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Changes

Summary

  1. feat: SSEP: 完成offline自动回归测试工具。目前支持5种场景的回归测试。其他场景会在后续陆续添加。 (details)
  2. feat: SSEP: 可视化增加地图元素显示 (details)
  3. chore: SSEP: minor updates (details)
  4. fix: no_shift region around destination. (details)
  5. fix: deviation speed limit bug. (details)
  6. feat: SSEP: IMV - either goal direction 更改为 either start direction，大大简化逻辑，并且全场景支持了IMV作业模式未确定的场景。 (details)
  7. Refactor: SSEP: 用aabox替换vector<double>表示search bounds (details)
  8. fix: truck wbca replayer debug. (details)
  9. chore: SSEP: Improve bidirectional search (details)
  10. fix: fix compile errors (details)
  11. fix: using wbca failed_count to deactivate history. (details)
  12. fix: SSEP: 解决集卡常规场景轨迹异常的问题 (details)
  13. fix: cfg_static bug (details)
  14. fix: replayer bug (details)
  15. fix: SSEP: 修复IMV出停车位路径异常的问题 (details)
  16. feat:终点距离的判断使用map distance (details)
  17. fix:imv进停车位双向搜索的bug (details)
  18. fix:切换到idle保持状态的bug (details)
  19. feat:苏溪,西联,董分 双向搜索的bug (details)
  20. chore:添加gitgnore (details)
  21. fix:驾驶走廊图构建的bug (details)
  22. chore:删除多余的log (details)
  23. feat:调整 float to half (details)
  24. fix:修复动态上下面过程中，提前切换到bulk场景的bug (details)
  25. fix: ogm.height/width (details)
  26. fix: clear path_optimization_task esdf his. (details)
  27. fix: smooth logic (details)
Commit 57a69114a40c051917efbe70873cd118cf8e8d54 by tangwenqing
feat: SSEP: 完成offline自动回归测试工具。目前支持5种场景的回归测试。其他场景会在后续陆续添加。

The file was addedssep/test/CMakeLists.txt
The file was modifiedssep/offboard/ssep_planner_wrapper.h
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/common/utils/proto_io.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/offboard/scene_replay/replay_scene_frame_cli.cc
The file was modifiedssep/offboard/scene_replay/replay_ssep_input_cli.cc
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was addedssep/common/utils/path_utils.cc
The file was addedssep/common/utils/path_utils.h
The file was addedssep/test/ssep_planner_test.cc
The file was modifiedssep/offboard/scene_frame_provider.cc
Commit 68e5c670dc8f4b8852611d6dfea9745a4bcb4468 by tangwenqing
feat: SSEP: 可视化增加地图元素显示

The file was modifiedssep/common/utils/scene_frame_visualization.cc
The file was modifiedssep/test/ssep_planner_test.cc
The file was modifiedssep/offboard/servers/scene_vis_html_template.cc
Commit 37779680e5ac819b4505714c2ac945f2ca441b41 by tangwenqing
chore: SSEP: minor updates

The file was modified.gitignore
The file was modifiedssep/common/utils/scene_frame_visualization.cc
The file was modifiedssep/test/ssep_planner_test.cc
Commit ca1f3b58fdd492fc72510a52dd82cc24925cf553 by 5081703.cr
fix: no_shift region around destination.
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
Commit 16212bcd753e077eb20fb2cd7ab9bceccbfdd50b by 5081703.cr
fix: deviation speed limit bug.

The file was modifiedplan/prepare/prepare_status.cpp
Commit 3d977e95e3b2bb6819b4cb271148c7433110c722 by tangwenqing
feat: SSEP: IMV - either goal direction 更改为 either start direction，大大简化逻辑，并且全场景支持了IMV作业模式未确定的场景。

The file was modifiedssep/maps/sl_projection_map.h
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/coarse_search/preprocessed_curves/trajectories_reader.cc
The file was modifiedssep/coarse_search/preprocessed_curves/tt_curve_manager.cc
The file was modifiedssep/maps/sl_projection_map.cc
The file was modifiedssep/test/ssep_planner_test.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/coarse_search/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
Commit 62b8bbef96257f4cef348be22831f2c4e5cd96b1 by tangwenqing
Refactor: SSEP: 用aabox替换vector<double>表示search bounds

The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/data_structures/ssep_input.hpp
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was modifiedssep/offboard/main_test/main_test_park.cc
The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/scenarios/legacy_planner.h
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.h
The file was modifiedssep/maps/sl_projection_map.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/data_structures/ssep_input.cc
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/coarse_search/legacy_searcher_adaptor.h
The file was modifiedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was modifiedssep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
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/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/data_structures/search_boundary.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.h
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/coarse_search/evaluator/ref_line_heuristic_computer.h
The file was modifiedssep/offboard/ssep_visualizer.cc
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/coarse_search/evaluator/ref_line_cost_computer.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/maps/sl_projection_map.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/truck_u_turn_planner.h
The file was modifiedssep/offboard/ssep_visualizer.h
Commit de7a29c1045959bc03c018a2ec95723a1533f3e6 by 5081703.cr
fix: truck wbca replayer debug.

The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit 32d915572bd8073abb9138cf8292ea4072f9afab by tangwenqing
chore: SSEP: Improve bidirectional search

The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/state_hasher.h
The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/test/ssep_planner_test.cc
Commit af737dee0680b4bc1a1a604c8c6551bd24e25ee8 by tangwenqing
fix: fix compile errors

The file was modifieddata/ssep/ssep_activation.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/common/math/aabox2d.h
The file was modifiedssep/common/math/aabox2d.cc
Commit a809f8ef4b34a72e66dc57b275fb286bc939c8b4 by 5081703.cr
fix: using wbca failed_count to deactivate history.

The file was modifiedhmi/widget/diagnose.cpp
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 26f743ab9bf88bfdc913f2288ab9cb469b78d943 by tangwenqing
fix: SSEP: 解决集卡常规场景轨迹异常的问题
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 51528e18a048ddfc069cd8d53cdd2de73409ecbb by 5081703.cr
fix: cfg_static bug

The file was modifieddata/config/cfg_static.cpp
Commit 0e4e7087f3b5f223891292c1b3a221381c5e3f3e by 5081703.cr
fix: replayer bug

The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit 070dd8b89aec0c95b5d92ae45d4f9bfd2a3b3419 by tangwenqing
fix: SSEP: 修复IMV出停车位路径异常的问题

The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
Commit 12661d1c1c3938f93ef64569387f2a9f4bcad979 by wuyanjun110
feat:终点距离的判断使用map distance
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit 3cdfcf8a76e49522846b3d07d372e73a229cc0ec by wuyanjun110
fix:imv进停车位双向搜索的bug
The file was modifiedssep/scenarios/imv_enter_station_planner.h
Commit 033962050bafe981ff3742a1bb1135461c465d98 by wuyanjun110
fix:切换到idle保持状态的bug
The file was modifiedplan/prepare/prepare_status.cpp
Commit cc9ca3fc4ea4958a3e4e77e5c032d47311fe432c by wuyanjun110
feat:苏溪,西联,董分 双向搜索的bug
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/plan/ssep_data.cpp
Commit cc86d71dd4dbf9821c41ba026045b2511eac99d8 by wuyanjun110
chore:添加gitgnore
The file was modified.gitignore
Commit aa5d7f1729393528b055b3f5a3de209b56e14804 by wuyanjun110
fix:驾驶走廊图构建的bug
The file was modifieddata/obstacle/ogm.hpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/boundary/driving_corridor.cpp
Commit 21d8d124b7c0802dce940f45ef0eb8b4f1bacd90 by wuyanjun110
chore:删除多余的log
The file was modifieddata/plan/start_point_data.cpp
Commit e8000704e0ab0a118938d53c0fa0cfef4cfa4bcd by wuyanjun110
feat:调整 float to half
The file was modifiedmath/util/math_utils.cc
Commit 27ee5212cc6c7abbbbb7ad6be07780f7ac09c34a by wuyanjun110
fix:修复动态上下面过程中，提前切换到bulk场景的bug
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
Commit df4487255e05eb20a9f2ecbdeceff66dddd3ab14 by 5081703.cr
fix: ogm.height/width

The file was modifiedplan/prepare/prepare_ogm.cpp
Commit 3ff24dd7981ebec1880deb8a64977317b60a826d by 5081703.cr
fix: clear path_optimization_task esdf his.

The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 72bfbb733ca41b31b2d4311d2d6de8f8ebacf496 by 5081703.cr
fix: smooth logic

The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/boundary/road_boundary.cpp