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Changes

Summary

  1. fix: clear route in smooth mode when large deviation. (details)
  2. chore: SSEP: 实现SceneFrame的构建 (details)
  3. fix: wbca smoth_mode route interval (details)
  4. feat: SSEP: 1. 增加集卡进停车位场景。2. 集卡出停车位场景倒车时增加额外后向检测。 (details)
  5. chore: ssep: yangpu enter yard (details)
  6. chore: SSEP: 改进杨浦进堆场路径 (details)
  7. feat: add KappaRateCost. (details)
  8. fix: add use_func_stationary_steering_activation (details)
  9. chore: SSEP: yangpu进堆场路径调试 (details)
  10. fix: ignore 107 cloud_pt in driving corridor (details)
Commit ef70b93f146073c7ba3c3c69fbe4fd97ba2dd177 by 5081703.cr
fix: clear route in smooth mode when large deviation.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit c24c1e0ae23a88963514c92f79cb56e73d7b8994 by tangwenqing
chore: SSEP: 实现SceneFrame的构建

The file was modifiedssep/coarse_search/topology_analysis/candidate_goals_generator.h
The file was modifiedssep/common/math/aabox2d.cc
The file was modifiedssep/offboard/generate_scene_data/CMakeLists.txt
The file was addedssep/common/utils/obstacle_polygon_extractor.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/data_structures/ssep_input.hpp
The file was modifiedssep/maps/ogm.h
The file was modifiedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was addedssep/data_structures/object.h
The file was removedssep/offboard/generate_scene_data/obstacle_polygon_extractor.cc
The file was removedssep/data_structures/map_element_polyline.hpp
The file was addedssep/common/utils/obstacle_polygon_extractor.h
The file was modifiedssep/protos/scene.proto
The file was modifiedssep/protos/geometry.proto
The file was modifiedssep/coarse_search/conditions/inside_yard_condition.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was addedssep/data_structures/ssep_input.cc
The file was modifiedssep/data_structures/path.h
The file was modifiedssep/common/math/aabox2d.h
The file was modifiedssep/coarse_search/topology_analysis/bulk_yard_reasoner.h
The file was addedssep/common/object_manager.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was addedssep/data_structures/map_element_polyline.cc
The file was addedssep/common/utils/proto_converters.hpp
The file was removedssep/offboard/generate_scene_data/obstacle_polygon_extractor.h
The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.h
The file was addedssep/common/object_manager.h
The file was addedssep/data_structures/map_element_polyline.h
The file was modifiedssep/maps/ogm.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
Commit 5664a16cb1ef60c133d8324d0472d96b1f8109b5 by 5081703.cr
fix: wbca smoth_mode route interval

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit e1ed6c866dbc4d1354f50f122d6138193543fd27 by tangwenqing
feat: SSEP: 1. 增加集卡进停车位场景。2. 集卡出停车位场景倒车时增加额外后向检测。

The file was modifiedssep/coarse_search/multi_stage_hybrid_astar_search_engine.cc
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/coarse_search/evaluator/trailer_collision_cost_computer.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was addedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/protos/ssep_scenario_type.proto
The file was modifiedssep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/multi_stage_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/offboard/ssep_input_provider.h
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/offboard/scene_replay/replay_ssep_input_cli.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit f6fe4b920847b0ca9468af0e3b3bbef48f2e6ae6 by tangwenqing
chore: ssep: yangpu enter yard

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 5f9f6a8c5418090c6c5ae4ad004c9a6cd87de69a by tangwenqing
chore: SSEP: 改进杨浦进堆场路径

The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 23f63b480da14edc9f172246f8ba8d63047b2cd3 by 5081703.cr
feat: add KappaRateCost.

The file was modifiedalgorithm/wbca/path_optimization/car_path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.hpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
Commit 8caa6ef83a3ee518a3662fa918db2d83f8094bc1 by 5081703.cr
fix: add use_func_stationary_steering_activation

The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedplan/prepare/prepare_status.cpp
Commit 9f6b2f85171a9b42427e304c4d59e1485dfc34ea by tangwenqing
chore: SSEP: yangpu进堆场路径调试

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/scenarios/legacy_planner.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit f7c7e93b73e0557fdcadffb7a41bdf2c0c776d84 by 5081703.cr
fix: ignore 107 cloud_pt in driving corridor

The file was modifieddata/boundary/driving_corridor.cpp