Changes

Summary

1. fix: using last_path when out_yard wbca failed. (details)
2. fix: correct imv crab mode conditions. (details)

Commit 0403dd6ea8ece72f86e2b340b1c2a947d41db31f by 5081703.cr fix: using last_path when out_yard wbca failed.
	tasks/other_tasks/stitch_path_data_to_path.cpp
Commit 71acb7fdd90e867aef98a367b5570f773932b953 by 5081703.cr fix: correct imv crab mode conditions.
	tasks/plan/path_optimization_task.cpp