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Changes

Summary

  1. feat: 拖挂进堆场无 passing 途径点时改用单段倒车 (details)
  2. feat: 只有当任务是倒车去货堆的时候，才用单段倒车搜索 (details)
  3. fix: speed down unexpectly in wbca smooth mode. (details)
Commit 07eb31a244cc3de07964b5f3d358a92c018d27bc by wuyanjun110
feat: 拖挂进堆场无 passing 途径点时改用单段倒车

TT 进堆场场景下, 当搜索不到 passing 途径点
(is_have_search_passing_pt_ 为 false)时, 改用
kTractorTrailerSingleSegmentParking 单段倒车规划;
并恢复 ScenarioPlannerFactory 中单段倒车 planner 的真正构造
(原先复用 MultiSegmentParkingPlanner)。
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/scenarios/scenario_planner_factory.h
Commit 07b2fc4bc1c371c934630950681f4c92633efd1c by wuyanjun110
feat: 只有当任务是倒车去货堆的时候，才用单段倒车搜索
The file was modifieddata/ssep/forward_ec.cpp
Commit 1963653688c02cfef4cbf429420de584894b5d4e by chenran
fix: speed down unexpectly in wbca smooth mode.
The file was modifieddata/lattice/trajectory_evaluator.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp