task.cpp
	data/plan/start_point_data.cpp
Commit ef4014144c32b48cb67e62148833a28fa172b251 by linhua fix: 前港缓冲点不施加终点约束&不回退障碍物
	data/ssep/forward_ec.cpp
Commit 8fca94546495671a4ddefd0aa6ef96fc544a1fb0 by linhua fix: 打开搜索边界
	data/config/cfg_hmi.cpp
Commit de654accba1b922a1f04189263c6b4df111b3c2c by wuyanjun110 feat:wcba和dev分支合并
	tasks/task_factory.cpp
	data/config/cfg_stage.hpp
	data/plan/side_pass_data.hpp
	hmi/draw/draw_path_boundary.hpp
	data/boundary/drivable_passage.cpp
	data/boundary/passage_segment.hpp
	data/plan/reference_line_info.hpp
	data/plan_frame.hpp
	data/boundary/driving_corridor.hpp
	data/config/cfg_func_sw.cpp
	data/config/cfg_stage.cpp
	tasks/deciders/lat_decider/path_after_turn_decider.cpp
	data/plan_frame.cpp
	data/dp_poly_path/dp_road_graph.cpp
	data/plan/reference_line_info.cpp
	data/boundary/driving_corridor.cpp
	data/boundary/passage_segment.cpp
	hmi/draw/draw_path_boundary.cpp
	hmi/widget/diagnose.cpp
	tasks/deciders/lat_decider/path_bounds_decider.cpp
	data/boundary/drivable_passage.hpp
	data/dp_poly_path/dp_road_graph.hpp
	scenarios/stage.cpp
	tasks/deciders/lat_decider/wbca_path_boundary_decider.hpp
	plan/prepare/prepare_default.cpp
	tasks/deciders/lat_decider/path_bounds_decider.hpp
	tasks/deciders/lat_decider/wbca_path_boundary_decider.cpp
Commit 24f37720919e89f97765790721b2ef659a0f9f6b by wuyanjun110 feat:鸣笛参数默认修改为false
	data/config/cfg_func_sw.cpp
Commit 72e4150f9b804c5705de295b9eba83c7ec1dd76c by linhua add: hmi draw obj line
	data/ssep/forward_ec.cpp
	hmi/draw/draw_ssep_virtual_obs.cpp
	data/ssep/hmi_virtual_obs.cpp
	hmi/common/drag_image.hpp
	hmi/draw/draw_all.cpp
	hmi/draw/draw_ssep_virtual_obs.hpp
	hmi/widget/replayer_pnc_mat.cpp
	hmi/widget/pnc_mat.cpp
	data/ssep/hmi_virtual_obs.hpp
	scenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
Commit b433a9d415521f41233abda0407d7e7ea0c6d61a by linhua fix: lock guard
	data/ssep/hmi_virtual_obs.hpp
Commit 76593e5d179e6b70e3d1ef0604a0e70b5d0f8941 by linhua fix: hmi draw obs & occupy grid
	CMakeLists.txt
	hmi/draw/draw_ssep_virtual_obs.cpp
	hmi/draw/draw_perception.hpp
	plan/prepare/prepare_hmi_virtual_obs.hpp
	hmi/common/drag_image.hpp
	hmi/draw/draw_perception.cpp
	data/config/cfg_func_sw.cpp
	data/ssep/forward_ec.cpp
	plan/prepare/module.cpp
	data/config/cfg_func_sw.hpp
	data/ssep/hmi_virtual_obs.hpp
	config/config_car/hmi_virtual_obs.yaml
	plan/prepare/prepare_hmi_virtual_obs.cpp
Commit 34fe74ee894153a199e594e95b2929607850fd4f by linhua fix: yaml-cpp
	CMakeLists.txt
Commit ecec23aa9c266f5dcbcfb7c17730132ae8d8aa45 by linhua fix: yard grid process
	hmi/draw/draw_perception.cpp
	data/ssep/field_junction_ec.cpp
Commit f47708a3f8477fc2ab137f76263a077a33fe391f by linhua fix: 搜索失败回退时，采用随机途经点搜索
	data/ssep/forward_ec.cpp
Commit 82eab77e456ac1978d592bcdb0966bc8bc32cc52 by linhua fix: lock2adjust
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit d15a13afd6feae93ca6b3e897df45d8dcb136d58 by wuyanjun110 feat:添加基于参考线的引导线
	scenarios/lane_change_scenario/lane_change_stage.cpp
	scenarios/parking_scenario/parking_lane_change_stage.cpp
	data/plan/guide_line_info.cpp
	data/config/cfg_stage.hpp
	scenarios/ex_lane_change_scenario/ex_lane_change_stage.cpp
	scenarios/parking_scenario/parking_move_stage.cpp
	scenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cpp
	hmi/widget/pnc_mat.cpp
	plan/prepare/prepare_map_related.cpp
	data/plan_frame.hpp
	scenarios/lane_change_scenario/lane_change_cancel_stage.cpp
	tasks/other_tasks/create_center_lines.cpp
	hmi/draw/draw_guide_line.hpp
	hmi/widget/replayer_pnc_mat.cpp
	tasks/task_factory.cpp
	data/config/cfg_stage.cpp
	scenarios/stage.cpp
	data/plan/guide_line.cpp
	hmi/draw/draw_all.cpp
	tasks/task.cpp
	hmi/draw/draw_path.hpp
	tasks/deciders/other_decider/stop_decider.cpp
	data/plan/guide_line_info.hpp
	tasks/other_tasks/create_center_lines.hpp
	data/app/fsm/motion_fsm/motion_fsm.cpp
	tasks/task.hpp
	scenarios/lane_change_scenario/lane_change_prepare_stage.cpp
	tasks/other_tasks/create_guide_line.hpp
	hmi/draw/draw_guide_line.cpp
	scenarios/parking_scenario/parking_prepare_stage.cpp
	data/map/pnc_map/pnc_map_path.cpp
	tasks/other_tasks/create_guide_line.cpp
	data/plan/guide_line.hpp
	hmi/draw/draw_path.cpp
Commit 5860f2643bd82fb5e5920753eda5e005a648ca15 by linhua fix: lock2adjust修复&根据堆场id取消start_tunnel
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
	data/ssep/forward_ec.cpp
Commit 02d8ddd19689c70e03a3dc0a5ea0cb5934727351 by linhua fix: 搜索失败时回退栅格&区分占据和未定义栅格的颜色
	data/ssep/forward_ec.cpp
	data/ssep/reverse_ec.cpp
	data/ssep/field_junction_ec.cpp
	hmi/draw/draw_perception.cpp
Commit d9945991d6295d17756d4a3c2eea46e9298a89dc by wuyanjun110 fix:修复og点停车原因错误的bug
	data/app/fsm/stop_reason.cpp
Commit ab539e4bc85d8ed213e1b4b1a8b21ed55f7a2381 by linhua fix: radius
	hmi/draw/draw_perception.cpp
Commit a5eaa51e720962c93f945507ef316f4d12f4bf5f by linhua fix: lock2adjust阈值
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit d6141adb6b3818a312bab79576c7fb2394f1d76b by linhua fix: QG步进时不控转向
	sink/ros_sink_ctrl_reference.cpp
	data/other/flow_control.cpp
	data/other/flow_control.hpp
	data/ssep/field_junction_ec.cpp
Commit 0cbda6434ac1ffae92f5014a8f9811ab57029c9a by wuyanjun110 feat:pnc junction
	data/map/reference/reference_segment.cpp
	data/map/pnc_map/pnc_map_path.cpp
	hmi/draw/draw_path_boundary.cpp
	tasks/other_tasks/stitch_path_to_reference_line.cpp
	data/plan/guide_line.cpp
	data/plan/guide_line.hpp
	algorithm/plan/smooth.cpp
	data/boundary/road_boundary.cpp
	data/vehicle/request_routing_data.cpp
	algorithm/plan/path_generator.cpp
	data/map/pnc_map/pnc_map_path.hpp
Commit 8e45824df5c5df742885314231e880490c033559 by wuyanjun110 feat:完善guide line的数据结构
	data/common/path.hpp
	data/plan/reference_line_info.cpp
	sink/ros_sink_plan_debug.cpp
	tasks/other_tasks/create_reference_line.cpp
	data/boundary/road_boundary.hpp
	data/plan/guide_line.cpp
	tasks/task_factory.cpp
	data/config/cfg_stage.cpp
	data/common/path.cpp
	tasks/deciders/lat_decider/path_bounds_decider.cpp
	tasks/other_tasks/create_road_boundary.cpp
	data/config/cfg_stage.hpp
	tasks/other_tasks/create_road_boundary.hpp
	data/boundary/driving_corridor.cpp
	data/boundary/road_boundary.cpp
	data/common/guide_path.hpp
	data/common/guide_path.cpp
	data/plan/guide_line.hpp
	tasks/plan/smooth_task.cpp
Commit bee303983c2698878a116bce9d9fe11c66ff59ed by wuyanjun110 feat:wbca适配
	data/plan/guide_line.hpp
	replayer/replayer_data_process/replayer_data_process.cpp
	algorithm/wbca/truck_wbca_manager.hpp
	tasks/plan/path_optimization_task.cpp
	tasks/deciders/lat_decider/side_pass_decider.cpp
	algorithm/wbca/truck_wbca_manager.cpp
	algorithm/wbca/imv_wbca_manager.cpp
	hmi/draw/draw_path_boundary.cpp
	data/boundary/driving_corridor.cpp
	algorithm/wbca/imv_wbca_manager.hpp
	algorithm/wbca/wbca_manager.cpp
	tasks/deciders/lat_decider/path_bounds_decider.cpp
	tasks/deciders/lat_decider/wbca_path_boundary_decider.cpp
	algorithm/wbca/occupancy_grid_map/data_render.hpp
	data/boundary/driving_corridor.hpp
	data/plan/guide_line.cpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	algorithm/wbca/wbca_manager.hpp
Commit a1e452fe9c18bd575a8c3b856e437969b3a9690e by wuyanjun110 feat:调整场景基类
	tasks/plan/lane_change_path_task.hpp
	tasks/plan/path_optimization_task.cpp
	tasks/other_tasks/stitch_path_to_reference_line.hpp
	tasks/deciders/decider.hpp
	tasks/plan/trailer_pjpo_task.cpp
	tasks/plan/reversing_truck_path_task.hpp
	tasks/plan/pjpo_task.cpp
	tasks/other_tasks/stitch_trailer_path_to_ref_line.cpp
	tasks/other_tasks/stitch_trailer_path_task.cpp
	tasks/plan/lattice_task.hpp
	tasks/plan/motion_fsm_task.hpp
	tasks/plan/pjpo_task.hpp
	tasks/other_tasks/create_backup_ref_line.cpp
	tasks/other_tasks/create_backup_ref_line.hpp
	tasks/other_tasks/stitch_path_to_reference_line.cpp
	tasks/plan/ssep_task.cpp
	tasks/plan/smooth_task.hpp
	data/plan/reference_line_info.hpp
	tasks/other_tasks/stitch_trailer_path_to_ref_line.hpp
	tasks/plan/lane_change_path_task.cpp
	tasks/plan/lattice_task.cpp
	tasks/other_tasks/create_guide_line.hpp
	tasks/other_tasks/create_reference_line.cpp
	tasks/other_tasks/create_center_lines.hpp
	tasks/other_tasks/stitch_path_data_to_path.cpp
	tasks/task.cpp
	tasks/plan/smooth_task.cpp
	tasks/plan/ssep_task.hpp
	tasks/other_tasks/create_guide_line.cpp
	tasks/other_tasks/create_switch_ref_line.cpp
	tasks/plan/reversing_truck_path_task.cpp
	tasks/other_tasks/create_switch_ref_line.hpp
	tasks/plan/motion_fsm_task.cpp
	tasks/plan/path_optimization_task.hpp
	tasks/other_tasks/create_road_boundary.hpp
	tasks/other_tasks/stitch_path_data_to_path.hpp
	tasks/other_tasks/stitch_trailer_path_task.hpp
	tasks/plan/trailer_pjpo_task.hpp
	tasks/other_tasks/create_reference_line.hpp
	tasks/task.hpp
	tasks/deciders/decider.cpp
	tasks/other_tasks/create_center_lines.cpp
	tasks/other_tasks/create_road_boundary.cpp
Commit 8bdeb70494e1014bc3a96d5f8be51692058276cb by wuyanjun110 cache:编译通过
	data/plan/reference_line_info.hpp
	tasks/deciders/long_decider/constrain_decider.cpp
	algorithm/plan/lattice.hpp
	scenarios/lane_change_scenario/lane_change_prepare_stage.cpp
	hmi/draw/draw_path_boundary.hpp
	tasks/other_tasks/create_road_boundary.cpp
	data/plan/path_data.cpp
	data/dp_poly_path/dp_road_graph.hpp
	tasks/plan/lattice_task.cpp
	data/common/guide_path.cpp
	data/dp_poly_path/dp_road_graph.cpp
	scenarios/bulkload_scenario/bulkload_ssep_backward_stage.cpp
	data/boundary/driving_corridor.hpp
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
	tasks/plan/pjpo_task.cpp
	tasks/deciders/other_decider/start_point_decider.cpp
	data/plan/switch_data.cpp
	hmi/draw/draw_intersection.cpp
	data/plan/path_data.hpp
	data/app/fsm/motion_fsm/motion_fsm.cpp
	scenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
	scenarios/ex_lane_change_scenario/ex_lane_change_stage.cpp
	tasks/deciders/lat_decider/side_pass_decider.cpp
	data/common/guide_path.hpp
	tasks/plan/path_optimization_task.cpp
	hmi/draw/draw_path_boundary.cpp
	plan/prepare/prepare_default.cpp
	scenarios/bulkload_scenario/bulkload_preapre_stage.cpp
	replayer/replayer_data_process/replayer_data_process.cpp
	scenarios/bulkload_scenario/bulkload_lane_change_stage.cpp
	data/app/fsm/task_fsm/task_fsm.cpp
	data/ssep/open_space_ec.cpp
	scenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
	algorithm/plan/lattice.cpp
	data/plan/guide_line.cpp
	data/dp_poly_path/trajectory_cost.cpp
	hmi/draw/draw_constrain.cpp
	scenarios/parking_scenario/parking_lane_change_stage.cpp
	tasks/plan/motion_fsm_task.cpp
	hmi/draw/draw_blocks.hpp
	tasks/deciders/lat_decider/path_bounds_decider.cpp
	data/lattice/trajectory_combiner.cpp
	hmi/widget/diagnose.cpp
	tasks/plan/reversing_truck_path_task.cpp
	scenarios/stage.cpp
	data/dp_poly_path/trajectory_cost.hpp
	data/plan/reference_line_info.cpp
	data/plan/guide_line_info.cpp
	sink/ros_sink_trailer_path.cpp
	data/constrain/block_data.cpp
	data/plan/side_pass_data.cpp
	tasks/deciders/decider.cpp
	tasks/deciders/decider.hpp
	hmi/draw/draw_path.cpp
	scenarios/lane_change_scenario/lane_change_stage.cpp
	tasks/deciders/long_decider/time_path_graph_decider.cpp
	data/obstacle/occupy_grid.cpp
	plan/prepare/prepare_status.cpp
	sink/ros_sink_plan_debug.cpp
	algorithm/plan/trajectories_collistion_detection.cpp
	replayer/replayer_data_process/replayer_data_extraction.cpp
	data/plan_frame.cpp
	replayer/replayer_data_process/replayer_data_process.hpp
	scenarios/bulkload_scenario/bulkload_move_backward_stage.cpp
	data/object.hpp
	data/plan/side_pass_data.hpp
	tasks/other_tasks/stitch_trailer_path_task.hpp
	data/common/trajectory.cpp
	tasks/deciders/other_decider/trailer_start_point_decider.cpp
	data/boundary/driving_corridor.cpp
	data/plan/guide_line_info.hpp
	scenarios/parking_scenario/parking_prepare_stage.cpp
	data/lattice/trajectory_evaluator.cpp
	data/plan/guide_line.hpp
	scenarios/lane_change_scenario/lane_change_cancel_stage.cpp
	tasks/plan/trailer_pjpo_task.cpp
	data/lattice/path_time_graph.cpp
	tasks/deciders/lat_decider/switching_bounds_decider.cpp
	data/plan_frame.hpp
	data/plan/start_point_data.hpp
	data/plan/start_point_data.cpp
	tasks/other_tasks/stitch_path_data_to_path.cpp
	tasks/deciders/lat_decider/wbca_path_boundary_decider.cpp
	algorithm/plan/obstacle_risk_evaluation.cpp
	data/obstacle/obstacle_decider_attr.cpp
	algorithm/decision/semantic_set_transformation_2.cpp
	data/lattice/ogm_crash_data.cpp
	scenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cpp
	tasks/other_tasks/stitch_trailer_path_task.cpp
	sink/ros_sink_path.cpp
	tasks/other_tasks/create_guide_line.cpp
	tasks/deciders/lat_decider/lka_path_bounds_decider.cpp
	tasks/plan/lane_change_path_task.cpp
Commit 923d0f06603e4dc85637eb30f0d33a4cdd004d9e by wuyanjun110 feat:地图限速
	data/common/guide_path.cpp
	sink/ros_sink_ads_monitor_frame.cpp
	tasks/plan/smooth_task.cpp
	data/common/guide_path.hpp
	data/plan/guide_line.cpp
	algorithm/plan/lattice.cpp
	data/plan/reference_line_info.cpp
	data/plan/reference_line_info.hpp
	data/plan/guide_line.hpp
	plan/prepare/prepare_status.cpp
	data/map/reference/reference_line.cpp
	data/map/reference/reference_segment.hpp
	data/map/reference/reference_segment.cpp
	data/boundary/driving_corridor.cpp
	data/map/reference/reference_line.hpp
	tasks/deciders/long_decider/constrain_decider.cpp
	data/constrain/long_target.cpp
Commit 3220eadc1fe35ae39a3e6b61bd1199b58661ca41 by wuyanjun110 fix:优化前港显示
	hmi/draw/draw_center_line.cpp
	hmi/draw/draw_map.cpp
	hmi/draw/draw_map.hpp
Commit d6fbf363c78fecd7b83612e4560726ca48e565c7 by wuyanjun110 feat:优化road boundary的计算
	data/boundary/road_boundary.cpp
	hmi/draw/draw_path_boundary.cpp
	data/map/pnc_map/pnc_map_path.cpp
	hmi/draw/draw_guide_line.hpp
	data/plan/guide_line.cpp
	hmi/draw/draw_guide_line.cpp
Commit 943e099663ee7636b1a2ba3756053a886489f3d3 by linhua fix: 倒车卸料任务，被挡停时切lock
	data/config/cfg_long_plan.hpp
	hmi/draw/draw_ssep_virtual_obs.cpp
	data/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp
	data/config/cfg_func_sw.hpp
	data/config/cfg_long_plan.cpp
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
	data/other/flow_control.hpp
	plan/prepare/prepare_destination.cpp
	data/config/cfg_func_sw.cpp
	data/other/flow_control.cpp
Commit 4966800dae649e31cd42e8a13278a898f8999159 by linhua fix: judge in yard
	data/other/flow_control.hpp
Commit 63ea5c0501639359f4cda2442c7007ff8475dd5d by linhua fix:优化前港显示
	hmi/draw/draw_center_line.cpp
	hmi/draw/draw_map.cpp
	hmi/draw/draw_map.hpp
Commit 8d4d3a0cf8192efddfc05443189b18d81de4b9b8 by linhua fix: 朝向角增加参数配置
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
	data/config/cfg_safe_const.hpp
	data/config/cfg_safe_const.cpp
Commit 5a3c83cdef42ac850d473b0eb7a791eef67a09df by linhua fix: 角度不满足，挡停时切到stop_auto
	data/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp
Commit a601bf7d511dc6364b5543d6f09e79c4856ddee3 by ljl fix:merge bulk flag
	scenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
	data/scenario/scenario_planner_condition.cpp
	data/app/fsm/task_fsm/task_fsm.cpp
	plan/prepare/prepare_destination.cpp
	data/other/flow_control.cpp
	data/plan/path_direction_data.cpp
	data/plan/ssep_data.cpp
	data/ssep/reverse_ec.cpp
	scenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
	plan/prepare/prepare_map_related.cpp
	data/ssep/forward_ec.cpp
	data/other/flow_control.hpp
Commit 05550fab6d586a3e6330f69d82e8749955adb55c by wuyanjun110 feat:在参考线上ok
	scenarios/scenario.cpp
	data/other/flow_control.hpp
	scenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
	plan/prepare/prepare_map_related.cpp
	tasks/plan/path_optimization_task.hpp
	data/plan/guide_line.cpp
	tasks/plan/path_optimization_task.cpp
	.clang-tidy
	data/plan/guide_line_base.cpp
	data/plan/guide_line.hpp
	data/boundary/road_boundary.cpp
	data/app/cmd/cmd_set_target.cpp
	data/plan/start_point_data.cpp
	data/plan/guide_line_base.hpp
	tasks/other_tasks/stitch_path_data_to_path.cpp
	plan/prepare/prepare_his.cpp
Commit 24db699b6b1dbcd5df17a6a3ad2662469dbcc6c0 by linhua fix: flow_control.FromHis&crash fix
	data/other/flow_control.hpp
	data/plan_frame.cpp
	data/other/flow_control.cpp
	plan/prepare/prepare_destination.cpp
Commit f6a4cff1ffa71f8fcb152307b12550b9beb14457 by linhua fix: 触发挡停时才不进入stop_auto
	data/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp
Commit 4dfc221c592b0a560c05fa2e7de9e9345b20e797 by linhua add: taiyangzhiye region
	data/other/flow_control.cpp
	data/ssep/field_junction_ec.cpp
	data/ssep/forward_ec.cpp
	data/ssep/reverse_ec.cpp
	data/config/cfg_region.hpp
	data/config/cfg_region.cpp
Commit b8183cc524608aa57116151c3a94876104092c1c by wuyanjun110 refactor:修复远望系统序列化的bug
	tasks/deciders/search_decider/open_space_search_decider.cpp
	data/ssep/ssep_ec.hpp
	tasks/deciders/search_decider/normal_junction_search_decider.cpp
	tasks/deciders/search_decider/into_yard_junction_search_decider.cpp
	tasks/deciders/search_decider/out_yard_junction_search_decider.cpp
	tasks/deciders/search_decider/reverse_search_decider.cpp
	tasks/deciders/search_decider/ex_lane_change_search_decider.cpp
	tasks/deciders/search_decider/forward_search_decider.cpp
	tasks/deciders/search_decider/bridge_junction_search_decider.cpp
	tasks/deciders/search_decider/seaside_junction_search_decider.cpp
Commit 8eff857e4e6ddf3b1f343a62c8854a79b476242d by wuyanjun110 feat:倒车ok
	data/common/guide_path.cpp
	data/plan/guide_line.cpp
	data/plan/guide_line.hpp
	data/dp_poly_path/dp_road_graph.cpp
	tasks/deciders/other_decider/obstacle_decider.cpp
	tasks/deciders/lat_decider/side_pass_decider.cpp
	tasks/other_tasks/create_reference_line.cpp
	hmi/draw/draw_path_boundary.cpp
	data/other/flow_control.hpp
	data/plan/start_point_data.cpp
	data/other/flow_control.cpp
Commit 1fe91759df9404b42f560c1ec9345971ac8b3723 by wuyanjun110 fix:修复bulk out 场景识别错误的bug
	data/other/flow_control.cpp
Commit a7e539915ceaf61bcedd2a8f6c10327a7f45fc78 by wuyanjun110 refactor:修改场景参数
	config/config_car/scenario.yaml
Commit c3c63f105805396485d7e295a9176b8bca67be56 by wuyanjun110 feat:适配快照
	replayer/replayer_data_process/replayer_data_process.cpp
	data/plan_frame.cpp
	data/plan/guide_line_info.hpp
	data/common/guide_path.hpp
	data/plan/ssep_data.hpp
	data/plan_frame.hpp
	replayer/replayer_data_process/replayer_data_process.hpp
	data/plan/guide_line_info.cpp
	data/common/path.cpp
	data/plan/guide_line.cpp
	data/plan/guide_line.hpp
Commit 37e76136e9b4802979569b9b87d0ccbdb8b903ec by linhua fix: 搜索失败时使用随机途经点
	data/ssep/reverse_ec.cpp
Commit 93cc2fa7b0c53442a3126d1c99cac3ced6a6f69d by ljl fix: 优化前港搜索引导线
	data/ssep/forward_ec.cpp
	data/ssep/forward_ec.hpp
Commit f530aa7fe73efbffaaa7f3d01953522eda100be5 by ljl fix:qiangang search start pos from ref line
	data/ssep/forward_ec.cpp
Commit d0d9b365a4269cccbedfd4fa34c8b94c9828815c by linhua fix: reverse search 增加hmi交互障碍物
	data/ssep/reverse_ec.cpp
Commit 71d0b6635d684603203ee79dfa834b1e14b865bf by wuyanjun110 refactor:调整关路禁停的点云的过滤方式
	source/ros_source_forbidden_road_og.cpp
Commit bb35a3879fa6c36251c01a1c8f78369779cff6e5 by wuyanjun110 fix:连续路口拼接的bug
	data/map/reference/reference_segment.cpp
Commit 0ac39a28faa2602c16300f4bd1de331543871c0b by ljl fix: get  gate line crash bug
	data/ssep/forward_ec.cpp
	data/ssep/forward_ec.hpp
Commit 4ebb7d8d74baca68b8159daeb6ad484c8f6f2c79 by linhua fix: IsBulkInReverse judge
	data/other/flow_control.cpp
Commit 1650668c964667c2d7e775dd9f762eb69b873df7 by wuyanjun110 refactor:优化倒车处理
	data/dp_poly_path/dp_road_graph.hpp
	algorithm/wbca/wbca_manager.cpp
	data/dp_poly_path/dp_road_graph.cpp
	tasks/deciders/lat_decider/side_pass_decider.cpp
	data/plan/guide_line.cpp
	data/boundary/driving_corridor.cpp
	data/common/guide_path.cpp
	data/dp_poly_path/trajectory_cost.cpp
	data/boundary/driving_corridor.hpp
	data/boundary/road_boundary.cpp
	common/util/hdmap_wrapper.cpp
	math/curve1d/quintic_polynomial_curve1d_rt.cpp
	math/curve1d/quintic_polynomial_curve1d_rt.hpp
	tasks/plan/path_optimization_task.cpp
	data/dp_poly_path/trajectory_cost.hpp
	data/app/cmd/cmd_set_target.cpp
	tasks/deciders/lat_decider/wbca_path_boundary_decider.cpp
Commit dcee9c5a2cdb11c798373ae75da6bee3b962dfef by ljl fix: forward search bezier guide line
	data/ssep/forward_ec.cpp
Commit 69102666972b2ab7ec622d2056ade2048416a268 by wuyanjun110 fix:修复起始点选取的bug
	data/boundary/driving_corridor.cpp
	data/dp_poly_path/dp_road_graph.cpp
	data/plan/guide_line.cpp
	tasks/other_tasks/stitch_path_data_to_path.cpp
	data/dp_poly_path/trajectory_cost.cpp
Commit e387198fb5303b706043fa8f45f7b2595efced22 by wuyanjun110 fix:修复dp搜索的bug
	hmi/draw/draw_path_boundary.cpp
	math/curve1d/quintic_polynomial_curve1d_rt.cpp
	tasks/deciders/lat_decider/wbca_path_boundary_decider.cpp
	data/boundary/path_boundary.cpp
	data/dp_poly_path/dp_road_graph.cpp
Commit 0ae878861194cc1043d549ac7f54992c65e59915 by wuyanjun110 fix:修复引桥线拼接模式的bug
	data/plan/guide_line.cpp
Commit 9c826b91f6063c298f3b9f1cf71260ae9e1d443f by wuyanjun110 fix:修复回放崩溃的bug
	replayer/replayer_data_process/replayer_data_process.cpp
	data/plan/guide_line.cpp
Commit 7953d50899ea070d3f98e829a046a805d5a378f9 by linhua fix: hmi_virtual_obs文件权限修复
	plan/prepare/prepare_hmi_virtual_obs.cpp
Commit 34bb28fc41688b004179fba61923c3610c16035b by linhua fix: 修改hmi绘制障碍物的文件存放位置
	plan/prepare/prepare_hmi_virtual_obs.cpp
Commit 311486cfe40446e6bd62004d813372aa8f9419c1 by linhua fix: load file path
	data/config/cfg_func_sw.cpp
Commit 16b7af198629e1d001c3b33ce1c0dfc2e7af1f23 by ljl fix: travel out 2 normal logic
	data/other/flow_control.cpp
Commit d4fa717bb42834017f2531691b4acdf93bc2f828 by ljl fix: add search process flag
	data/config/cfg_hmi.cpp
Commit 91c4724328b29636ed1e66af9f8cc9fdfef1f96e by linhua fix: lock2adjust条件修复
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit 36e3c440df2a1cbda6273594345d16fda8dfea1a by linhua fix: safe distance for bulk reverse in yard
	data/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp
	data/config/cfg_long_plan.cpp
Commit 7c5385b76fc2245decf370529a7acb81f4248be9 by wuyanjun110 feat:map related相关的数据降频处理
	data/plan/center_line_info.hpp
	data/map/reference/reference_road_section.hpp
	data/map/reference/reference_line.cpp
	data/plan/reference_line_info.hpp
	tasks/other_tasks/create_road_boundary.cpp
	data/plan/reference_line_info.cpp
	data/map/envelop/map_envelops.hpp
	data/plan/guide_line_info.hpp
	replayer/replayer_data_process/replayer_data_process.cpp
	data/base_update_control.hpp
	data/map/reference/center_line.hpp
	data/map/reference/reference_road_section.cpp
	data/map/reference/reference_line.hpp
	plan/prepare/prepare_map_related.cpp
	data/map/pnc_map/pnc_map.hpp
	tasks/other_tasks/create_guide_line.cpp
	data/map/envelop/map_envelops.cpp
	data/map/pnc_map/pnc_map.cpp
	data/plan/center_line_info.cpp
	data/plan/guide_line_info.cpp
	data/map/reference/reference_segment.cpp
	data/base_update_control.cpp
Commit 56519bd2bcba945493f5500c128eeb8f7408b46e by wuyanjun110 feat:优化dp搜索
	tasks/other_tasks/create_guide_line.cpp
	data/dp_poly_path/dp_road_graph.cpp
	data/boundary/road_boundary.cpp
	data/common/path.hpp
	data/config/cfg_lat_plan.cpp
	data/config/cfg_lat_plan.hpp
	tasks/other_tasks/create_road_boundary.cpp
	data/config/cfg_lat_decide.cpp
	data/common/guide_path.hpp
	data/plan/guide_line.hpp
	data/plan/guide_line.cpp
	tasks/deciders/lat_decider/side_pass_decider.cpp
	data/common/guide_path.cpp
Commit f27ff6cd77717cb96d346cfdcf7e5039a4c81957 by 5081703.cr fix: velocity constrain opt.
	algorithm/wbca/path_optimization/car_path_optimization.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	algorithm/wbca/path_optimization/truck_path_optimization.cpp
	algorithm/wbca/wbca_helper.cpp
Commit f247f3ee99db98fb2cb88971d14803dd1438a483 by ljl fix: expend search area
	data/ssep/forward_ec.cpp
Commit db54f491a8e5a09cc3f2370c550c2c905d0bcf10 by linhua fix: 状态机切换的bug
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
	data/app/fsm/task_fsm/task_fsm.cpp
Commit 2f4de418d4fa503ddfd1e778df476be2b830b4fa by linhua fix: 安全模块提前接管切lock
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit 3093a705396a5b66477bd5e0a5b45f3ef8da4add by wuyanjun110 Revert "fix: velocity constrain opt." This reverts commit f27ff6cd77717cb96d346cfdcf7e5039a4c81957.
	algorithm/wbca/path_optimization/car_path_optimization.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	algorithm/wbca/path_optimization/truck_path_optimization.cpp
	algorithm/wbca/wbca_helper.cpp
Commit 865b3b6155f673c6a1684f0f4e3f512b5c203eba by wuyanjun110 feat:优化snapshot的快照
	data/ctrl/ctrl_data.hpp
	tasks/deciders/long_decider/constrain_decider.cpp
	data/decide/decide_reaction.hpp
	data/lattice/trajectory_combiner.cpp
	data/vehicle/cloud_pnc_config.cpp
	data/app/cmd/cmd_cancel_safe.hpp
	data/app/cmd/cmd_force.hpp
	data/config/cfg_env_const.hpp
	data/config/cfg_func_sw.cpp
	data/config/cfg_hdmap.hpp
	data/app/cmd/cmd_cancel_lock.hpp
	data/app/cmd/cmd_set_target.hpp
	data/common/point.hpp
	data/config/cfg_func_sw.hpp
	sink/ros_sink_snapshot.cpp
	data/app/reaction/app_reaction.hpp
	data/config/cfg_safe_const.hpp
	data/constrain/longitude_constrain.hpp
	data/common/trajectory.hpp
	data/plan_frame.cpp
	data/vehicle/trailer_state.cpp
	data/plan/guide_line.cpp
	data/config/cfg_env_const.cpp
	data/app/cmd/cmd_replan.hpp
	data/common/point.cpp
	data/config/cfg_long_plan.cpp
	data/config/cfg_safe_const.cpp
	data/config/cfg_long_plan.hpp
	data/config/cfg_dynamic.cpp
	data/config/cfg_lat_plan.cpp
	data/vehicle/related_offset.hpp
	data/config/cfg_dynamic.hpp
	data/app/cmd/cmd_remote.hpp
	data/ctrl/ctrl_data.cpp
	data/obstacle/obstacle.hpp
	data/vehicle/yard_occupy_info.hpp
	data/constrain/long_target.cpp
	plan/prepare/prepare_ogm.cpp
	plan/prepare/prepare_ogm.hpp
	data/config/cfg_decision.hpp
	data/vehicle/crane_info.hpp
	data/common/path_point.cpp
	replayer/replayer_data_process/replayer_data_process.cpp
	data/common/path_point.hpp
	data/plan_frame.hpp
	data/config/cfg_lat_plan.hpp
	data/obstacle/block.hpp
	data/constrain/longitude_data.hpp
	data/constrain/speed_hard_constrain.cpp
	math/util/vec_2d.hpp
	data/config/cfg_static.hpp
	plan/prepare/prepare_destination.cpp
	data/app/cmd/cmd_base.hpp
	plan/prepare/prepare_objs.cpp
	data/config/cfg_system.hpp
	data/plan/switch_data.cpp
	data/map/pnc_map/pnc_map_path.hpp
	data/plan/side_pass_data.hpp
	data/vehicle/vehicle_state.hpp
	data/vehicle/trailer_state.hpp
	data/vehicle/vehicle_status.hpp
	data/plan/smooth_data.hpp
	data/vehicle/spreader_protect.hpp
	plan/prepare/prepare_status.cpp
	data/vehicle/lock_station_data.hpp
	data/constrain/longitude_constrain.cpp
	plan/prepare/prepare_objs.hpp
	data/config/cfg_lat_decide.hpp
	data/vehicle/cloud_pnc_config.hpp
	math/util/vec_2d.cpp
Commit bf1104c7086f7e1e068e68b5144a6588a964812f by wuyanjun110 fix:修复安全模块接管，状态机不切换的bug
	tasks/deciders/other_decider/stop_decider.cpp
Commit 7a9317a87b486e597581542819fb3f999f57ec8a by wuyanjun110 feat:添加安全模块状态下拒绝对准的功能开关
	data/app/cmd/cmd_remote_ctrl.cpp
	data/config/cfg_func_sw.cpp
	data/config/cfg_func_sw.hpp
	data/app/cmd/cmd_align.cpp
Commit a03e8e6c5e38f6479fe1921b478cc1bc1a940647 by 5081703.cr Revert "Revert "fix: velocity constrain opt."" This reverts commit 3093a705396a5b66477bd5e0a5b45f3ef8da4add.
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	algorithm/wbca/path_optimization/car_path_optimization.cpp
	algorithm/wbca/path_optimization/truck_path_optimization.cpp
	algorithm/wbca/wbca_helper.cpp
Commit 79cc9c53936edf4cb1dbffec97138b4a5de53060 by linhua fix: 修改堆场里reverse的终点约束
	data/ssep/reverse_ec.cpp
Commit 7849922b0212cdefc4c11fb2ec2cc1aeb6b3e648 by 5081703.cr fix: time calculation bug.
	algorithm/wbca/wbca_helper.cpp
Commit 7f7caaf85d4a89134a336684e3e6141bdaa0f14e by ljl fix: travel out not trigger ssep search
	data/other/flow_control.cpp
Commit f26ecb8cc932f1658346c04e711f4b599d6bf6f5 by wuyanjun110 fix:修复快照崩溃的bug
	replayer/replayer_data_process/replayer_data_process.cpp
	data/plan/guide_line.cpp
	hmi/draw/draw_path_boundary.cpp
Commit 4fbce400d6b45e443b080020a306e885641018ba by linhua fix
	data/plan/guide_line.cpp
Commit 5312c56bc4202bd798f0b7b5621198f1de1b0597 by linhua fix: 修改lock2adjust的距离校验门限
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit 89ff392456ea551f630df5cf5d35f001f1607688 by wuyanjun110 fix:解决路径跳变的问题
	hmi/draw/draw_map.cpp
	data/dp_poly_path/dp_road_graph.cpp
Commit c624d054466f528c69221fec9c8ff9d1030313c8 by wuyanjun110 fix:修复可能崩溃的bug
	data/map/pnc_map/pnc_map.cpp
Commit 766daf2e4a2b51a79847ce9ab4bfbca98e9669bd by ljl fix: add search mode for travel out in qian gang
	ssep/coarse_search/hybrid_a_star_car.cc
	data/ssep/forward_ec.hpp
	data/ssep/forward_ec.cpp
	ssep/common/utils/common.hpp
Commit 795f9f106e2176d871c71102fb6e62469479fd63 by linhua fix: hmi交互删除障碍物改为shift+鼠标右键
	hmi/common/drag_image.hpp
Commit 2757d2e217c8a6fa1542ab423186bdceeaba8b6e by linhua fix: 修改删除线段的方式
	data/ssep/hmi_virtual_obs.hpp
	hmi/node_hmi.cpp
	hmi/common/drag_image.hpp
	hmi/node_hmi.hpp
Commit e9a22485013e88fef8c1f83f9b9670bd9d69010b by wuyanjun110 fix:修复程序无法正常退出的bug
	node/main.cpp
	hmi/node_hmi.hpp
	common/util/hdmap_wrapper.cpp
	node/logic.cpp
	hmi/node_hmi.cpp
	node/logic.hpp
	hmi/widget/system_tray.hpp
Commit 5e5db31cd6e42a05b58dd4125fe5fc5b23b46bed by wuyanjun110 feat:普通变道ok
	tasks/other_tasks/create_guide_line.cpp
	sink/ros_sink_snapshot.cpp
	replayer/replayer_data_process/replayer_data_extraction.cpp
	hmi/draw/draw_guide_line.hpp
	data/dp_poly_path/dp_road_graph.cpp
	tasks/plan/path_optimization_task.hpp
	data/plan/guide_line_info.hpp
	hmi/draw/draw_wbca_rlt.cpp
	data/boundary/driving_corridor.hpp
	plan/prepare/prepare_his.cpp
	hmi/draw/draw_guide_line.cpp
	data/dp_poly_path/trajectory_cost.cpp
	data/lattice/trajectory_evaluator.cpp
	tasks/other_tasks/create_switch_ref_line.cpp
	data/plan/guide_line_info.cpp
	tasks/plan/path_optimization_task.cpp
	data/plan_frame.cpp
	sink/ros_sink_plan_debug.cpp
	data/vehicle/request_routing_data.cpp
	data/dp_poly_path/trajectory_cost.hpp
	data/boundary/driving_corridor.cpp
	replayer/replayer_data_process/replayer_data_process.cpp
	data/plan_frame.hpp
	tasks/deciders/lat_decider/side_pass_decider.cpp
	scenarios/lane_change_scenario/lane_change_prepare_stage.cpp
Commit 62312a1b981dbfa9b8381634b704769a8699175a by linhua feat: destination type
	data/app/fsm/task_command_type.cpp
	data/app/fsm/task_command_type.hpp
	ssep/coarse_search/hybrid_a_star_car.cc
	data/ssep/reverse_ec.cpp
	data/other/flow_control.cpp
	data/app/reaction/app_reaction.cpp
	data/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp
	data/other/flow_control.hpp
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
	data/config/cfg_long_plan.cpp
	plan/prepare/prepare_destination.cpp
Commit 8475d06d3417f830fc026f72e83e866eab86759a by wuyanjun110 fix:修复普通变道场景的bug
	tasks/plan/path_optimization_task.cpp
	hmi/draw/draw_path.cpp
	hmi/draw/draw_wbca_rlt.hpp
	hmi/widget/diagnose.cpp
	tasks/other_tasks/stitch_path_data_to_path.cpp
	data/wbca/wbca_data.hpp
	algorithm/wbca/wbca_manager.cpp
	replayer/replayer_data_process/replayer_data_process.cpp
	hmi/draw/draw_wbca_rlt.cpp
Commit 5458beca1e5d0a1b78892c321997d3340de8b22f by linhua fix: Adjust2Lock增加投影点的横向距离校验
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit 2fb42d0e561933ab72a831ea311fa00591f4789c by linhua fix: 自车周围一定范围内的栅格不考虑
	data/ssep/field_junction_ec.cpp
Commit a569fe1b912c9622e3e2a39c0fd26596ba677b56 by 5081703.cr fix: add head/trailer deviation from raw_ref_line in diagnose.
	hmi/widget/diagnose.cpp
Commit 91be0a02f5e2454f2191a684016311304d3154f9 by wuyanjun110 fix:修复状态机切换的bug
	data/app/fsm/motion_fsm/motion_fsm.cpp
	data/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit 06319eeddc9c82a57abf008a06e884f67b4d90f3 by wuyanjun110 fix:修复状态机切换的bug
	data/app/fsm/motion_fsm/motion_fsm.cpp
	data/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit 9a043eb7ff4fe03cf2a2e52d741e0965d9c160ef by linhua fix: Adjust2Lock增加投影点的横向距离校验
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit bb651763bd84b0e5eeefef86edc60c1a912d5e3c by linhua fix: 自车周围一定范围内的栅格不考虑
	data/ssep/field_junction_ec.cpp
Commit 414538c02ab3be7d43373109a818a337df47ffc5 by linhua fix: destination type judge
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit 8e111e5d4e5c5682b710b170e5423461fc7d6ca9 by linhua fix: 进料斗没有搜索途经点时，用reverse search
	data/other/flow_control.cpp
Commit 46d4f405ee1bb28e55c22554548338bccae3b4d1 by ljl fix: add change path deviation check
	tasks/plan/lane_change_path_task.cpp
Commit 1c72308b2d70e16e66f6974706a3bf2042a46e6f by linhua fix: 修改栅格显示尺寸
	hmi/draw/draw_perception.cpp
Commit 678068b18a47ed220fe44ba36efb7116497499f2 by linhua fix: IsToBulkGantry
	data/ssep/ssep_util.cpp
Commit ba5e14688225af82e6901b38c1c80af31aca74cb by linhua fix: lock2adjust
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit 42ecd82de3174c24f3686fd2179aded550c78f6b by ljl fix: hr high bay tunnel extend
	data/ssep/out_yard_junction_ec.cpp
Commit 0872a2f0cb28261be589902653587c3015f270fa by wuyanjun110 feat:终点后忽略障碍物
	data/boundary/driving_corridor.cpp
	data/boundary/driving_corridor.hpp
	data/plan/guide_line.cpp
Commit e4ee55d1ab458f80e293b49f0a4b8a0e4554ed44 by wuyanjun110 feat:终点后忽略障碍物
	data/plan/guide_line.cpp
	data/boundary/driving_corridor.hpp
	data/boundary/driving_corridor.cpp
Commit 965f9494d5175366d1af3a00f04a1ca41514e155 by linhua fix: 去缓冲点
	data/other/flow_control.cpp
	plan/prepare/prepare_destination.cpp
	data/app/reaction/app_reaction.cpp
Commit 4eb51a7b2d04df46517582610dede65dd1f9a316 by 5081703.cr fix: path optimization bug.
	algorithm/wbca/path_optimization/truck_path_optimization.cpp
	algorithm/wbca/path_optimization/car_path_optimization.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	algorithm/wbca/wbca_helper.cpp
Commit fbba96caac2e854ead39b615b9f9a57046213135 by ljl fix:hr out yard end tunnel
	data/ssep/out_yard_junction_ec.cpp
Commit cb80558dff950932bc0dc8b30eba82e4090e7db8 by wuyanjun110 fix: path optimization bug.
	algorithm/wbca/wbca_helper.cpp
	algorithm/wbca/path_optimization/truck_path_optimization.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	algorithm/wbca/path_optimization/car_path_optimization.cpp
Commit 72a511e7cc86d80e1636ce648fa7a5d11559afb5 by linhua fix: lock2adjust不指定终点类型，堆场里2段时会有料斗任务
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit 63460f0b0c5fcaf4bfd35f4a1ffeb49acd51b2bd by ljl fix: 进堆场场景内，弯道外，可从当前点搜索
	data/ssep/into_yard_junction_ec.cpp
Commit 8718a13c5d9b8b3b5c9f2319ea3bbd1405ab6e36 by ljl fix: st out yard end tunnel
	data/ssep/out_yard_junction_ec.cpp
Commit 398c21f7eb1d47afd62d49b43718ec805436d8c3 by ljl fix:
	data/ssep/out_yard_junction_ec.cpp
Commit 42864f54b15eb9d7ec768adedd683ce4bfa4b925 by wuyanjun110 fix:挂角无效时，云端轨迹赋值-1000.0
	data/common/trajectory.hpp
	data/common/trajectory.cpp
	sink/ros_sink_cloud_trajectory.cpp
Commit 1ce728f236f26b97e7c7be9d703374b65a971926 by wuyanjun110 cache
	plan/prepare/prepare_ogm.cpp
	data/config/cfg_stage.hpp
	scenarios/lane_change_scenario/lane_change_stage.cpp
	hmi/widget/diagnose.cpp
	tasks/other_tasks/create_switch_ref_line.cpp
	data/config/cfg_func_sw.cpp
	tasks/other_tasks/create_guide_line.cpp
	algorithm/wbca/wbca_manager.cpp
	data/lattice/trajectory_evaluator.cpp
	data/wbca/wbca_data.hpp
	tasks/plan/path_optimization_task.cpp
	tasks/task_factory.cpp
	scenarios/lane_change_scenario/lane_change_prepare_stage.cpp
	config/config_car/scenario.yaml
	data/config/cfg_stage.cpp
Commit 637d7ec22c4580b7b15f827780f1ffa563e3976b by wuyanjun110 fix: weight_start_up = 10.0
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	data/config/cfg_lat_plan.cpp
Commit 33b020b32b86cea69c6eafa5ae602cb6a5a57387 by ljl fix: out seaside in region 100
	data/ssep/seaside_junction_ec.cpp
Commit 5e1f4072ab5e0ae06d802d4b96ebe34ecf5ff4c4 by ljl fix: dx into yard end tunnel offset 0.1m
	data/ssep/into_yard_junction_ec.cpp
Commit 0e30d94f40fbf8be388dd64b414003535034ba37 by wuyanjun110 feat:添加dubug 模式下， eigen库的优化
	CMakeLists.txt
Commit 5da33d2fb1496d9e23ff314f1a40b48700975393 by ljl fix: qg forward ssep
	data/ssep/forward_ec.cpp
	data/ssep/forward_ec.hpp
Commit 269dc86109fc6f30abb1867a0b5f772fc79d963e by ljl fix: 1. replan logic 2.forward search start pt
	tasks/deciders/other_decider/replan_decider.cpp
	data/ssep/forward_ec.cpp
Commit d85529c9182f6b17004349c502ce183121f325de by linhua fix: 末段ssep路径才切lock
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit 5a97089ce97ad5724204d0a6e23c3439eba681a1 by wuyanjun110 feat:优化wcba的绘制
	hmi/draw/draw_wbca_rlt.cpp
	hmi/draw/draw_wbca_rlt.hpp
Commit 26af1a92d61d079af5e64065a180694db5add60c by wuyanjun110 feat:弯道提速
	data/plan/guide_line.cpp
	data/plan/guide_line.hpp
	data/lattice/trajectory_evaluator.cpp
Commit 4beee25ebc7a01c4757883cb498f43448e49388b by wuyanjun110 feat:弯道提速
	data/plan/guide_line.hpp
	data/plan/guide_line.cpp
Commit 6cb76e3099d0721efd0a9351a8000cf2c735570a by ljl fix: get trailer deviation from trailer_yaw.
	hmi/widget/diagnose.cpp
Commit c0e5233178a6b93aa3bc7d08b24267780e3aed81 by ljl fix: add vehicle type identifiy
	data/ssep/forward_ec.cpp
	data/ssep/reverse_ec.cpp
Commit 91aaa17262f4452b3bf2020461c7e01bb40c7281 by ljl fix: forward vehicle type
	data/ssep/forward_ec.cpp
Commit 47c69ed885f8882c3ad3c7e13fdd226ab3de602f by wuyanjun110 feat:在弯道使用地图包络构建边界
	data/boundary/road_boundary.cpp
	data/boundary/road_boundary.hpp
Commit c1e7052694446042de1c56ef6e4dabf0f1961304 by linhua fix: pnc target
	data/app/fsm/task_command_type.hpp
	data/app/reaction/app_reaction.cpp
	data/ssep/ssep_util.cpp
	hmi/draw/draw_ego.cpp
	data/ssep/forward_ec.cpp
	data/app/fsm/task_command_type.cpp
	data/other/flow_control.cpp
Commit a7d5afb705f7c9b4add41f361ff36ed1949aee83 by linhua fix: add mission type
	data/app/reaction/app_reaction.cpp
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
	data/app/reaction/app_reaction.hpp
	data/other/flow_control.cpp
	plan/prepare/prepare_destination.cpp
	data/config/cfg_long_plan.cpp
	data/ssep/reverse_ec.cpp
	data/ssep/ssep_util.cpp
	data/app/fsm/task_command_type.hpp
Commit f2b5a9ec9598bb81a8e1fda0f9939265ab3ed002 by linhua fix: type error
	data/ssep/ssep_util.cpp
Commit a1153d6d841271c6ce58c12d508d60369bbec2ef by wuyanjun110 feat:调整Mission Type
	data/other/flow_control.cpp
	data/ssep/reverse_ec.cpp
	data/app/fsm/task_command_type.hpp
	data/app/reaction/app_reaction.cpp
	data/ssep/ssep_util.cpp
	data/config/cfg_long_plan.cpp
	plan/prepare/prepare_destination.cpp
	data/app/reaction/app_reaction.hpp
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit b82f7dfea92dae7d0c8b75192b078bda41ce825e by wuyanjun110 feat:堆料机任务，步进时，忽略og点相关的安全
	data/other/flow_control.cpp
Commit 3c00c9b2f58565cb676e94057f9b6b5d65b6bb01 by wuyanjun110 feat:料堆任务，在bulk状态机下，安全模块错误可恢复
	plan/prepare/prepare_status.cpp
Commit 89b74693793541905190837d80e70dd9b242a842 by ljl fix: perception contour crash condition for path operation
	data/constrain/longitude_constrain.cpp
Commit 8d30f606f937f66a9650087dd6a752364fa98a05 by linhua feat:调整Mission Type
	data/app/reaction/app_reaction.hpp
	plan/prepare/prepare_destination.cpp
	data/ssep/reverse_ec.cpp
	data/ssep/ssep_util.cpp
	data/app/fsm/task_command_type.hpp
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
	data/config/cfg_long_plan.cpp
	data/app/reaction/app_reaction.cpp
	data/other/flow_control.cpp
Commit a1cff5161f36c684635a79fa975e00ba4caea524 by linhua feat:堆料机任务，步进时，忽略og点相关的安全
	data/other/flow_control.cpp
Commit 5cae372071ee048f25f7814248fd0635cc33a180 by linhua feat:料堆任务，在bulk状态机下，安全模块错误可恢复
	plan/prepare/prepare_status.cpp
Commit ec5284f4b0c00adfa6602338d71892fc2383975c by linhua fix: end tunnel & stop for cluster
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
	data/ssep/reverse_ec.cpp
	data/ssep/ssep_util.cpp
	algorithm/plan/trajectories_collistion_detection.cpp
	data/ssep/forward_ec.cpp
	data/other/flow_control.cpp
Commit 230e3c7fd6dc85666e108dbc87b1924040144bfe by wuyanjun110 fix:切换park lock的时候考虑 close ogm emergency stop
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit 26fc06c7fd3fd88084f3fac8710159fc99ebd0de by wuyanjun110 fix:切换park lock的时候考虑 close ogm emergency stop
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit 4986a05ca4c8b0e83d555d458f2acf6f35cc259d by wuyanjun110 fix:修复 包络框 sl 计算的bug
	data/obstacle/obstacle.cpp
Commit 299cc1e1433d4f6f6f0269a2e330d89cc1f1165e by wuyanjun110 fix:修复path sl 计算条件的bug
	data/obstacle/obstacle.cpp
	replayer/replayer_data_process/replayer_data_process.cpp
Commit 1a53d5a00fd45c684e78b66d519f642beee50fb7 by wuyanjun110 fix:修复path sl 计算的bug
	tasks/deciders/long_decider/time_path_graph_decider.cpp
	replayer/replayer_data_process/replayer_data_process.cpp
	data/obstacle/obstacle.cpp
Commit 91c64b5526eca937823016e7a54acc11ad1a6b66 by 5081703.cr fix: enable O1 option.
	CMakeLists.txt
Commit 113839913d3457c3004b98e03ed141a6870eddbb by 5081703.cr fix: vehicle expanding in wbca.
	algorithm/wbca/wbca_manager.cpp
	data/config/cfg_lat_plan.cpp
	data/config/cfg_lat_plan.hpp
Commit 3336d2ecdd78192c97762e863ee58575df1c14dd by wuyanjun110 feat:障碍物的sl budndary 根据 guide line 处理
	data/common/guide_path.cpp
	data/obstacle/obstacle_decider_attr.cpp
	data/obstacle/obstacle.cpp
	data/obstacle/occupy_grid.cpp
	tasks/deciders/long_decider/time_path_graph_decider.cpp
	data/obstacle/obstacle.hpp
	data/obstacle/obstacle_decider_attr.hpp
	tasks/deciders/other_decider/obstacle_decider.cpp
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit c6f1ef9374518d61b09aed94c145136df9c36ce2 by ljl fix: 优化回退逻辑
	data/ssep/forward_ec.cpp
Commit 40da670dbdb96dbf921393a74ce56bf168dddf70 by 5081703.cr fix: add open_space_wbca_params
	algorithm/wbca/truck_wbca_manager.hpp
	config/config_car/plan.yaml
	config/config_car/scenario.yaml
	config/config_car/ssep.yaml
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/imv_wbca_manager.hpp
	data/config/cfg_lat_plan.hpp
	algorithm/wbca/wbca_manager.cpp
	data/config/cfg_lat_plan.cpp
	algorithm/wbca/imv_wbca_manager.cpp
	algorithm/wbca/wbca_manager.hpp
	algorithm/wbca/truck_wbca_manager.cpp
Commit 720a36e698aadbaca28b50d951617bffda248219 by wuyanjun110 refactor:优化聚类限速
	data/obstacle/occupy_grid.cpp
	data/obstacle/obstacle.hpp
	data/obstacle/occupy_grid.hpp
	tasks/deciders/long_decider/time_path_graph_decider.cpp
	tasks/deciders/other_decider/obstacle_decider.cpp
	data/obstacle/obstacle.cpp
Commit bd5fd95b919bede00caf3342f3f3bb58703cb5ec by wuyanjun110 fix:修复合并后编译的错误
	tasks/deciders/long_decider/constrain_decider.cpp
Commit 3aa5800d152a6f9a86d8fb18c5781cda1ba32f80 by ljl fix: routing 第二段倒车不考虑感知包络框碰撞
	data/constrain/longitude_constrain.cpp
Commit be0de88722c6d079096aa2d8d2ee33b55f41cb96 by wuyanjun110 fix:修复崩溃的bug和前港出堆场 bulk out 场景识别的bug
	data/other/flow_control.cpp
	tasks/deciders/other_decider/obstacle_decider.cpp
Commit 92337009e4c90d63c4ed4790bd6214705f8986a5 by wuyanjun110 fix:修复上码头收到新任务,参考线跳变的bug
	data/map/reference/reference_road_section.cpp
Commit fcf33f9b2c1d15fba9ec89be86e39e6859bc1c3f by ljl fix: add ssep scenario task change
	data/ssep/reverse_ec.cpp
	scenarios/bulkload_scenario/bulkload_ssep_backward_stage.cpp
Commit efa16dd42f527423af5d7a2a84b2fdc81d2282ab by wuyanjun110 feat:根据实线和虚线限制roadboundary
	data/map/pnc_map/pnc_map_path.cpp
	data/map/pnc_map/pnc_map_helper.cpp
	data/map/pnc_map/pnc_map_helper.hpp
Commit be93cdc7aecfa2cc6130ddf2b1bec30b3b43adc7 by linhua fix: 获取港区位置修复，防止定位后启导致的区域识别错误
	data/config/cfg_region.cpp
	data/other/flow_control.cpp
Commit 4b0b3730be3ad2f301b408ce706d2c4d5a56b610 by wuyanjun110 feat:添加拒绝对准的逻辑
	plan/prepare/prepare_status.cpp
	data/app/cmd/cmd_remote_ctrl.cpp
	data/app/cmd/cmd_align.cpp
Commit f307cbf4b3cbab80f8082a604c2b2bab449f97b7 by wuyanjun110 feat:remote ctrl 状态下,平行驾驶接管退出
	data/app/fsm/motion_fsm/motion_fsm.cpp
Commit 0520773dd95fffba94c7e9f7a53e1847caadd698 by 5081703.cr fix: add initersection_wbca_params.
	config/config_imv/plan.yaml
	data/config/cfg_lat_plan.hpp
	config/config_imv/scenario.yaml
	tasks/plan/path_optimization_task.hpp
	tasks/plan/path_optimization_task.cpp
	data/config/cfg_lat_plan.cpp
Commit 2b26fc8baa2b5edd58b4e955acc94b307cf91c02 by 5081703.cr fix: expand obstacle box in driving corridor.
	data/boundary/driving_corridor.cpp
	data/config/cfg_safe_const.hpp
	data/config/cfg_safe_const.cpp
Commit e2e79a7fa4fa1a0e4cf621dc729b3393ae2e6d12 by 5081703.cr fix: history_pts from his.
	data/plan/guide_line_info.cpp
Commit 4c312da38701426f2d5b2abe338019c91debb417 by linhua feat: 联和利华
	data/config/cfg_region.cpp
	data/ssep/reverse_ec.cpp
	config/config_car/plan.yaml
	data/config/cfg_region.hpp
	data/ssep/field_junction_ec.cpp
	data/ssep/forward_ec.cpp
	data/other/flow_control.cpp
Commit 9d917b9fca2f2ab459c46e45cd9907946c0a1924 by linhua Revert "fix: 获取港区位置修复，防止定位后启导致的区域识别错误" This reverts commit be93cdc7aecfa2cc6130ddf2b1bec30b3b43adc7.
	data/config/cfg_region.cpp
	data/other/flow_control.cpp
Commit e27102e200131fc99bcd8c1a6ec563f2c57d89df by linhua fix: 通过开关调整步进不控转向
	data/other/flow_control.hpp
	data/other/flow_control.cpp
	sink/ros_sink_ctrl_reference.cpp
	data/config/cfg_func_sw.cpp
	data/config/cfg_func_sw.hpp
Commit 35265aa2f4039f6dd2ef9d8e1a6fdc0d3d7e8050 by wuyanjun110 fix:修复崩溃的bug
	replayer/replayer_data_process/replayer_data_process.cpp
	data/other/flow_control.cpp
Commit d4c2da14dbf92fc8d87d37609b2e5d47f79c3b22 by wuyanjun110 refactor:修复远望系统序列化的bug
	tasks/deciders/search_decider/open_space_search_decider.cpp
	tasks/deciders/search_decider/ex_lane_change_search_decider.cpp
	data/ssep/ssep_ec.hpp
	tasks/deciders/search_decider/into_yard_junction_search_decider.cpp
	tasks/deciders/search_decider/normal_junction_search_decider.cpp
	tasks/deciders/search_decider/seaside_junction_search_decider.cpp
	tasks/deciders/search_decider/bridge_junction_search_decider.cpp
	tasks/deciders/search_decider/out_yard_junction_search_decider.cpp
	tasks/deciders/search_decider/reverse_search_decider.cpp
	tasks/deciders/search_decider/forward_search_decider.cpp
Commit 9f3746a649aac81dc07710cc009cedc7e459b6c6 by ljl fix: into yard end tunnel in left decrease 0.1m
	data/ssep/into_yard_junction_ec.cpp
Commit 943a03d2e7c344bb6b12a84957353927c2da4eca by ljl fix: travel out replan logic
	tasks/deciders/other_decider/replan_decider.cpp
Commit 2127a1765c524815a81b62c4ba9ad29558f3843b by linhua fix: guardian mode set
	sink/ros_sink_ctrl_reference.cpp
Commit 22406f451de278ec883d00c1e27eca82df67d035 by wuyanjun110 fix:修复快照崩溃的bug
	data/dp_poly_path/dp_road_graph.cpp
Commit 36fb7ae7f53059399fc3a0c09826622777475676 by ljl feat imv reverse for ssep
	data/plan/ssep_data.cpp
	data/ssep/forward_ec.cpp
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
	data/ssep/reverse_ec.cpp
Commit db4592c0554cd0d85371b558d74c9487b4df8bdb by wuyanjun110 fix:修复使用历史参考线， 参考线变短的问题
	tasks/other_tasks/stitch_path_to_reference_line.cpp
Commit 777c833b9f60287acae716d72869de89b78d6774 by wuyanjun110 fix:修复合并的bug
	tasks/other_tasks/stitch_trailer_path_task.cpp
	tasks/deciders/lat_decider/path_bounds_decider.cpp
	tasks/plan/pjpo_task.cpp
	data/ssep/forward_ec.cpp
Commit 6f39a50a1a0c0b9acc8d8ca0dd341f8e18076a05 by wuyanjun110 refactor:car 人字形路径的适配
	data/config/cfg_func_sw.hpp
	data/other/flow_control.hpp
	data/other/flow_control.cpp
	data/plan/start_point_data.cpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	data/plan/guide_line.cpp
	data/plan/guide_line.hpp
Commit eba23078ef92114ac783311290074989ab4da1c3 by 5081703.cr fix: lane_points backward.
	data/vehicle/lane_detection.cpp
	source/ros_source_lane_pts.cpp
	data/vehicle/lane_detection.hpp
Commit 53369a87564ebb840036fcce5185083c5d2ac2af by ljl fix: add gantry classify
	data/app/reaction/app_reaction.cpp
	data/ssep/forward_ec.cpp
Commit 83fca8e61b49fea7ea730d6e9834acdf9f480742 by wuyanjun110 refactor:添加序列化数据
	data/config/cfg_func_sw.hpp
Commit 0e934ce2ef97567b72714a0cab4108302d899ce6 by ljl fix: replan in travel out
	tasks/deciders/other_decider/replan_decider.cpp
Commit db7df1b6ae5ed0a8f2bdad93b803bbb9992aa092 by ljl fix: replan in travel out param
	tasks/deciders/other_decider/replan_decider.cpp
Commit 39455bfdb8babb29eb61321739aea79e74a82300 by wuyanjun110 feat:通过时间差，清理wbca的数据
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/wbca_manager.cpp
	data/wbca/wbca_data.hpp
Commit 95ec847bed5b1bc81cfa2823295e34be19e065a8 by ljl fix: add constrain slow down in bulk before
	tasks/deciders/long_decider/constrain_decider.hpp
	tasks/deciders/long_decider/constrain_decider.cpp
Commit 80c5160627bb622034bb9b8efe8e58d3ae0c584f by ljl fix: replan in travel out
	tasks/deciders/other_decider/replan_decider.cpp
Commit b71dcadfc74cbfa64ee5c90d3a887849a282ea50 by ljl fix: replan in travel out param
	tasks/deciders/other_decider/replan_decider.cpp
Commit 5c33391fdfa842e6e1a25cfafb15594fbd32dbe4 by wuyanjun110 fix:删除日志打印
	data/map/envelop/map_envelops.cpp
	data/map/pnc_map/pnc_map.cpp
	data/map/reference/reference_road_section.cpp
Commit fa9b745d1394e1ec57773624ee1fd83face3dfdc by 5081703.cr fix: lane_pts direction.
	source/ros_source_lane_pts.cpp
	data/vehicle/lane_detection.cpp
	data/vehicle/lane_detection.hpp
Commit 9f1594721b2e897160ebb214bbc5a93254aba955 by ljl fix: weihai port truck reverse
	data/ssep/reverse_ec.hpp
	data/config/cfg_region.cpp
	data/ssep/reverse_ec.cpp
	data/config/cfg_region.hpp
Commit 520d7ec6dd02d79253488b3d4e0efd1a36bef581 by wuyanjun110 fix:修复崩溃
	data/obstacle/obstacle_decider_attr.cpp
Commit de0e960739b17ced70606950420a6b94f3991651 by ljl fix: auto start in bulk out constrain
	tasks/plan/ssep_task.cpp
	data/plan/ssep_data.hpp
	data/plan/ssep_data.cpp
Commit 6c8b303e55728d8b736aa966566f49a7b410bd73 by wuyanjun110 fix:修复imv 车型 wcba 求解器时间不赋值的bug
	algorithm/wbca/imv_wbca_manager.cpp
Commit e1ebb4983c9c2f1e51e3d3ebaf7974dfc8115745 by wuyanjun110 feat:适配动态上下码头面
	replayer/replayer_data_process/replayer_data_process.cpp
	data/map/pnc_map/pnc_map.cpp
	data/map/reference/reference_road_section.cpp
	data/plan/guide_line.cpp
	data/other/flow_control.cpp
Commit 750928d90c49cdff7aeb05942e4d2ce1f4b60ed6 by wuyanjun110 feat:远程步进时，忽略安全
	data/app/fsm/motion_fsm/motion_fsm.cpp
	data/plan/guide_line.cpp
	data/other/flow_control.cpp
Commit 11a79ac914318154bb829d18b186a94afb2456ad by linhua fix: motion_remote之后不允许从lock切adjust
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit 72ff2215c967290a034a6a9661d3fa290a03d555 by ljl fix: stitch reference
	tasks/other_tasks/stitch_path_to_reference_line.cpp
	data/plan/ssep_data.cpp
	tasks/other_tasks/stitch_path_to_reference_line.hpp
	data/plan/ssep_data.hpp
	tasks/plan/ssep_task.cpp
Commit ed31ad957e78f3ccd3ad19116fcd9befec7862ad by ljl fix: u turn search in out yard
	data/ssep/field_junction_ec.cpp
	data/ssep/out_yard_junction_ec.cpp
Commit 30546299d4d1b2b288c60d5964bc3b035b739cf4 by ljl fix: s into yard end tunnel
	data/ssep/into_yard_junction_ec.cpp
Commit 7d79d2edd15ca439ff2cc406545ede35e84e6e34 by 5081703.cr fix: no_trajectory_stop bug.
	algorithm/wbca/wbca_manager.cpp
Commit 329e97c15c175ca558d3e528a5afe659ccc36421 by linhua fix: response_decision_lane_change
	plan/prepare/prepare_status.cpp
Commit 8c59cb724dba2c521f70c74d65ab9a3fec7e1bce by ljl fix: open space search end in loc station
	data/ssep/open_space_ec.cpp
	data/ssep/open_space_ec.hpp
Commit 60020b913e6d08ed22f0b4a76a7a3adc1d6e5dfc by ljl fix: continuous bend in open space
	data/ssep/open_space_ec.cpp
Commit f1f28984ea09fbd144e3b6ef74c09ebecf2512f9 by wuyanjun110 fix:修复忽略安全的bug
	plan/prepare/prepare_status.cpp
Commit 754566f15f9c819ff42d3f69c4f62d52ed6b8357 by wuyanjun110 fix:修复崩溃的bug
	data/plan/guide_line.cpp
	data/boundary/road_boundary.cpp
Commit f25f0ce8fbc156d84d63356f3d02ba6334783712 by ljl fix: into yard search  in end lane size 1
	data/ssep/into_yard_junction_ec.cpp
Commit 515718e156afbc16e9abb7674c065dd6a461e8bd by ljl fix: into yard tunnel reference guide
	data/ssep/into_yard_junction_ec.cpp
Commit ae0cb0e53d8439420eec95b80876fdde1f85cb66 by wuyanjun110 refactor:手刹不中止直线步进
	data/app/fsm/motion_fsm/motion_fsm.cpp
Commit db2169cd2ab122f3231704365698793b633c0e8d by wuyanjun110 feat:调整安全模块区域限速
	tasks/deciders/long_decider/constrain_decider.cpp
Commit 9aa7e2f54a439f4c87386d1e84daca9abe365294 by ljl fix: 1.scenario before bend 2.into yard low bay
	data/ssep/into_yard_junction_ec.cpp
	data/scenario/scenario_manager.cpp
Commit 464cb7f187ad8d27d3aee3585bb7ae94b54d38a5 by linhua fix: stockpile end tunnel
	data/ssep/reverse_ec.cpp
Commit 7f7d9508499c08b750cb50b7fe536caa5d9a5a54 by wuyanjun110 feat:西连进充电桩使用平滑模式
	tasks/plan/path_optimization_task.cpp
Commit e0d9abbbbaadee213d7e58c3eea711e50da46e61 by 5081703.cr fix: road boundary optimization for no_shift_region.
	data/boundary/road_boundary.cpp
Commit de644b04f2a2ebc4e0d9189ca40949992c292c62 by 5081703.cr fix: add weight_collision_negative in wbca.
	algorithm/wbca/path_optimization/path_optimization.cpp
	data/config/cfg_lat_plan.hpp
	data/config/cfg_lat_plan.cpp
Commit bf071ee7768b191eb27279a16f00c26a783f4934 by wuyanjun110 feat:引导线添加转向的属性
	data/common/guide_path.cpp
	data/common/guide_path.hpp
	hmi/draw/draw_guide_line.hpp
	sink/ros_sink_ctrl_reference.cpp
	hmi/draw/draw_guide_line.cpp
	sink/ros_sink_ctrl_reference.hpp
	data/plan/guide_line.cpp
Commit 4079e632709a65183964baf2c3b79456be1b774d by ljl fix: continuous bend ssep identify
	tasks/deciders/search_decider/into_yard_junction_search_decider.cpp
	tasks/deciders/search_decider/normal_junction_search_decider.cpp
	tasks/deciders/search_decider/seaside_junction_search_decider.cpp
	tasks/deciders/search_decider/open_space_search_decider.cpp
	data/plan/ssep_data.cpp
	tasks/deciders/search_decider/bridge_junction_search_decider.cpp
	data/scenario/scenario_manager.hpp
	data/plan/ssep_data.hpp
	plan/prepare/prepare_status.cpp
	data/scenario/scenario_manager.cpp
	tasks/plan/ssep_task.cpp
	tasks/deciders/search_decider/out_yard_junction_search_decider.cpp
Commit c44bedb9eb967f8da28989f3a31c251c4dadbbfa by ljl fix: ssep data keep history for backup
	data/plan/ssep_data.cpp
Commit 4015902ebaf2b65244372380e51a08edb14d1c1c by ljl fix: close info in base stop line
	data/ssep/base_stop_line_filter.cpp
Commit 152b48f808866a8e68fc65ee262d7212c7cf9d0c by 5081703.cr fix: start_up acc limitation.
	data/lattice/trajectory_evaluator.cpp
Commit 1451ad55c1590316a7436cb302705259b372616a by ljl fix:merge bug
	tasks/deciders/long_decider/constrain_decider.cpp
Commit a1c5943493421474ff3e42146b128ba57c28b486 by ljl fix: wei hai search tunnel
	data/ssep/forward_ec.hpp
	data/ssep/forward_ec.cpp
	data/ssep/reverse_ec.cpp
Commit c27e5bdc65827cb0b71aa9a6df79eab78a30f96c by linhua fix: 西联centerline 匹配的bug
	data/map/reference/center_line.cpp
Commit d2e62ac921506d0b1ce530e0024fb63d26610fe7 by wuyanjun110 fix:修复wcba 图生成耗时的bug
	tasks/plan/path_optimization_task.hpp
	algorithm/wbca/wbca_manager.cpp
	tasks/plan/path_optimization_task.cpp
Commit e8f1bbc1439482a9997e2d1a9c0fdddb0496fe80 by wuyanjun110 fix:修复西联出停车位场景， 一次规划有两段路径时， 当前段匹配错误的bug
	data/map/pnc_map/routing_extension/routing_data.cpp
	data/vehicle/request_routing_data.cpp
Commit c30ee24f25765ab5878dda58539265d077b7e792 by linhua fix: 增加imv变道时Contour的扩展，防止og点校验和安全模块不一致导致的挡停
	data/config/cfg_safe_const.cpp
	algorithm/vehicle_model/kinematic_bicycle_model.cpp
	replayer/replayer_data_process/replayer_data_process.cpp
	data/plan/path_data.cpp
	data/config/cfg_safe_const.hpp
	scenarios/lane_change_scenario/lane_change_prepare_stage.cpp
	algorithm/vehicle_model/kinematic_bicycle_model.hpp
	tasks/other_tasks/stitch_path_data_to_path.cpp
	data/plan/path_data.hpp
Commit 8e9c79e9e5416044f3bde1ca8b14057464d14a64 by ljl fix: qg path operation
	data/map/pnc_map/routing_extension/routing_data.cpp
Commit 0be6113ad44ba9ae284e359091863c42bd35e20b by wuyanjun110 fix:修复状态机切换的bug
	data/app/fsm/task_done_verification.cpp
Commit fe6a6d18bfea506ac89055f858a8ea99d17869d8 by ljl fix: extend ssep path
	data/plan/ssep_data.cpp
	data/plan/ssep_data.hpp
Commit be9450377331ff809b3f168487e6d130288206c0 by ljl fix: ssep crash
	ssep/coarse_search/hybrid_a_star_car.cc
	ssep/coarse_search/hybrid_a_star_car.h
	data/ssep/reverse_ec.cpp
Commit c2ac90a27fff4c7b77a73a361c0115bc0ed1d2bb by wuyanjun110 fix:优化回放路径的生成
	replayer/replayer_data_process/replayer_data_process.cpp
Commit 8ca7749742f28963c81094a53ef66f75e7e7afe4 by 5081703.cr fix: trailer_ego_path bug.
	data/plan/path_data.cpp
Commit 4c4b7f92a1a5387e02e0158a637c5d5cc805d744 by ljl fix: wh car search ssep reference
	data/ssep/ssep_ec.cpp
Commit 4006d5aa6ed0c6ced0949bf77a2c0591bda6bb2e by wuyanjun110 fix:挂角无效时，云端轨迹赋值-1000.0
	data/common/trajectory.hpp
	sink/ros_sink_cloud_trajectory.cpp
	data/common/trajectory.cpp
Commit 928a1934c8bd0de9b1e5ba4617a2c7a67e76ad27 by wuyanjun110 fix:bulkload 状态下 没有云端路径的bug
	data/lattice/trajectory_combiner.cpp
	data/common/trajectory.cpp
Commit d60b439791ad651815df5c21396e26e94dc8057b by wuyanjun110 feat:变道安全调整
	data/plan/switch_data.cpp
Commit bac3b6943f1b0dae3348a6360096db6379cd13aa by 5081703.cr fix: add lateral acc cost( disable)
	algorithm/wbca/path_optimization/path_optimization.hpp
	algorithm/wbca/path_optimization/path_optimization.cpp
Commit 77ad5be53f83ee5f5ba5b93c779654724cddfa92 by wuyanjun110 refactor:1优化guide的转向，2.静态障碍物的扩展3.dp结果的不稳定
	data/dp_poly_path/dp_road_graph.cpp
	data/common/guide_path.cpp
	data/config/cfg_lat_plan.cpp
	data/dp_poly_path/trajectory_cost.cpp
	data/boundary/driving_corridor.cpp
	data/obstacle/obstacle_decider_attr.cpp
	data/boundary/road_boundary.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
	data/config/cfg_lat_decide.cpp
Commit f42b4c9b4fe1809e62effc782dc00e6ba14a90e4 by wuyanjun110 refactor:删除多余的打印
	ssep/coarse_search/hybrid_a_star_car.cc
Commit ff41f6a7453a64424a50f820ba24579024b5d295 by wuyanjun110 fix:驾驶走廊是否考虑ogm的赋值bug
	data/boundary/driving_corridor.cpp
Commit 05192e92c86dc978872a937e4ade0e8a6ebbd7b6 by wuyanjun110 fix:调整扩展
	data/obstacle/obstacle_decider_attr.cpp
Commit 10e0837cabdab6c4b7cc27afc854e44634a8b8bc by 5081703.cr fix: wbca path length optimization.
	algorithm/wbca/wbca_manager.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
	tasks/plan/path_optimization_task.cpp
	data/wbca/wbca_data.hpp
Commit 3be362d6166748dba780a7f9abba09037ba20970 by 5081703.cr fix: wbca path len bug.
	algorithm/wbca/wbca_manager.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
Commit 1d8264a23f2fed787f680a52db8e2fe1a0764bff by ljl fix: ssep extend direction
	data/plan/ssep_data.hpp
	data/plan/ssep_data.cpp
Commit ceb169925450b1c5f4dd99fac7983f142125ed60 by 5081703.cr fix: wbca smooth mode for align_step_move
	algorithm/wbca/wbca_manager.cpp
	tasks/plan/path_optimization_task.cpp
Commit 2c059aea7df3f56bf6bd59c7d232b96c373e88e9 by 5081703.cr fix: using ssep destination for bulkload_ssep_forward_stage.
	plan/prepare/prepare_destination.cpp
Commit 7b9c12ad4aa5fe14c18c9739ff0008b2c02fb0a6 by wuyanjun110 feat:绕行限速参数化
	data/config/cfg_safe_const.cpp
	data/config/cfg_safe_const.hpp
	data/plan/side_pass_data.cpp
	tasks/deciders/lat_decider/path_bounds_decider.cpp
	data/boundary/road_boundary.cpp
Commit 65d049311fe972add333fd9fd3d425b2abb3b469 by 5081703.cr fix: expand road_boundary for startup
	data/map/reference/reference_segment.cpp
	data/boundary/road_boundary.cpp
	data/vehicle/request_routing_data.cpp
	data/map/reference/reference_segment.hpp
	data/boundary/road_boundary.hpp
	data/map/pnc_map/routing_extension/routing_data.cpp
	data/map/pnc_map/routing_extension/routing_data.hpp
Commit 0cde894227af7f35443a07039584ad2e66721efe by 5081703.cr fix: collision cost for no_shift region.
	algorithm/wbca/path_optimization/truck_path_optimization.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	algorithm/wbca/imv_wbca_manager.cpp
	algorithm/wbca/path_optimization/path_optimization.cpp
	data/wbca/wbca_data.cpp
	hmi/draw/draw_wbca_rlt.cpp
	algorithm/wbca/wbca_manager.cpp
	tasks/deciders/lat_decider/wbca_path_boundary_decider.cpp
	data/boundary/path_boundary.cpp
	data/boundary/path_boundary.hpp
	data/wbca/wbca_data.hpp
Commit 6f5cbc85e71125ac2f687d23945e2dc4cc428982 by wuyanjun110 feat:障碍物提阿加平均速度
	data/obstacle/obstacle.cpp
	math/filter/mean_filter.hpp
	data/obstacle/obstacle.hpp
Commit 754abcb799abc8438b51252e17bf7a8c9cf31ac2 by wuyanjun110 fix:场桥场景识别的bug
	data/vehicle/lock_station_data.cpp
Commit 778cf409aa92c16f12d51888c640c7d942c25720 by wuyanjun110 feat:添加进堆场的跟车距离
	data/config/cfg_long_plan.hpp
	data/config/cfg_long_plan.cpp
Commit f4d22f25a36d6940337cb77779df1a6df87a4e79 by wuyanjun110 fix:在ssep路径上，偏离边界时，扩展边界的bug refactor:优化边界构建
	data/boundary/driving_corridor.cpp
	data/boundary/road_boundary.cpp
Commit 61130aca208e6a15d8cf6fef9aae5cf471a12f4a by wuyanjun110 fix:修复imv停车位，终点方向计算的bug
	data/dp_poly_path/dp_road_graph.cpp
	plan/prepare/prepare_destination.cpp
Commit 6a613526df1e9d5f7f567691abb06c14484f1f99 by chenran fix: start_up boundary.
	data/map/pnc_map/routing_extension/routing_data.hpp
	data/vehicle/request_routing_data.cpp
	data/boundary/road_boundary.cpp
	data/map/pnc_map/routing_extension/routing_data.cpp
Commit 1e2b8bf678b36c25b2141f6d79ea0c5b48ed338d by chenran fix: smooth mode for imv
	tasks/deciders/lat_decider/wbca_path_boundary_decider.cpp
Commit 7db9c972fb1df6273912348f64e9a87e438f502e by chenran fix: add total_length and start_point.
	data/vehicle/request_routing_data.cpp
Commit 55471af438b7e7550543ec0dc51ae56480636430 by 5081703.cr fix: start_point in replayer.
	replayer/replayer_data_process/replayer_data_process.cpp
Commit b0850f19efd02c4563b798db99127cd71160a4b8 by 5081703.cr fix: draw history ogm in replayer.
	data/plan_frame.hpp
	hmi/draw/draw_perception.cpp
	replayer/logic.cpp
Commit 30e9b9b8c89d9ecc3d3d4653bce7700133c60cb7 by wuyanjun110 refactor:优化吊具信息的校验
	common/util/express.cpp
	data/app/fsm/task_command_type.hpp
	data/app/fsm/task_done_verification.cpp
	data/app/fsm/task_done_verification.hpp
	data/app/fsm/task_command_type.cpp
	data/vehicle/vehicle_status.hpp
	data/app/app_data.cpp
	data/app/reaction/app_reaction.hpp
	common/util/express.hpp
	data/app/cmd/cmd_set_target.cpp
	plan/prepare/prepare_status.hpp
	plan/prepare/prepare_status.cpp
	data/app/reaction/app_reaction.cpp
	data/vehicle/request_routing_data.hpp
	data/vehicle/request_routing_data.cpp
	data/vehicle/vehicle_status.cpp
	data/app/cmd/cmd_set_target.hpp
	hmi/replayer_hmi.cpp
	hmi/node_hmi.cpp
	data/config/cfg_long_plan.cpp
Commit db3723915f211bc87fa7d0f976a36cf494f5bdb3 by wuyanjun110 feat:装后箱的高度判断参数化
	data/vehicle/spreader_protect.cpp
	data/config/cfg_safe_const.cpp
	data/config/cfg_safe_const.hpp
Commit 06bac4dbce1e7b82a7efc46cc23444dd23328d1d by 5081703.cr fix: replayer boundary bug.
	data/map/pnc_map/routing_extension/routing_data.cpp
	data/map/pnc_map/routing_extension/routing_data.hpp
	data/vehicle/request_routing_data.cpp
	replayer/replayer_data_process/replayer_data_process.cpp
Commit 869e6249998d8f852de8fcbea4aa8d44e9a595db by wuyanjun110 feat:沟点不进行碰撞检测
	plan/prepare/prepare_ogm.cpp
Commit 4318fec09b190116a1d2fdeb390dd34f237a8e90 by wuyanjun110 fix: add to_normal
	data/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp
	data/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.hpp
Commit 6cb4e063cd1c6815a31a234db00efee6bfba69ac by wuyanjun110 feat:低速时,降低安全阈值
	data/config/cfg_safe_const.cpp
	data/config/cfg_safe_const.hpp
	data/config/cfg_func_sw.cpp
	plan/prepare/prepare_status.cpp
	data/config/cfg_func_sw.hpp
Commit 2de254170e55d3ba94caa3fc31750acc5a48060d by tangwenqing 1.修复hybrid_search_car的崩溃问题
	ssep/coarse_search/hybrid_a_star_car.h
	ssep/coarse_search/hybrid_a_star_car.cc
Commit 7e0c2948094da3497c6fbf347d3e682aa9b1cd7c by 5081703.cr fix: merge bug.
	tasks/deciders/long_decider/constrain_decider.cpp
Commit 3cc1366d1462875df398c38fab0316f68e06e2bc by 5081703.cr fix: update config
	config/config_car/plan.yaml
	config/config_truck/scenario.yaml
	config/config_truck/plan.yaml
	config/config_car/scenario.yaml
	config/config_imv/scenario.yaml
Commit 464e4c6ffe16b23a77752c9676fe54bc600cf1f5 by 5081703.cr fix: truck config.
	config/config_truck/plan.yaml
Commit af6bfeffed29fde362f1b05f8cde883b327acdfc by 5081703.cr fix: road boundary in lat/lon road.
	data/boundary/road_boundary.cpp
Commit 1596290514bdaeeec14092047c96a120339f8c07 by 5081703.cr fix: proc process callback.
	algorithm/wbca/path_optimization/truck_path_optimization.cpp
	algorithm/wbca/path_optimization/truck_path_optimization.hpp
Commit 1f01a58ce1ba83231743dad14fb533a2eee284c0 by wuyanjun110 fix:修复由于平滑或者ssep路径拼接，导致参考线overlap的s问题bug
	data/map/pnc_map/path_overlap.hpp
	data/map/pnc_map/pnc_map_path.hpp
	data/map/pnc_map/path_overlap.cpp
	data/ssep/base_stop_line_filter.cpp
	data/map/pnc_map/pnc_map_path.cpp
	data/map/reference/bends_decider/bend_decider.cpp
Commit 6080c316e261d413c810cfbd59726df21858f018 by 5081703.cr fix: bd_extend_start_pt update.
	data/boundary/road_boundary.hpp
	data/map/pnc_map/routing_extension/routing_data.cpp
	data/vehicle/request_routing_data.cpp
	tasks/other_tasks/create_road_boundary.hpp
	replayer/replayer_data_process/replayer_data_process.cpp
	tasks/other_tasks/create_road_boundary.cpp
	data/boundary/road_boundary.cpp
	data/map/pnc_map/routing_extension/routing_data.hpp
Commit c90bdea3a16b1bd1b48003854fba95dc1cf5a2bb by 5081703.cr fix: bd_extend_start_pt update.
	data/boundary/road_boundary.hpp
	replayer/replayer_data_process/replayer_data_process.cpp
	tasks/other_tasks/create_road_boundary.hpp
	data/vehicle/request_routing_data.cpp
	data/boundary/road_boundary.cpp
	tasks/other_tasks/create_road_boundary.cpp
	data/map/pnc_map/routing_extension/routing_data.cpp
	data/map/pnc_map/routing_extension/routing_data.hpp
Commit a4d7896d5ef157775022f7fd7b465d5b1a8b77b7 by wuyanjun110 fix:修复region错误的bug
	data/map/pnc_map/pnc_map_path.cpp
Commit 8d4c90fd0cce701f504fb4cc70127366133dc382 by 5081703.cr fix: road_boundary opt.
	data/boundary/road_boundary.cpp
Commit 937ba11ec9d60b7aa0bb4df0a79529a89f50fab0 by wuyanjun110 fix:修复编译的错误
	tasks/deciders/long_decider/constrain_decider.cpp
Commit 9c29d369dda4e68087920a86c149b2d916f02c7b by wuyanjun110 fix:极限变道的bug
	scenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cpp
	data/plan/switch_data.cpp
Commit f255b5ef83528b1f35330672e58b58920fabde5a by wuyanjun110 feat:brake到norm切换添加开关
	data/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp
	data/config/cfg_func_sw.hpp
	data/config/cfg_func_sw.cpp
Commit 4e903f944ca4cd2a3a70e6aeefc1727005e1036e by wuyanjun110 fix:回放中,SL 边界没有计算的bug
	replayer/replayer_data_process/replayer_data_process.cpp
Commit a44987220449598bfd4816142f089d12ea36f763 by wuyanjun110 fix:修复倒车过程中，后向障碍物不考虑的bug
	data/obstacle/obstacle_decider_attr.cpp
Commit 97c1c13e12d70b8b7be3e3508daa4777c402452c by wuyanjun110 fix:修复dp结构不稳定的bug
	data/plan/side_pass_data.hpp
	data/dp_poly_path/trajectory_cost.cpp
	data/plan/side_pass_data.cpp
	data/boundary/driving_corridor.cpp
	data/config/cfg_lat_decide.cpp
	data/dp_poly_path/dp_road_graph.cpp
	plan/prepare/prepare_status.cpp
	tasks/deciders/lat_decider/side_pass_decider.cpp
Commit 2d2dfa1872f3af614fce91e83424140db9a3725a by wuyanjun110 fix:临时解决状态机切换的bug
	data/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp
Commit c7303074ff97fb3c34e61d879806ca0d8c00526c by wuyanjun110 feat:1. 散水池和不可以绕行区域的处理2.静态障碍物的扩展优化
	data/boundary/road_boundary.cpp
	data/dp_poly_path/dp_road_graph.cpp
	data/obstacle/obstacle_decider_attr.cpp
Commit 226f9c292b077ce2ffed5b374421892cb4228115 by wuyanjun110 feat:海南洋浦适配
	data/config/cfg_region.hpp
	data/config/cfg_region.cpp
	data/ssep/ssep_util.cpp
	data/ssep/out_yard_junction_ec.cpp
	data/ssep/into_yard_junction_ec.cpp
	data/ssep/online_region_contour_creator.cpp
Commit 8fd1db36cfe10ee6a42c6774de0bbf2ee4cb1803 by wuyanjun110 fix:变道的bug
	data/plan/switch_data.cpp
Commit aa5d76cd3b05039425cd0c954492065b6f11bb87 by 5081703.cr fix: add sweep area for road_boundary.
	algorithm/plan/sweep_area.cpp
	algorithm/vehicle_model/truck_model.hpp
	data/wbca/wbca_data.cpp
	algorithm/vehicle_model/truck_model.cpp
	data/boundary/road_boundary.cpp
	data/wbca/wbca_data.hpp
	algorithm/plan/sweep_area.hpp
Commit 5927d7eefbbcfac7cb03faf15403d276c989fbe9 by 5081703.cr fix: area expanding = 0.1
	data/boundary/road_boundary.cpp
	algorithm/plan/sweep_area.cpp
Commit 978e84ae1ca282cc74e91e53f03916cd4c5baf58 by 5081703.cr fix: imv backward align_step_forward bug.
	algorithm/wbca/wbca_manager.cpp
Commit 7450b72faa563e662df900d44f14457cde8b279d by wuyanjun110 fix: imv backward align_step_forward bug.
	algorithm/wbca/wbca_manager.cpp
Commit 9e2dd6bbe614c5a41890b8156e6e5d026d013e71 by 5081703.cr fix: add sweep area for road_boundary.
	algorithm/plan/sweep_area.hpp
	data/wbca/wbca_data.hpp
	algorithm/vehicle_model/truck_model.cpp
	algorithm/vehicle_model/truck_model.hpp
	algorithm/plan/sweep_area.cpp
	data/wbca/wbca_data.cpp
	data/boundary/road_boundary.cpp
Commit 128065ca6b734d3865a21b011c52335049d5c760 by 5081703.cr fix: delete sweep_area log.
	data/boundary/road_boundary.cpp
Commit b32b272debf6b6c286347c67b19196593e97c3f9 by wuyanjun110 feat:路径消失的bug
	data/dp_poly_path/dp_road_graph.cpp
Commit 49613a699f0970d737af5407a95c0ed56bb4c52f by wuyanjun110 feat:绕行的优化
	data/boundary/driving_corridor.cpp
	data/dp_poly_path/trajectory_cost.cpp
Commit 716e59513f308d2bb5f10f82501e91e945dd68b2 by wuyanjun110 feat:转向限速添加功能开关
	data/config/cfg_func_sw.cpp
	data/config/cfg_func_sw.hpp
	tasks/deciders/long_decider/constrain_decider.cpp
Commit eed9ed3967c2b4e40fde22c209c59e7572d91030 by wuyanjun110 feat:修改驾驶走廊 障碍物的膨胀
	data/config/cfg_safe_const.cpp
Commit 6dccd44900dfb6573dc3421a33b3297e31e5eeb2 by wuyanjun110 fix:修复崩溃的bug
	plan/prepare/prepare_ogm.cpp
Commit 5513e68445c115e816198e0d5702a32de8fcb9a0 by wuyanjun110 fix:修复og的bug
	plan/prepare/prepare_ogm.cpp
Commit 527b9292f39d99c924919328132c2b43b7c4b321 by wuyanjun110 fix: into yard low bay tunnel
	data/ssep/into_yard_junction_ec.cpp
Commit bdf8782ee9e8bdb572236d4351dc7bccdd905843 by wuyanjun110 feat:添加是否sweepboundary的参数和修复崩溃的bug
	data/boundary/road_boundary.cpp
	data/config/cfg_func_sw.hpp
	data/config/cfg_func_sw.cpp
Commit 63773294680397be1142057178460e6b3344d690 by 5081703.cr fix: steering rate speed constrain optimization.
	data/config/cfg_dynamic.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
Commit 383d104b29aa52f191ec4971ca37f1e912773a87 by 5081703.cr fix: steering rate speed constrain optimization.
	tasks/deciders/long_decider/constrain_decider.cpp
	data/config/cfg_dynamic.cpp
Commit 850a25a30b537a6ecc6feecfb299c2b78346433d by 5081703.cr fix: add use_func_boundary_expanding_for_start_up_=false.
	data/config/cfg_func_sw.hpp
	data/boundary/road_boundary.cpp
	data/config/cfg_func_sw.cpp
Commit 1159a825832ab995374902c6b5ef425fff21a3e7 by 5081703.cr fix: add use_func_boundary_expanding_for_start_up_=false.
	data/config/cfg_func_sw.hpp
	data/boundary/road_boundary.cpp
	data/config/cfg_func_sw.cpp
Commit 8e725732b5bd30e3acb0a2c1b67d761c3eb1293c by wuyanjun110 fix:修复冲路径突判断的bug
	data/vehicle/request_routing_data.cpp
Commit 05735221c01cc0a13a1610c234e6a5a31cc2b5fd by ljl fix: yangpu 进出堆场适配
	ssep/tools/executable/main_obb_port.cc
	data/ssep/into_yard_junction_ec.cpp
	data/ssep/out_yard_junction_ec.hpp
	data/ssep/out_yard_junction_ec.cpp
	data/ssep/into_yard_junction_ec.hpp
Commit 8dca3061af6ada202d53d3326bb921a4c3aadbf5 by wuyanjun110 fix:修复dp结果跳变的bug
	data/dp_poly_path/dp_road_graph.cpp
Commit 215ad43e47655a340460b0add6ea372456cf8399 by ljl fix: normal junction search
	data/ssep/normal_junction_ec.hpp
	data/ssep/normal_junction_ec.cpp
Commit a85075a42d37a32c582254838e19f5b32fc981b7 by wuyanjun110 fix:修改guardian区域和no shift 区域 重叠区域， wcba 求解失败的bug
	data/boundary/road_boundary.cpp
Commit f4868424efaa6e7e78a4a74126c5063e2cb24129 by wuyanjun110 feat:添加龙须点的支持
	hmi/draw/draw_perception.cpp
	plan/prepare/prepare_ogm.cpp
Commit 528fe830fc7131af67d2ff696d29847934aa979a by 5081703.cr fix: delete local_wbca in path_task_opt
	tasks/plan/path_optimization_task.cpp
Commit e34efcf1b67e33413f3f9d09fd8d67faff01d263 by wuyanjun110 fix:修复合并的bug
	data/plan/ssep_data.hpp
Commit 64256f398777ce283d85a8a0868acde10247a13a by ljl fix:xl park search bug
	data/plan/ssep_data.cpp
Commit 20ebc2fefbb7c7f3f039de306fe832088620461d by 5081703.cr fix: wbca_optimizer in plan thread.
	data/wbca/wbca_data.cpp
	algorithm/wbca/wbca_manager.cpp
	tasks/plan/path_optimization_task.cpp
	tasks/plan/path_optimization_task.hpp
	data/wbca/wbca_data.hpp
	algorithm/wbca/imv_wbca_manager.cpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	algorithm/wbca/occupancy_grid_map/data_render.hpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	hmi/draw/draw_wbca_rlt.cpp
	algorithm/wbca/wbca_manager.hpp
Commit 81177ea951d9c6622345757c8f033eea55075966 by 5081703.cr fix: delete static variable.
	algorithm/wbca/wbca_manager.cpp
	tasks/plan/path_optimization_task.cpp
	tasks/plan/path_optimization_task.hpp
Commit cc79ca97d46e7d6433b3e9eb7010e0f79e537dd7 by wuyanjun110 fix:狭窄区域，回目标车道的bug
	data/dp_poly_path/trajectory_cost.cpp
Commit 360f2da4c1e1ecf6cc3877d7e59e811dd3406143 by ljl fix: init tt curve manager
	ssep/coarse_search/preprocessed_curves/tt_curve_manager.cc
	data/config/cfg_ssep.cpp
Commit b34525c4b3f57caacfca4698e33475f60c2a51de by 5081703.cr fix: upper collision detection option for path_time_graph.
	data/lattice/path_time_graph.cpp
	data/config/cfg_safe_const.hpp
Commit 6f929464759e5cfe5d92f54e041f47d9bad3d6e1 by wuyanjun110 fix:修复快照内存泄漏的bug
	data/map/envelop/map_envelops.cpp
	algorithm/vehicle_model/kinematic_bicycle_model.cpp
	data/map/reference/reference_road_section.cpp
Commit a375ff3ecad09ef457e46f2f9bf092e0e3ba0a85 by 5081703.cr fix: display history ogm in replayer.
	replayer/logic.cpp
	hmi/ui/main_window.ui
	data/config/cfg_hmi.hpp
	hmi/ui/ui_main_window.hpp
	data/config/cfg_hmi.cpp
	hmi/replayer_hmi.cpp
	hmi/node_hmi.cpp
Commit fa11c4446740683c96cbcab64ac4240c527c5764 by 5081703.cr fix: car wbca bug.
	algorithm/wbca/wbca_manager.cpp
Commit 12f584c534b9064b86c546817558c8fa86cbc5e0 by 5081703.cr fix: init_wbca_manger.
	tasks/plan/path_optimization_task.cpp
Commit e28867d93bf2f19ef78093118b1e3cbc4ca62e0c by wuyanjun110 fix:参考线拼接的bug
	tasks/other_tasks/stitch_path_to_reference_line.cpp
	tasks/other_tasks/stitch_path_to_reference_line.hpp
Commit 3b8f77f9090632fc0fd1dacfd13106214cb49711 by wuyanjun110 fix:修复路径冲突判断的bug
	data/vehicle/request_routing_data.cpp
Commit 7bfec7e3fed01d5e390755e5c5c8837b1023f8a1 by wuyanjun110 fix:参考线拼接的bug
	tasks/other_tasks/stitch_path_to_reference_line.hpp
	tasks/other_tasks/stitch_path_to_reference_line.cpp
Commit 0ec0ef1659d29830f3f4f22f795d31f3cd304a03 by wuyanjun110 fix:修复路径冲突判断的bug
	data/vehicle/request_routing_data.cpp
Commit ce410acd64716c1808c3be627043cca32afb794b by 5081703.cr fix: path_optimization_task for debug_mode.
	algorithm/wbca/wbca_manager.hpp
	tasks/plan/path_optimization_task.cpp
	tasks/plan/path_optimization_task.hpp
	algorithm/wbca/wbca_manager.cpp
Commit 0bc7c948fd5a7727586b14ebd3dc606cf2b05c30 by wuyanjun110 fix:修复park场景不变道的bug
	scenarios/parking_scenario/parking_move_stage.cpp
	scenarios/parking_scenario/parking_lane_change_stage.cpp
Commit 8dea1c17c5e18386e0f8095ab68dc85b0711a5fa by wuyanjun110 fix:修复park场景不变道的bug
	scenarios/parking_scenario/parking_lane_change_stage.cpp
	scenarios/parking_scenario/parking_move_stage.cpp
Commit c4be06e7cecbc61604c701f6cd3e111263792061 by wuyanjun110 fix:修复回放变道路径不显示的bug
	replayer/replayer_data_process/replayer_data_process.cpp
Commit ac5908bc351d39009e3112a6cfa5a7422d9940f5 by wuyanjun110 fix:修复回放变道路径不显示的bug
	replayer/replayer_data_process/replayer_data_process.cpp
Commit bc04697722784f193073add3e16c3a2ade51abec by 5081703.cr fix: wbca weight_deviation=10.0
	data/config/cfg_lat_plan.cpp
Commit f74b894968cca5aec73de52d68c37672062888b2 by 5081703.cr fix: wbca result in debug mode
	tasks/plan/path_optimization_task.cpp
Commit 72ad8960e6c6f8d1aca68603da56cd83fc055f51 by 5081703.cr fix: wbca failed if ptr_esdf_map == null
	tasks/plan/path_optimization_task.cpp
	hmi/draw/draw_path_boundary.cpp
Commit 69dbf45bc60e872262eb049fb7ea776bb8de5c18 by 5081703.cr fix: wbca failed if ptr_esdf_map == null
	tasks/plan/path_optimization_task.cpp
	hmi/draw/draw_path_boundary.cpp
Commit a5229028287b349f9cfb9a1a6fb0978127c5f6dd by ljl fix: init tt curve manager
	ssep/coarse_search/preprocessed_curves/tt_curve_manager.cc
	data/config/cfg_ssep.cpp
Commit 1993ee83d1124c9031631298d4c47007c850b07b by ljl fix: yp low bay classify
	data/ssep/into_yard_junction_ec.cpp
Commit 1ce65d220a198592cacefbe51cd7d1019f028a0b by ljl fix: close search base log
	data/ssep/base_stop_line_filter.cpp
Commit 3b0344d5735aa7484c10bf26486026f086c1f831 by 5081703.cr fix: using stacker_crane polygon in drivable passage.
	data/boundary/driving_corridor.cpp
Commit 2f7cbe4c6f26d3571596642eb49af6bdceb54020 by 5081703.cr fix: draw path_bd in guide_line_info.
	hmi/draw/draw_path_boundary.cpp
Commit 4a0245f26eff3321d137394c2496a1b99ff42ab7 by 5081703.cr fix: truck/car params.
	config/config_truck/plan.yaml
	config/config_car/scenario.yaml
Commit 5a738fa2e2855218890572fc64fcd8f94e220bea by wuyanjun110 fix:优化wcba 开线程参数传递修改为copy的方式
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/occupancy_grid_map/data_render.hpp
Commit 2a530927f9431fa138237bedf3851257281de7f1 by wuyanjun110 fix:绘制 guideline 相关的边界数据
	hmi/draw/draw_path_boundary.cpp
Commit 965c57088be9e0b226a2432b83ca14574a2cc8df by wuyanjun110 fix:pjpo 求解失败的bug
	tasks/deciders/lat_decider/path_bounds_decider.cpp
Commit d991b74e3bb341acd517c09cf40bb60baff7d57d by wuyanjun110 feat:偏离限速的bug
	data/boundary/driving_corridor.cpp
	tasks/deciders/lat_decider/path_bounds_decider.cpp
Commit a504a90d25e0c68aec86eaaf31c3a1aa316a53c1 by 5081703.cr fix: copy wbca_data in debug_mode.
	data/wbca/wbca_data.hpp
	tasks/plan/path_optimization_task.cpp
	data/wbca/wbca_data.cpp
Commit d8523e7b96d7b31e940718ff0a6beb16119ef1f1 by wuyanjun110 fix:修复junction overlap 前驱 后继 获取的bug
	data/map/pnc_map/pnc_map_path.cpp
Commit 1fbf24cbe4c079c6559ba157428a166195148f79 by 5081703.cr fix: copy wbca_data in debug_mode.
	data/wbca/wbca_data.hpp
	data/wbca/wbca_data.cpp
	tasks/plan/path_optimization_task.cpp
Commit 4195576ea7a85e04a85ff8aaf75181f7191f2f55 by tangwenqing Extract line segments from ogm and use og line obstacles in ssep.
	data/ssep/ssep_activation.cpp
	ssep/common/def/ssep_input.hpp
	ssep/main_test/main_ssep_input.cc
	data/plan_frame.hpp
	hmi/draw/draw_contour.cpp
	hmi/draw/draw_perception.cpp
	plan/prepare/prepare_ogm.cpp
	data/ssep/field_junction_ec.cpp
	data/obstacle/ogm.hpp
	ssep/ssep_planner.cc
	plan/prepare/prepare_ogm.hpp
	hmi/draw/draw_contour.hpp
	ssep/common/utils/plotter.hpp
	data/wbca/wbca_data.cpp
	ssep/coarse_search/hybrid_a_star_tt.cc
	data/ssep/ssep_util.hpp
	data/ssep/ssep_util.cpp
	ssep/ssep_planner.h
	ssep/coarse_search/hybrid_a_star_car.cc
	ssep/coarse_search/hybrid_a_star_imv.cc
Commit 26b3abffcba375e3f28edf3fdc5af1444120b009 by tangwenqing SSEP line obstacle适配前港
	data/ssep/reverse_ec.hpp
	data/ssep/reverse_ec.cpp
	data/ssep/forward_ec.hpp
	data/ssep/field_junction_ec.cpp
	data/ssep/forward_ec.cpp
Commit e235a4de44c8a159a272eac0fa5de97eda783ad4 by tangwenqing resolve conflicts
	data/plan_frame.hpp
Commit e96e598d0e13995b05714017e0cf27b3ce4fa124 by wuyanjun110 fix:pnc map path 中drivable l 计算的bug
	data/map/pnc_map/pnc_map_path.cpp
Commit c0e247640dcafd23f7e0227728f9993d00da5d1a by 5081703.cr fix: road boundary opt.
	data/boundary/road_boundary.cpp
	data/plan/guide_line_base.cpp
Commit b5dfee1868bb521d316dc95ec7d3e04d3bdd5690 by 5081703.cr fix: shift_l compensation bug.
	data/boundary/road_boundary.cpp
Commit 17eae91f764dac1b6a41af05b76cc8fc3013dbee by 5081703.cr fix: wbca_opt debug mode.
	hmi/draw/draw_wbca_rlt.cpp
	tasks/plan/path_optimization_task.cpp
Commit e5ac70e5ed9bfd3b2eab25990926b11b1aee7384 by 5081703.cr fix: params for yangpu
	config/config_truck/plan.yaml
Commit d07df57e0eb835916478eaef1dc7ce913f8aae8b by wuyanjun110 fix:修复变道准备阶段road boundary的bug以及路径条跳变的bug
	data/boundary/road_boundary.cpp
	data/boundary/road_boundary.hpp
	scenarios/lane_change_scenario/lane_change_prepare_stage.cpp
	tasks/other_tasks/stitch_path_data_to_path.hpp
	tasks/other_tasks/create_road_boundary.cpp
	tasks/plan/path_optimization_task.cpp
	replayer/replayer_data_process/replayer_data_process.cpp
	hmi/draw/draw_path_boundary.cpp
	tasks/other_tasks/stitch_path_data_to_path.cpp
Commit 32500f6f01319b2ef2d319ce7817bb3a5ea27cc6 by ljl fix: open space down intersect search failed
	data/ssep/open_space_ec.cpp
Commit 2df53abec2ab611eff39d22c7ae09e6e35fbf728 by wuyanjun110 fix:修复快照内存泄漏的bug
	data/map/envelop/map_envelops.cpp
	data/map/reference/reference_road_section.cpp
	algorithm/vehicle_model/kinematic_bicycle_model.cpp
Commit 2669f68d387692704c2b17f64663f7d678c29e2b by ljl fix: open space down intersect search failed
	data/ssep/open_space_ec.cpp
Commit 5eed974f1b08050e6412dd1c15f0e054b48d86fa by ljl fix: stitch back up ssep pathfor open space
	data/plan/ssep_data.cpp
	tasks/other_tasks/stitch_path_to_reference_line.cpp
Commit 90b6c41f4595ee7fe8d35135e09b06d38ced53c1 by tangwenqing improve latency of line segment extractor
	common/ogm_line_segment_extractor/nanoflann.hpp
	common/ogm_line_segment_extractor/dbscan.hpp
	common/ogm_line_segment_extractor/line_segment_extractor.hpp
	plan/prepare/prepare_ogm.hpp
	common/ogm_line_segment_extractor/dbscan.cpp
	common/ogm_line_segment_extractor/line_segment_extractor.cpp
	plan/prepare/prepare_ogm.cpp
	hmi/draw/draw_perception.cpp
Commit f390c77e018098b25b09cfeb146492fb0f81a9d1 by wuyanjun110 fix:修复云端障碍物显示的bug
	hmi/draw/draw_intersection.cpp
	data/vehicle/cloud_pnc_config.cpp
Commit 01c4d17da576ca74830b34b9a58cc524e5f4be42 by wuyanjun110 feat:ogm lines replyaer 处理优化，并且添加功能开关
	replayer/replayer_data_process/replayer_data_process.cpp
	plan/prepare/prepare_ogm.cpp
	data/config/cfg_func_sw.hpp
	replayer/replayer_data_process/replayer_data_process.hpp
	data/config/cfg_func_sw.cpp
	plan/prepare/prepare_ogm.hpp
Commit 1ea7fe9d4f2f16042221da43e479716d9d1a6e6b by 5081703.cr fix: wbca velocity reference optimization.
	algorithm/wbca/linear_velocity_generator.cpp
	algorithm/wbca/linear_velocity_generator.hpp
	algorithm/wbca/path_optimization/car_path_optimization.cpp
	data/wbca/wbca_data.hpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/wbca_manager.hpp
Commit ee1cc8b7567f2fe9672e1c8f0af9d9c792be4786 by 5081703.cr fix: road boundary opt.
	data/boundary/road_boundary.cpp
	data/plan/guide_line_base.cpp
Commit 5be440f93e7e7039c69de97d67ced6c3cff5eada by 5081703.cr fix: shift_l compensation bug.
	data/boundary/road_boundary.cpp
Commit 1bb67970d917d54288ce589b17b88f1613d24c61 by wuyanjun110 fix:修复驾驶走廊不现实的bug
	hmi/draw/draw_path_boundary.cpp
Commit cf2df9c75657d841acc0244b7cd6037c44d87d9a by 5081703.cr fix: ignore IMV and C2V obstacle when build_ogm
	data/boundary/driving_corridor.cpp
Commit 975f5af35749a359eb75cff3e8a7dcd4383c9364 by 5081703.cr fix: imv parameters.
	config/config_imv/plan.yaml
	config/config_imv/scenario.yaml
Commit 5820b812ffe5ed256bbdafc37e00a846e0091b9e by 5081703.cr fix: draw path boundary.
	hmi/draw/draw_path_boundary.cpp
Commit ac85a2c70602150c0c36aafc7bfd61cd22dd164d by ljl fix: 1.qg calib param 2.add extract yard grid info
	data/config/cfg_region.cpp
	data/vehicle/yard_occupy_info.cpp
	data/vehicle/yard_occupy_info.hpp
	replayer/replayer_data_process/replayer_data_extraction.cpp
Commit 4b71eab7a509abe41326ffcf34f7fa8b9c6e5171 by ljl fix: xl park search  faild
	data/ssep/forward_ec.cpp
Commit dc9aa37cc682bedf5447ab88dfc1a6b7ef14ca61 by 5081703.cr fix: start_pos bug
	tasks/plan/path_optimization_task.cpp
Commit 79650728ce937d5e5fddd6195fb1f0c8d8f5a446 by 5081703.cr fix: velocity generator for imv.
	algorithm/wbca/imv_wbca_manager.hpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	algorithm/wbca/wbca_manager.hpp
	algorithm/wbca/imv_wbca_manager.cpp
Commit 2545a134c93ed15c5a496c8b72ecbd9a078847d9 by 5081703.cr fix: lka for single side lane points.
	sink/ros_sink_ctrl_reference.cpp
	data/boundary/road_boundary.cpp
	data/vehicle/lane_detection.cpp
	source/ros_source_lane_pts.cpp
	data/vehicle/lane_detection.hpp
Commit 6acf4ebbaeb43a0a75d70d85babf71836410cc90 by 5081703.cr fix: update bound_width for yangpu
	config/config_truck/plan.yaml
Commit 4a00cb12850f158e81578f838db3dbdb42fa4eb0 by wuyanjun110 feat:天津是否聚类og点的开关
	data/config/cfg_func_sw.cpp
	plan/prepare/prepare_ogm.cpp
Commit e7b7b1a355de14e2f4f970d58088799998682776 by wuyanjun110 fix:参考线拼接的bug
	tasks/other_tasks/stitch_path_to_reference_line.cpp
	data/boundary/road_boundary.cpp
	tasks/plan/smooth_task.cpp
Commit 73f1da507374e1949b257f362719b85f82aa7b16 by wuyanjun110 fix:平滑的bug
	algorithm/plan/path_generator.cpp
	algorithm/plan/smooth.cpp
Commit 70aea811ce734e63bc63f72e5160c532e79d537b by wuyanjun110 refactor:优化路径拼接
	tasks/other_tasks/stitch_path_data_to_path.cpp
	tasks/other_tasks/stitch_path_data_to_path.hpp
Commit 1cc13f473a2f6d32a2e651b43074707dede9a59b by wuyanjun110 fix:删除日志打印
	tasks/other_tasks/stitch_path_to_reference_line.cpp
Commit 16b28aefda0272d6cef9c51423dd5eaa09eadb3c by wuyanjun110 fix:修复崩溃的bug
	data/plan/ssep_data.cpp
Commit 1929952142f5b8236bbc1de7d33e0bec26e0fd91 by tangwenqing 修复ogm线段提取时访问越界的问题
	plan/prepare/prepare_ogm.cpp
Commit f0c88032eb166bbc2444e80b2b2ecc20b8a48142 by 5081703.cr fix: sweep area in bend.
	algorithm/plan/sweep_area.cpp
Commit cc932b9d1bf13886408713f33eb1e7c3f7f2f20d by 5081703.cr fix: boundary expanding bug.
	data/boundary/road_boundary.cpp
Commit c8f0178037acbd292c7d918f919462181538a69e by wuyanjun110 fix:使用ssep路径过程中,无法打点的bug
	data/app/cmd/cmd_set_target.cpp
	plan/prepare/prepare_status.cpp
Commit 7c2bde124477d530bdec8afb36100245836335f0 by wuyanjun110 fix:修复imv wcba 求解成功后,is_success不赋值的bug
	algorithm/wbca/imv_wbca_manager.cpp
Commit cc85a94295077628dbdca1f85558520a80151f9d by 5081703.cr fix: wbca process_debug bug.
	tasks/plan/path_optimization_task.cpp
Commit adefc13b18df73385b8f8458b557f38ae093eb4f by 5081703.cr fix: wbca process_debug bug.
	tasks/plan/path_optimization_task.cpp
Commit 51220a6b11e5568d239b0c1d46ce26f60c761f94 by ljl fix: reverse search truck
	hmi/draw/draw_ssep.cpp
	data/ssep/reverse_ec.cpp
	hmi/draw/draw_ssep.hpp
	data/ssep/forward_ec.cpp
Commit f35e77b43faf1d9ed4371faabc3ce3ef8c99da6e by 5081703.cr fix: wbca debug mode bug.
	tasks/plan/path_optimization_task.cpp
Commit 98a553f769cf904c2890da898811ca72b6f88f5f by 5081703.cr fix: wbca debug mode bug.
	tasks/plan/path_optimization_task.cpp
Commit 6d09752b5b32e9f776855064cfdb82edb37775e9 by 5081703.cr fix: vehicle_type error in wbca..
	tasks/plan/path_optimization_task.cpp
Commit 496d65846c847788259217de3e3e0b1a24dc261c by 5081703.cr fix: vehicle_type error in wbca..
	tasks/plan/path_optimization_task.cpp
Commit 43d3c4c50a4de11b77d3b8484ed6e1ea51c52889 by 5081703.cr fix: msg error.
	data/app/app_data.cpp
Commit 5be6937d50405caf4131f7791cfc4162138cff2c by wuyanjun110 fix:修复多线程竞争导致的崩溃bug
	algorithm/wbca/occupancy_grid_map/data_render.hpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	tasks/plan/path_optimization_task.cpp
Commit 8162863546fc7da1a99bc8a17207666858df0f22 by wuyanjun110 fix:优化扩展岸桥禁停
	data/constrain/block_data.cpp
Commit f29661fcb796dfece6c76a59ee8db75676616798 by wuyanjun110 fix:优化扩展岸桥禁停2
	hmi/draw/draw_perception.cpp
	data/config/cfg_long_plan.cpp
	data/config/cfg_long_plan.hpp
Commit d61aa2ab6ba9e60f3bce7fe8e9d3d9c579340f76 by wuyanjun110 fix:代码格式
	data/constrain/block_data.cpp
Commit 29af2072a3971c5cf2f2437f24099b537b607c45 by wuyanjun110 fix:优化扩展岸桥禁停
	data/constrain/block_data.cpp
Commit d9ae1564ae8b344bc238c265e446fe0c37aa1709 by wuyanjun110 fix:优化扩展岸桥禁停2
	hmi/draw/draw_perception.cpp
	data/config/cfg_long_plan.cpp
	data/config/cfg_long_plan.hpp
Commit 71b66b58b8c27bc043c8726ed679ebd4f255daba by 5081703.cr fix: replayer bug.
	hmi/draw/draw_perception.cpp
	hmi/draw/draw_wbca_rlt.cpp
	replayer/replayer_data_process/replayer_data_process.cpp
Commit 3869d608919a7b62d9438fa48b2c0b1475e63fc1 by wuyanjun110 fix:修复扩展引桥， 显示不对的bug
	hmi/draw/draw_perception.cpp
Commit a713ad7789ccfa7445b4d39ed2eea3948aa5cd31 by wuyanjun110 fix:修复扩展引桥， 显示不对的bug
	hmi/draw/draw_perception.cpp
Commit 73229b7928cf5844845e3e10d56888e974b5753f by wuyanjun110 feat:减少聚类停车
	data/obstacle/occupy_grid.cpp
Commit ccc6c59aab331efb4655855bae74d24a71baf011 by tangwenqing Add skeleton and samplers for geometric searcher
	ssep/coarse_search/geometric_searcher/evaluator/evaluator.h
	ssep/coarse_search/geometric_searcher/motion_primitive_sampler/rs_path_motion_primitive_sampler.cc
	ssep/ssep_planner.cc
	ssep/coarse_search/geometric_searcher/barrier_detector.cc
	ssep/common/utils/common.hpp
	ssep/CMakeLists.txt
	ssep/coarse_search/geometric_searcher/motion_primitive.h
	ssep/coarse_search/geometric_searcher/geometric_search_visualizer.cc
	ssep/coarse_search/geometric_searcher/candidate_yard_entry_states_generator.h
	ssep/coarse_search/geometric_searcher/evaluator/curvature_cost_computer.h
	ssep/coarse_search/geometric_searcher/motion_primitive_sampler/straight_line_motion_primitive_sampler.h
	ssep/coarse_search/geometric_searcher/motion_primitive_sampler/reeds_shepp_path.h
	ssep/coarse_search/geometric_searcher/motion_primitive_sampler/reeds_shepp_path.cc
	ssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.h
	ssep/coarse_search/geometric_searcher/dbscan.h
	ssep/coarse_search/geometric_searcher/motion_primitive_sampler/motion_primitive_sampler.h
	ssep/coarse_search/geometric_searcher/data_structure.h
	ssep/ogm_map/ogm.h
	ssep/coarse_search/geometric_searcher/motion_primitive_sampler/const_curvature_motion_primitive_sampler.cc
	ssep/coarse_search/geometric_searcher/motion_primitive_sampler/const_curvature_motion_primitive_sampler.h
	ssep/coarse_search/geometric_searcher/motion_primitive_sampler/rs_path_motion_primitive_sampler.h
	ssep/coarse_search/geometric_searcher/motion_primitive_sampler/composed_motion_primitive_sampler.h
	ssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.cc
	ssep/coarse_search/geometric_searcher/evaluator/path_length_cost_computer.h
	ssep/coarse_search/geometric_searcher/search_graph.h
	ssep/coarse_search/geometric_searcher/evaluator/collision_cost_computer.h
	ssep/coarse_search/geometric_searcher/geometric_search_visualizer.h
	ssep/coarse_search/hybrid_a_star.hpp
	ssep/coarse_search/geometric_searcher/barrier_detector.h
	ssep/coarse_search/geometric_searcher/evaluator/cost_feature_computer.h
	ssep/coarse_search/geometric_searcher/motion_primitive_sampler/straight_line_motion_primitive_sampler.cc
	ssep/coarse_search/geometric_searcher/candidate_yard_entry_states_generator.cc
Commit 7251eaf5c75450644fdd6416a6bc4049243052d9 by tangwenqing tmp commit
	ssep/coarse_search/hybrid_a_star.hpp
	ssep/conf/ssep_preprocess.yaml
	ssep/ssep_planner.cc
Commit 2b6196a7036a7bd072acd62a10d4458be395478e by 5081703.cr fix: lka deviation.
	data/ctrl/ctrl_data.hpp
	config/config_truck/scenario.yaml
	data/ctrl/ctrl_data.cpp
	hmi/widget/diagnose.cpp
	data/config/cfg_lat_plan.cpp
	sink/ros_sink_ctrl_reference.hpp
	sink/ros_sink_ctrl_reference.cpp
	data/config/cfg_lat_plan.hpp
Commit 541dd3be75570473970c387c3f749ad683c0fb58 by tangwenqing add topology analysis
	ssep/coarse_search/geometric_searcher/barrier_detector.cc
	ssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.cc
	ssep/coarse_search/geometric_searcher/topology_analysis/voronoi_graph_visualizer.cc
	ssep/coarse_search/geometric_searcher/topology_analysis/voronoi_graph_builder.cc
	ssep/coarse_search/geometric_searcher/topology_analysis/voronoi_thinner.cc
	ssep/coarse_search/geometric_searcher/topology_analysis/voronoi_thinner.h
	ssep/coarse_search/geometric_searcher/topology_analysis/voronoi_graph_visualizer.h
	ssep/coarse_search/geometric_searcher/barrier_detector.h
	ssep/ogm_map/ogm.h
	ssep/coarse_search/geometric_searcher/topology_analysis/voronoi_graph_builder.h
Commit 53b52e490872098e1278e4c271e3549c8c132cf8 by tangwenqing fix sl-projection-map crashing issue
	ssep/influence_map/sl_projection_map.cc
Commit 3a880b8f94321af34742418d6cf41af7591c3d7e by wuyanjun110 fix:参考线哦拼接优化
	data/plan/smooth_data.cpp
Commit ebf471b39bae3d5622bfe966c537bc7714e1bb81 by 5081703.cr fix: pnc_map_path bug.
	data/map/pnc_map/pnc_map_path.cpp
Commit 25b6fbcb75e3c79f6942fa8f256d0eabe7eeeb90 by tangwenqing Complete geometric search V1.0
	ssep/common/math/dbscan.cc
	ssep/coarse_search/geometric_searcher/motion_primitive_sampler/reeds_shepp_path.cc
	ssep/coarse_search/geometric_searcher/geometric_search_visualizer.h
	ssep/coarse_search/geometric_searcher/topology_analysis/voronoi_graph_builder.h
	ssep/common/math/nanoflann.hpp
	ssep/conf/ssep_preprocess.yaml
	ssep/ssep_planner.cc
	ssep/coarse_search/geometric_searcher/barrier_detector.cc
	ssep/coarse_search/hybrid_a_star.hpp
	ssep/coarse_search/geometric_searcher/evaluator/path_length_cost_computer.h
	ssep/coarse_search/geometric_searcher/motion_primitive_sampler/rs_path_motion_primitive_sampler.cc
	ssep/coarse_search/geometric_searcher/topology_analysis/voronoi_thinner.cc
	ssep/coarse_search/geometric_searcher/evaluator/evaluator.h
	ssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.cc
	ssep/coarse_search/geometric_searcher/topology_analysis/voronoi_graph_builder.cc
	ssep/coarse_search/geometric_searcher/dbscan.h
	ssep/coarse_search/geometric_searcher/evaluator/dir_switching_cost_computer.h
	ssep/coarse_search/geometric_searcher/geometric_search_visualizer.cc
	ssep/coarse_search/geometric_searcher/motion_primitive_sampler/rs_path_motion_primitive_sampler.h
	ssep/coarse_search/geometric_searcher/topology_analysis/voronoi_thinner.h
	ssep/coarse_search/geometric_searcher/motion_primitive_sampler/straight_line_motion_primitive_sampler.cc
	ssep/coarse_search/geometric_searcher/motion_primitive.h
	ssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.h
	ssep/coarse_search/geometric_searcher/motion_primitive_sampler/const_curvature_motion_primitive_sampler.cc
	ssep/coarse_search/geometric_searcher/data_structure.h
	ssep/coarse_search/geometric_searcher/search_graph.h
	ssep/common/math/dbscan.h
	ssep/coarse_search/geometric_searcher/evaluator/collision_cost_computer.h
Commit e04ad7ab35d2570f40a7d38afaeb8409b906f062 by ljl fix: add dg search simulator
	ssep/main_test/main_test_car.cc
	ssep/param_loader/yaml_loader.cc
	ssep/main_test/main_test_dg.cc
Commit 95e2b57c9679a1db8252d652a48f32b3def4d2f6 by ljl fix: ssep cmakelist
	ssep/CMakeLists.txt
Commit 04f449a517521d3f962024b46fcc07d54b6b85fc by ljl fix: ssep yaml
	ssep/conf/ssep_tt.yaml
Commit 4ef8006025a42f2c77c5a3460e98b2d1fa05b7c6 by wuyanjun110 fix:锁站不走中间的bug
	tasks/deciders/lat_decider/path_bounds_decider.cpp
Commit fe71e3edd8dda25b782b2f5f0ab615561fab80f4 by wuyanjun110 fix:修复倒车规划的bug
	data/vehicle/trailer_state.cpp
	data/dp_poly_path/dp_road_graph.cpp
	tasks/deciders/lat_decider/path_bounds_decider.cpp
	tasks/plan/trailer_pjpo_task.cpp
Commit c8c4df418a435e976248049aa1ecbce2672465b5 by wuyanjun110 fix:1.当前车道识别错误的bug2.当时车道识别错误后，后继车道连接跳变的bug
	data/map/reference/reference_road_section.cpp
Commit 0719b38131cbcb0923444726b5c9806bbf6a09d8 by wuyanjun110 feat:直线步进的时候,添加忽略安全的逻辑
	data/other/flow_control.cpp
Commit 87224332425b874a22b34543a6737f743d552eba by wuyanjun110 feat:直线步进的时候,添加忽略安全的逻辑
	data/other/flow_control.cpp
Commit 18f107868efe0e04c877a2742f93d485c6f80678 by wuyanjun110 fix:参考线构建的bug
	data/map/reference/reference_road_section.cpp
Commit a34162178e09256519c0ccb6481a60e40c26c91d by wuyanjun110 fix:参考线构建的bug
	data/map/reference/reference_road_section.cpp
Commit 21726db4d24a6ed37ec19eb3f9bbf16dc06e9927 by 5081703.cr fix: CHECK(var_size_ <= SDLQ_MAX_VAR_SIZE)
	algorithm/decision/risk_aware_contingency_planning.cpp
Commit 5a1d145f29dc751d6a2c295244e0468328519d5b by 5081703.cr fix: CHECK(var_size_ <= SDLQ_MAX_VAR_SIZE)
	algorithm/decision/risk_aware_contingency_planning.cpp
Commit d6b4a1340b956c1ecabd2097d0ef9a219c8227ce by wuyanjun110 fix:倒车场景切换的bug
	data/scenario/scenario_planner_bt.cpp
	data/ssep/reverse_ec.cpp
Commit 301102ab9de5c8b1f7244f69b613c85eb908a504 by wuyanjun110 fix:调整安全相关的逻辑
	data/other/flow_control.cpp
Commit c5120add206a28fb6f7f7536e461622dbc6f1be6 by wuyanjun110 refeat:优化终点计算，路径方向切换， guide line 拼接
	data/lattice/path_time_graph.cpp
	hmi/widget/distance.hpp
	hmi/draw/draw_ssep.cpp
	data/obstacle/obstacle.cpp
	data/constrain/block_data.cpp
	data/scenario/scenario_region_condition.cpp
	data/plan/ssep_data.cpp
	data/common/path.cpp
	data/config/cfg_long_plan.cpp
	data/plan/guide_line_base.cpp
	tasks/deciders/other_decider/stop_decider.cpp
	data/map/reference/center_line.cpp
	data/map/reference/reference_road_section.cpp
	ssep/coarse_search/geometric_searcher/evaluator/evaluator.h
	data/boundary/road_boundary.cpp
	plan/prepare/prepare_destination.hpp
	data/plan/switch_data.cpp
	data/plan/path_direction_data.cpp
	data/map/pnc_map/routing_extension/routing_data.hpp
	data/constrain/pnc_junction.cpp
	data/ssep/into_yard_junction_ec.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
	data/other/flow_control.cpp
	data/vehicle/vehicle_destination.hpp
	data/vehicle/vehicle_destination.cpp
	data/plan/guide_line.cpp
	plan/prepare/prepare_offset.cpp
	data/constrain/disable_stop_range.cpp
	hmi/widget/distance.cpp
	sink/ros_sink_ctrl_reference.cpp
	plan/prepare/prepare_status.cpp
	data/map/pnc_map/routing_extension/routing_data.cpp
	plan/prepare/prepare_destination.cpp
	ssep/coarse_search/geometric_searcher/evaluator/path_length_cost_computer.h
Commit 32572e0a5cf080be0a5f9b0166321401a2c65b60 by ljl fix: add ssep calib param for reverse
	data/ssep/reverse_ec.cpp
	data/ssep/reverse_ec.hpp
Commit d05037e9dce6fb6573a2b9b5a356e4e586cf7d69 by wuyanjun110 feat:优化bug
	data/app/app_data.cpp
	data/boundary/driving_corridor.cpp
	hmi/draw/draw_ssep_virtual_obs.cpp
	data/plan/guide_line.cpp
	data/plan/ssep_data.hpp
	data/vehicle/vehicle_destination.cpp
	ssep/common/def/type_definition.h
	tasks/deciders/long_decider/constrain_decider.cpp
	data/boundary/road_boundary.cpp
	tasks/deciders/long_decider/constrain_decider.hpp
	replayer/replayer_data_process/replayer_data_process.cpp
Commit 9121f76fcc4b06f77cd87a3ca20d44c27d32a95a by 5081703.cr fix: clear steer for backward align.
	sink/ros_sink_ctrl_reference.hpp
	sink/ros_sink_ctrl_reference.cpp
Commit e35f7836964a4cd866b80f64580fd07ae8e83473 by 5081703.cr fix: add use_func_clear_steer_for_backward_align
	data/config/cfg_func_sw.hpp
	sink/ros_sink_ctrl_reference.cpp
	data/config/cfg_func_sw.cpp
Commit fea22624923f5296b62fe1493ec4ca84afbff75c by wuyanjun110 fix:修复终点距离计算 和 引导线拼接的bug
	data/plan/guide_line.cpp
	data/vehicle/vehicle_destination.cpp
Commit 79f0794aabf3f07daee30eb2f180c9fe81858767 by tangwenqing Improve the latency of reading TTCurveTrajectoryLib.
	ssep/coarse_search/preprocessed_curves/tt_curve_manager.cc
	ssep/coarse_search/preprocessed_curves/trajectories_reader.cc
	ssep/coarse_search/preprocessed_curves/trajectories_reader.h
Commit dc472f3423d6369cc94537666cdc9e37d20f23e3 by tangwenqing Decrease the "max_safety_buffer".
	ssep/coarse_search/hybrid_a_star_car.h
Commit 77ec5f12b4fd8b0627d8cd05c463f03f296cfb91 by wuyanjun110 feat:调整cfg static
	data/app/cmd/cmd_set_target.cpp
	data/ssep/reverse_ec.cpp
	data/constrain/block_data.cpp
	data/constrain/longitude_constrain.cpp
	data/map/reference/center_line.cpp
	data/ssep/into_yard_junction_ec.cpp
	tasks/deciders/lat_decider/switching_bounds_decider.cpp
	data/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp
	data/ssep/seaside_junction_ec.cpp
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
	hmi/widget/diagnose.cpp
	data/ssep/ssep_ec.hpp
	algorithm/wbca/wbca_manager.cpp
	data/app/fsm/task_fsm/task_station_fsm/task_station_fsm.cpp
	data/lattice/trajectory_combiner.cpp
	algorithm/decision/semantic_set_transformation_2.cpp
	tasks/deciders/lat_decider/wbca_path_boundary_decider.cpp
	data/plan/predict_path.cpp
	tasks/deciders/lat_decider/path_bounds_decider.cpp
	tasks/deciders/other_decider/stop_decider.cpp
	common/util/crash_helper.cpp
	data/constrain/pnc_junction.cpp
	data/common/trajectory.cpp
	data/app/fsm/task_done_verification.cpp
	hmi/draw/draw_ego.cpp
	plan/prepare/prepare_destination.cpp
	data/plan/ssep_data.cpp
	data/ssep/ssep_ec.cpp
	data/wbca/grid_map/esdf_map.cpp
	data/dp_poly_path/dp_road_graph.cpp
	data/obstacle/ogm.cpp
	tasks/plan/path_optimization_task.cpp
	plan/prepare/prepare_status.cpp
	data/config/cfg_static.cpp
	data/plan/path_direction_data.cpp
	algorithm/decision/lateral_decision.cpp
	tasks/plan/trailer_pjpo_task.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
	data/ssep/field_junction_ec.cpp
	data/app/cmd/cmd_reversing.cpp
	data/vehicle/veh_his_states.cpp
	data/config/cfg_long_plan.cpp
	sink/ros_sink_trailer_trajectory.cpp
	data/ssep/bridge_junction_ec.cpp
	scenarios/bulkload_scenario/bulkload_ssep_backward_stage.cpp
	sink/ros_sink_trailer_path.cpp
	hmi/widget/dynamic.cpp
	data/map/pnc_map/routing_extension/routing_data.cpp
	data/ssep/forward_ec.cpp
	hmi/draw/draw_path_boundary.cpp
	data/lattice/collision_checker.cpp
	hmi/draw/draw_path.cpp
	data/ssep/open_space_ec.cpp
	source/ros_source_trailer_posture.cpp
	algorithm/plan/pjpo.cpp
	data/vehicle/lock_station_data.cpp
	plan/prepare/prepare_state.cpp
	data/obstacle/obstacle_decider_attr.cpp
	data/constrain/temporary_stop_data.cpp
	data/ssep/out_yard_junction_ec.cpp
	data/vehicle/vehicle_state.cpp
	hmi/draw/draw_uradar.cpp
	algorithm/wbca/truck_wbca_manager.cpp
	tasks/other_tasks/stitch_path_data_to_path.cpp
	data/plan/start_point_data.cpp
	data/scenario/scenario_region_condition.cpp
	algorithm/plan/trajectories_collistion_detection.cpp
	algorithm/plan/prediction_obstacle_filter.cpp
	sink/ros_sink_trajectory_for_prediction.cpp
	data/lattice/path_time_graph.cpp
	data/scenario/scenario_planner_condition.cpp
	replayer/replayer_data_process/replayer_data_process.cpp
	data/plan/path_data.cpp
	data/plan/reference_line_info.cpp
	algorithm/plan/ego_expanding.cpp
	data/plan/switch_data.cpp
	hmi/draw/draw_constrain.cpp
	data/plan/smooth_data.cpp
	data/vehicle/request_routing_data.cpp
	scenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
	data/config/cfg_static.hpp
	data/other/flow_control.cpp
	sink/ros_sink_cloud_trajectory.cpp
	tasks/plan/lane_change_path_task.cpp
	data/scenario/scenario_planner_action.cpp
	data/ssep/ex_lane_change_ec.cpp
	algorithm/vehicle_model/truck_model.cpp
	hmi/draw/draw_wbca_rlt.cpp
	algorithm/plan/sweep_area.cpp
	tasks/deciders/lat_decider/lka_path_bounds_decider.cpp
	data/constrain/disable_stop_range.cpp
	data/plan/switch_helper.cpp
	tasks/deciders/other_decider/auto_startup_decider.cpp
	algorithm/plan/unprotected_junction_decider.cpp
	data/boundary/driving_corridor.cpp
	tasks/plan/pjpo_task.cpp
	data/semantic/vehicle.cpp
	data/boundary/road_boundary.cpp
	data/map/reference/bends_decider/bend_attr.cpp
	data/ssep/normal_junction_ec.cpp
	algorithm/plan/obstacle_risk_evaluation.cpp
	data/dp_poly_path/trajectory_cost.cpp
	algorithm/vehicle_model/kinematic_bicycle_model.cpp
Commit df6c32fd1483565dd641bb09ad968a290d7b2f64 by wuyanjun110 feat:代码合并的bug
	tasks/deciders/long_decider/constrain_decider.cpp
	data/plan/guide_line.cpp
	data/ssep/reverse_ec.cpp
	data/plan/path_direction_data.cpp
	data/vehicle/vehicle_destination.cpp
Commit 2fc98f941f13aa23af6900e9a749306c5d5a4598 by wuyanjun110 fix:不添加停止线的bug
	data/vehicle/vehicle_destination.cpp
Commit 793e33a744d5885217f33cda39bb7aaaf827b36c by tangwenqing 修复了SSep路径段数错误的问题，对前后方向切换时增加了路径延长策略，修复了结果不是最优路径的问题。。。
	ssep/coarse_search/geometric_searcher/motion_primitive_sampler/rs_path_motion_primitive_sampler.cc
	ssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.cc
	ssep/coarse_search/geometric_searcher/evaluator/collision_cost_computer.h
	ssep/coarse_search/geometric_searcher/motion_primitive_sampler/rs_path_motion_primitive_sampler.h
	ssep/coarse_search/geometric_searcher/evaluator/path_length_cost_computer.h
	ssep/coarse_search/hybrid_a_star_car.h
	ssep/coarse_search/geometric_searcher/evaluator/evaluator.h
	ssep/ssep_planner.cc
Commit ae13f28a629a4a7ffeb15332e7f8d24cbcc6de18 by wuyanjun110 feat:合并的bug
	data/ssep/reverse_ec.cpp
Commit 880cb520628527dbeaceefdbe7ce72897089ba42 by 5081703.cr fix: imv wbca parallel mode: dheading < 1deg
	tasks/plan/path_optimization_task.cpp
Commit 3172a93efe9d192a17c1cfb4286e7de4f5e87348 by wuyanjun110 feat:调整上下层的显示
	hmi/draw/draw_ego.cpp
Commit cfc2d9481bdba8b8d906ea39bf4872f04ca45afb by 5081703.cr fix: vehicle_type_->vehicle_type()
	sink/ros_sink_ctrl_reference.cpp
Commit aa3bccd696f53a12039c0d99cff7f7e58539c837 by wuyanjun110 feat:更新序列化
	data/config/cfg_static.hpp
Commit 7aae3ca15fc7066c210dca26f850f3dfd0128d50 by wuyanjun110 feat:调整上下层碰撞
	algorithm/plan/lattice.cpp
	data/lattice/collision_checker.hpp
	data/lattice/collision_checker.cpp
	data/lattice/path_time_graph.cpp
	data/plan/switch_data.cpp
Commit fd93df44201c9c46e6fcfd3c5c8a3d5d775b6749 by wuyanjun110 feat:调整上下层碰撞
	data/lattice/path_time_graph.cpp
Commit 5b77fc0e3965a0da2559a10db251fe640ee9e2dc by wuyanjun110 feat:调整CMakeLists
	CMakeLists.txt
Commit 68f97af3b5130c5bfd97ce6fae9145df86a69299 by wuyanjun110 fix:代码合并的bug
	algorithm/plan/lattice.cpp
	data/ssep/into_yard_junction_ec.cpp
	data/constrain/block_data.cpp
Commit 4e3b89d5e54dc0b2df8c5c0a19e6f3fe2fd01160 by wuyanjun110 fix:规范成员函数的名称
	algorithm/vehicle_model/kinematic_bicycle_model.cpp
	algorithm/plan/sweep_area.cpp
	hmi/draw/draw_constrain.cpp
	common/util/crash_helper.cpp
	sink/ros_sink_cloud_trajectory.cpp
	data/boundary/road_boundary.cpp
	hmi/draw/draw_ego.cpp
	data/semantic/vehicle.cpp
	data/lattice/collision_checker.cpp
	algorithm/wbca/truck_wbca_manager.cpp
	algorithm/plan/ego_expanding.cpp
	data/config/cfg_static.hpp
	data/config/cfg_static.cpp
	sink/ros_sink_trajectory_for_prediction.cpp
Commit 031678cb50ea58b10b2d14e027c86a97487b8a20 by wuyanjun110 feat:打开container size 的赋值
	data/app/app_data.cpp