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Changes

Summary

  1. chore: 调整进出堆场与普通搜索方向切换权重 (details)
  2. fix: wbca route length optimization. (details)
  3. fix: ssep修复起点直接满足搜索终止条件时会crash的问题 (details)
  4. fix:修复引导线拼接的bug (details)
  5. chore: 1.基于车道的终点匹配范围增加到距离参考点20米。2. imv增加斜行cost (details)
Commit 7a8121ca26731c8ba620e22979fac0558af941bf by tangwenqing
chore: 调整进出堆场与普通搜索方向切换权重

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
Commit 766e7e042535133f42367daaa6360287e3d6d414 by 5081703.cr
fix: wbca route length optimization.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 937c11a2054d34ae6d884522672dda89b4af1f73 by tangwenqing
fix: ssep修复起点直接满足搜索终止条件时会crash的问题

The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
Commit 4e18594b158a8fa9b4137dbfcb9c68bab23d56a1 by wuyanjun110
fix:修复引导线拼接的bug

The file was modifieddata/plan/guide_line.cpp
Commit 3b94b21ae41785cf7b5a86019f2bc455a7ac75e7 by tangwenqing
chore: 1.基于车道的终点匹配范围增加到距离参考点20米。2. imv增加斜行cost

The file was modifiedssep/coarse_search/geometric_searcher/evaluator/curvature_cost_computer.h
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/diagnal_motion_primitive_sampler.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/motion_primitive_sampler.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/cost_feature_computer.h
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/diagnal_motion_primitive_sampler.cc
The file was addedssep/coarse_search/geometric_searcher/evaluator/diagonal_cost_computer.h