Changes

Summary

1. fix: crash issue. (details)
2. fix: imv crab mode for large curvature path. (details)

Commit d4a01a6b9b401960b9d4602aad9588a91de43882 by 5081703.cr fix: crash issue.
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit e822ff2c13b01ed0d779494a8272a6a60e4e15d9 by 5081703.cr fix: imv crab mode for large curvature path.
	algorithm/wbca/imv_wbca_manager.cpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/wbca_helper.cpp
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.hpp