Console Output

Warning: A secret was passed to "httpRequest" using Groovy String interpolation, which is insecure.
		 Affected argument(s) used the following variable(s): [gitlabToken]
		 See https://jenkins.io/redirect/groovy-string-interpolation for details.
HttpMethod: GET
URL: http://159.27.226.4/api/v4/projects/8/repository/commits/920886276
Content-Type: application/json
PRIVATE-TOKEN: *****
Sending request to url: http://159.27.226.4/api/v4/projects/8/repository/commits/920886276
Response Code: HTTP/1.1 200 OK
Response: 
{"id":"92088627602c301bd21d516bfa3654bcba0cc818","short_id":"92088627","created_at":"2026-07-27T10:58:29.000+08:00","parent_ids":["d17b95b9d5c1fb5bfa885df96ec96289581d77c3"],"title":"fix: 极限变道弯道tunnel沿参考线折线化, 补挂车offtracking裕量与急弯降级","message":"fix: 极限变道弯道tunnel沿参考线折线化, 补挂车offtracking裕量与急弯降级\n\n极限变道的 tunnel 约束原本用单条长直线段近似弯曲车道, 弦误差为 L^2*kappa/8\n(40m 直线在 R=100m 弯道上偏 2.0m), 而 end tunnel 的 HARD 管道半宽只有车道半宽\n加 5cm(约2m), 弯道上管道与真实车道几乎不重叠, 起点/终点被墙关在外面, 导致\n搜索必然失败。\n\n- 折线化: 新增 AppendOffsetPolylineTunnel(沿参考线 2m 等 l 偏移折线) /\n  AppendCrossLineTunnel(等 s 断面法向封口线) / CalcMaxCurvature(theta 差分\n  带符号曲率), 替换四处弦近似: ConstructStartTunnel 两条侧墙+横切线、\n  ConstructEndTunnel 左右管道+后端封口、ConstructObsTunnel、\n  GetRealObstacleTunnel。横向量统一为 SL 约定(左正右负), 与旧\n  GetParallelLine \"线段方向右侧为正\"、且纵向线反向构造致法向翻转的隐式约定等价\n- 弯道裕量: end tunnel 补挂车 offtracking(L^2*kappa/2, 上限 1.2m, 按曲率符号\n  只放宽弯道内侧, 仅带挂车型); 后向管道长度按曲率收缩(kappa\u003e0.01 起, 最短 8m)\n- 急弯兜底: kappa\u003e0.02(R\u003c50m) 且端约束为 HARD 且带挂时降级为 SOFT, IMV 不降级\n- 顺带修: s 超出参考线长度时线段退化的隐患; SL 法向外推在 |l|*kappa 接近 1 时\n  跨过曲率中心翻折成幽灵墙, 按局部曲率钳制横向跨度; 曲率采样改用插值的\n  GetReferencePoint, 避免最近离散点致曲率被静默低估为 0\n\n灰度 use_func_lc_tunnel_curvature_fit / use_func_lc_tunnel_curvature_margin,\ncfg_func_sw 序列化 version 15。replay 与实车均未验证。","author_name":"allen","author_email":"wuyanjun110@126.com","authored_date":"2026-07-27T10:58:29.000+08:00","committer_name":"allen","committer_email":"wuyanjun110@126.com","committed_date":"2026-07-27T10:58:29.000+08:00","trailers":{},"web_url":"http://159.27.226.4/pnc/pnc/-/commit/92088627602c301bd21d516bfa3654bcba0cc818","stats":{"additions":301,"deletions":1,"total":302},"status":null,"project_id":8,"last_pipeline":null}
Success: Status code 200 is in the accepted range: 100:399