[Jenkins]Jenkins

Changes

Summary

  1. fix: car smooth mode bug. (details)
  2. refctor:优化对准逻辑 (details)
  3. fix: try catch cv::distanceTransform (details)
  4. fix:优化对准的逻辑 (details)
  5. fix: lockstation_pts from replayer. (details)
  6. fix: lock station position thr. (details)
  7. fix: lock station position thr. (details)
  8. feat: 合入ssep新框架，大榭场景使用新框架代替原来搜索 (details)
  9. fix: high speed wbca bug. (details)
  10. fix: residual = 40.0 (details)
  11. chore: 根据现场问题调参 (details)
  12. merge latest ssep (details)
  13. fix: start velocity limitation. (details)
  14. fix:velocity profile optimization. (details)
  15. fix: high speed wbca bug. (details)
  16. fix: residual = 40.0 (details)
  17. fix: 解决imv出充电桩离障碍物过近的问题 (details)
  18. fix: 回退老版本的tt_hybrid_astar逻辑，提高杨浦搜索成功率 (details)
Commit d9333032c26958acba3a36b8d2cc3ab14b606d73 by 5081703.cr
fix: car smooth mode bug.

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit c632454678c0bd7c5c88cf6471e3ae9a06054994 by wuyanjun110
refctor:优化对准逻辑

The file was modifieddata/vehicle/vehicle_destination.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
The file was modifieddata/app/cmd/cmd_align.cpp
Commit 0d29625c4ff3200bd2dbbb820958b6ad4e6e2f19 by 5081703.cr
fix: try catch cv::distanceTransform

The file was modifiedalgorithm/wbca/occupancy_grid_map/data_render.cpp
Commit e2d2c6bad3be4a34cd09f3df66a0bf434f58fcf9 by wuyanjun110
fix:优化对准的逻辑

The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/app/cmd/cmd_align.cpp
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
Commit 510913ae20cc39ac44edd5b644757b05f81e47ec by 5081703.cr
fix: lockstation_pts from replayer.

The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was modifieddata/vehicle/lock_station_pts.hpp
The file was modifieddata/vehicle/lock_station_pts.cpp
Commit 14ad270200e3f553ed25ccb76a1b212ac5726395 by 5081703.cr
fix: lock station position thr.

The file was modifieddata/vehicle/lock_station_data.cpp
Commit 8cf08e13f82ca07d7aa47e909ac91b7cec3189da by 5081703.cr
fix: lock station position thr.

The file was modifieddata/vehicle/lock_station_data.cpp
Commit 2a821b41b11e0f7a848770d3c200d34d7c0aa8b5 by tangwenqing
feat: 合入ssep新框架，大榭场景使用新框架代替原来搜索

The file was modifiedssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was addedssep/main_test/hdmap_interface/map_elements/junction.h
The file was modifiedssep/coarse_search/hybrid_a_star_tt.cc
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/arc_path_motion_primitive_sampler.h
The file was addedssep/ssep_heat_net/ssep_heat_net.cc
The file was modifieddata/config/cfg_func_sw.cpp
The file was addedssep/main_test/hdmap_interface/rapidjson/internal/diyfp.h
The file was addedssep/coarse_search/geometric_searcher/conditions/back_insertion_alignment_condition.h
The file was addedssep/main_test/hdmap_interface/map_elements/junction_info.h
The file was addedssep/coarse_search/geometric_searcher/topology_analysis/barrier_detector.cc
The file was addedssep/main_test/hdmap_interface/common/data_types.h
The file was modifiedssep/smoother/safety_corridor_smoother.cc
The file was addedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.cc
The file was modifiedssep/coarse_search/dubin_path.cc
The file was addedssep/main_test/hdmap_interface/rapidjson/internal/stack.h
The file was addedssep/main_test/hdmap_interface/rapidjson/writer.h
The file was addedssep/coarse_search/geometric_searcher/conditions/range_tolerance_condition.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/coarse_search/node_car.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/rs_path_motion_primitive_sampler.cc
The file was modifiedssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.h
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
The file was addedssep/coarse_search/geometric_searcher/conditions/search_condition_interface.h
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/straight_line_motion_primitive_sampler.cc
The file was addedssep/main_test/hdmap_interface/parser/map_loader.h
The file was addedssep/coarse_search/geometric_searcher/evaluator/ref_line_cost_computer.h
The file was addedssep/coarse_search/geometric_searcher/utils.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/composed_motion_primitive_sampler.h
The file was addedssep/main_test/hdmap_interface/map_elements/map.h
The file was addedssep/main_test/hdmap_interface/parser/interface_param_parser.h
The file was addedssep/main_test/hdmap_interface/rapidjson/internal/strtod.h
The file was modifiedssep/CMakeLists.txt
The file was addedssep/common/utils/map_element_utils.hpp
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/motion_primitive_sampler.h
The file was addedssep/main_test/hdmap_interface/rapidjson/document.h
The file was addedssep/main_test/hdmap_interface/rapidjson/internal/itoa.h
The file was addedssep/main_test/hdmap_interface/rapidjson/encodings.h
The file was modifiedssep/coarse_search/disk_collision_checker.cc
The file was modifiedssep/coarse_search/geometric_searcher/candidate_yard_entry_states_generator.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.h
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/ilqr_motion_primitive_sampler.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/collision_cost_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/reeds_shepp_path.cc
The file was addedssep/main_test/hdmap_interface/rapidjson/rapidjson.h
The file was removedssep/coarse_search/geometric_searcher/barrier_detector.cc
The file was addedssep/coarse_search/geometric_searcher/evaluator/composite_heuristic_computer.h
The file was addedssep/main_test/hdmap_interface/rapidjson/allocators.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/dir_switching_cost_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/candidate_yard_entry_states_generator.h
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/diagnal_motion_primitive_sampler.cc
The file was addedssep/coarse_search/data_structure/polyline.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/back_insertion_maneuver_searcher_builder.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was addedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.h
The file was modifiedssep/coarse_search/hybrid_a_star_car.cc
The file was addedssep/main_test/hdmap_interface/rapidjson/memorystream.h
The file was addedssep/main_test/hdmap_interface/map_elements/section_info.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/common/math/vec2d.h
The file was addedssep/main_test/hdmap_interface/rapidjson/error/error.h
The file was addedssep/main_test/hdmap_interface/rapidjson/internal/strfunc.h
The file was modifiedssep/main_test/main_test_qhd.cc
The file was addedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.h
The file was addedssep/main_test/hdmap_interface/public_data_struct.h
The file was addedssep/main_test/hdmap_interface/map_elements/lane.h
The file was addedssep/tools/scene_data_generator/ogm_builder/ogm_builder.cc
The file was addedssep/main_test/hdmap_interface/rapidjson/internal/regex.h
The file was addedssep/coarse_search/geometric_searcher/conditions/along_lane_condition.h
The file was modifiedssep/conf/ssep_preprocess.yaml
The file was addedssep/tools/scene_data_generator/data_structures.h
The file was addedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.h
The file was addedssep/main_test/hdmap_interface/rapidjson/prettywriter.h
The file was addedssep/main_test/hdmap_interface/libhdmap_interface_shm.so
The file was addedssep/coarse_search/geometric_searcher/conditions/inside_yard_condition.h
The file was modifiedssep/coarse_search/geometric_searcher/geometric_search_visualizer.cc
The file was addedssep/main_test/hdmap_interface/common/math/line_segment2d.hpp
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
The file was addedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.h
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path_motion_primitive_sampler.h
The file was addedssep/main_test/hdmap_interface/hdmap.h
The file was addedssep/tools/scene_data_generator/conf/scene_conf.yaml
The file was addedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cc
The file was addedssep/coarse_search/geometric_searcher/evaluator/ref_line_heuristic_computer.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/back_insertion_maneuver_searcher_builder.h
The file was addedssep/main_test/hdmap_interface/common/glog_helper.h
The file was addedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/curvature_cost_computer.h
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path.cc
The file was addedssep/main_test/hdmap_interface/rapidjson/uri.h
The file was addedssep/main_test/hdmap_interface/rapidjson/encodedstream.h
The file was addedssep/main_test/hdmap_interface/rapidjson/memorybuffer.h
The file was addedssep/coarse_search/geometric_searcher/conditions/composite_condition.h
The file was addedssep/conf/ssep_imv_xugong.yaml
The file was addedssep/tools/scene_data_generator/scene_yaml_reader.h
The file was modifiedssep/ogm_map/ogm.h
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/ilqr_motion_primitive_sampler.cc
The file was addedssep/main_test/hdmap_interface/map_elements/section.h
The file was addedssep/ssep_heat_net/standarization_params.h
The file was removedssep/coarse_search/geometric_searcher/barrier_detector.h
The file was addedssep/common/def/map_element_polyline.hpp
The file was addedssep/main_test/hdmap_interface/rapidjson/istreamwrapper.h
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/multi_curvature_motion_primitive_sampler.cc
The file was modifiedssep/param_loader/param.h
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/influence_map/sl_projection_map.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/cost_feature_computer.h
The file was addedssep/main_test/hdmap_interface/libhdmap_interface.so
The file was addedssep/main_test/hdmap_interface/map_elements/object.h
The file was modifiedssep/ogm_map/ogm.cc
The file was addedssep/main_test/hdmap_interface/map_elements/road.h
The file was addedssep/main_test/hdmap_interface/rapidjson/reader.h
The file was addedssep/coarse_search/geometric_searcher/evaluator/bidirectional_kinematic_heuristic_computer.h
The file was addedssep/coarse_search/geometric_searcher/topology_analysis/bulk_yard_reasoner.h
The file was modifieddata/ssep/ssep_activation.cpp
The file was addedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.cc
The file was addedssep/coarse_search/geometric_searcher/conditions/tractor_trailer_goal_reached_condition.h
The file was addedssep/main_test/hdmap_interface/rapidjson/cursorstreamwrapper.h
The file was addedssep/coarse_search/geometric_searcher/evaluator/trailer_collision_cost_computer.h
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dir_change_path_extention_decorator.h
The file was addedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.h
The file was addedssep/main_test/hdmap_interface/rapidjson/internal/meta.h
The file was addedssep/main_test/hdmap_interface/map_elements/overlap_info.h
The file was addedssep/coarse_search/geometric_searcher/topology_analysis/barrier_detector.h
The file was addedssep/main_test/hdmap_interface/rapidjson/stringbuffer.h
The file was addedssep/main_test/hdmap_interface/rapidjson/internal/swap.h
The file was addedssep/main_test/hdmap_interface/common/math/box2d.hpp
The file was addedssep/main_test/hdmap_interface/rapidjson/pointer.h
The file was addedssep/main_test/hdmap_interface/common/math/vec2d.hpp
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/multi_curvature_motion_primitive_sampler.h
The file was addedssep/main_test/hdmap_interface/hdmap_impl.h
The file was modifieddata/ssep/ssep_ec.hpp
The file was addedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.h
The file was addedssep/main_test/hdmap_interface/map_elements/overlap.h
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/diagnal_motion_primitive_sampler.h
The file was addedssep/main_test/hdmap_interface/rapidjson/stream.h
The file was addedssep/main_test/hdmap_interface/rapidjson/msinttypes/inttypes.h
The file was addedssep/main_test/hdmap_interface/rapidjson/internal/clzll.h
The file was modifiedssep/coarse_search/geometric_searcher/geometric_search_visualizer.h
The file was addedssep/coarse_search/geometric_searcher/utils.cc
The file was modifiedssep/ssep_planner.h
The file was addedssep/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/main_test/hdmap_interface/parser/interface_singleton.hpp
The file was addedssep/main_test/hdmap_interface/rapidjson/internal/biginteger.h
The file was addedssep/main_test/hdmap_interface/rapidjson/fwd.h
The file was addedssep/main_test/hdmap_interface/map_elements/map_info.h
The file was addedssep/main_test/main_test_zhoushan.cc
The file was addedssep/coarse_search/geometric_searcher/state_hasher.h
The file was addedssep/tools/scene_data_generator/generate_scene_data_cli.cc
The file was addedssep/main_test/hdmap_interface/common/math/math_utils.hpp
The file was addedssep/main_test/hdmap_interface/rapidjson/msinttypes/stdint.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/path_length_cost_computer.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.h
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
The file was addedssep/main_test/hdmap_interface/map_elements/lane_info.h
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
The file was modifiedssep/coarse_search/hybrid_a_star_imv.cc
The file was addedssep/ssep_heat_net/inference_ml_trajectory_cli.cc
The file was addedssep/tools/scene_data_generator/state_augment_util.h
The file was addedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
The file was addedssep/main_test/hdmap_interface/rapidjson/error/en.h
The file was modifiedCMakeLists.txt
The file was addedssep/main_test/hdmap_interface/common/math/geometry_utils.h
The file was modifieddata/ssep/ssep_ec.cpp
The file was addedssep/main_test/hdmap_interface/rapidjson/schema.h
The file was addedssep/coarse_search/geometric_searcher/evaluator/diagonal_cost_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/data_structure.h
The file was modifiedssep/coarse_search/hybrid_a_star_tt.h
The file was addedssep/main_test/hdmap_interface/map_elements/object_info.h
The file was addedssep/main_test/hdmap_interface/rapidjson/ostreamwrapper.h
The file was addedssep/coarse_search/data_structure/polyline.h
The file was addedssep/coarse_search/geometric_searcher/evaluator/heuristic_feature_computer.h
The file was addedssep/main_test/hdmap_interface/rapidjson/internal/dtoa.h
The file was addedssep/coarse_search/geometric_searcher/stage_transition_controller.h
The file was addedssep/coarse_search/geometric_searcher/conditions/trailer_relative_angle_condition.h
The file was addedssep/coarse_search/geometric_searcher/evaluator/kinematic_heuristic_computer.h
The file was addedssep/main_test/hdmap_interface/rapidjson/internal/ieee754.h
The file was addedssep/ssep_heat_net/ssep_heat_net.h
The file was modifiedssep/common/def/ssep_input.hpp
The file was addedssep/coarse_search/geometric_searcher/conditions/always_true_condition.h
The file was modifiedssep/common/def/type_definition.cc
The file was addedssep/main_test/hdmap_interface/common/math/polygon2d.hpp
The file was addedssep/tools/scene_data_generator/ogm_builder/ogm_builder.h
The file was addedssep/coarse_search/geometric_searcher/evaluator/conditional_filter_cost_computer.h
The file was modifiedssep/common/def/type_definition.h
The file was addedssep/main_test/hdmap_interface/map_elements/road_info.h
The file was addedssep/main_test/hdmap_interface/rapidjson/internal/pow10.h
The file was addedssep/main_test/hdmap_interface/common/math/linear_interpolation.hpp
The file was addedssep/main_test/hdmap_interface/rapidjson/filereadstream.h
The file was addedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/param_loader/yaml_loader.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/u_turn_insertion_maneuver_searcher_builder.h
The file was addedssep/coarse_search/geometric_searcher/evaluator/jackknife_cost_computer.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/common/utils/common.hpp
The file was addedssep/coarse_search/geometric_searcher/indexed_priority_queue.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/rs_path_motion_primitive_sampler.h
The file was modifiedssep/coarse_search/node_car.cc
The file was modifiedssep/influence_map/sl_projection_map.cc
The file was addedssep/coarse_search/geometric_searcher/conditions/crosses_access_line_condition.h
The file was modifiedssep/coarse_search/disk_collision_checker.h
The file was addedssep/main_test/hdmap_interface/rapidjson/filewritestream.h
Commit 5e29c868251034ce2ddb85ba67142c8dcda39609 by 5081703.cr
fix: high speed wbca bug.

The file was modifiedalgorithm/wbca/linear_velocity_generator.hpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit a080ea2b894df08efa079bca0f601331d3b9454f by 5081703.cr
fix: residual = 40.0

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit c4c7e04bb6f39972da3327f52d01faa1ab288a13 by tangwenqing
chore: 根据现场问题调参

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
Commit 4812b54e7157d5fd74e85a8fc2f0f788b07d1eb9 by tangwenqing
merge latest ssep
The file was modifiedssep/ssep_heat_net/ssep_heat_net.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/ssep_heat_net/inference_ml_trajectory_cli.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/ref_line_cost_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/ref_line_heuristic_computer.h
Commit 03caa081fbe6fb1b12926668e747a97852d2d3e2 by 5081703.cr
fix: start velocity limitation.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 76a2ee2379f427b09084fa5696d820f2763022e2 by 5081703.cr
fix:velocity profile optimization.

The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedalgorithm/wbca/linear_velocity_generator.hpp
Commit 7fee9e4e4f954954a6c39892f1ac64c5091769e5 by 5081703.cr
fix: high speed wbca bug.

The file was modifiedalgorithm/wbca/linear_velocity_generator.hpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 828dc8cfe9ac785e29b6851a425f7139fa0426fa by 5081703.cr
fix: residual = 40.0
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit b8669b615eaa1eba6cef89dce1c6a22208af4bae by tangwenqing
fix: 解决imv出充电桩离障碍物过近的问题

The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
Commit b9a071f48d16d79de636d2f69d30f91e5c88f393 by tangwenqing
fix: 回退老版本的tt_hybrid_astar逻辑，提高杨浦搜索成功率

The file was modifiedssep/coarse_search/hybrid_a_star_tt.cc