[Jenkins]Jenkins

Changes

Summary

  1. Update map-png.jenkinsfile (details)
Commit 47b3c8923781b0e701240596290298b6945b45a6 by weilikang
Update map-png.jenkinsfile
The file was modifiedhdmap/map-png.jenkinsfile

Summary

  1. feat: 更改length_s和total_length_s为float32类型 (details)
Commit 1cd298d9d077c7f313ba7e207c85cfd74c67df0c by zhuxiaolong
feat: 更改length_s和total_length_s为float32类型

The file was modifiedcomm_msgs/msg/Traj.msg

Summary

  1. fix: SSEP: 集卡普通搜索使用更严格的车挂判断标准。防止后续优化不收敛。 (details)
  2. feat:优化og点的碰撞检测 (details)
  3. fix: SSEP: 修复动态搜索使用standby guideline作为参考线轨迹异常的问题 (details)
  4. feat:1. ogm精细碰撞检测添加开关2. ogm高度 分层 添加更多层3.进堆场过程中，xx重新规划，扩展边界，解决pjpo求解失败的问题4.添加进堆场虚拟停止线附近的限速 (details)
  5. feat:bulk场景判断的距离阈值调整成255米 (details)
  6. feat:单侧堆场默认左侧放箱子 (details)
  7. feat:进堆场 不是低贝位i的时候取消外侧的约束 (details)
  8. fix: 优化友谊关倒车路径，更符合pass point (details)
  9. fix: SSEP: 优化集卡非低贝位进堆场路径。全路径开启keb优化+终点扰动。恢复上个版本可以“小角度斜着进堆场”的特性。 (details)
  10. fix: SSEP: fix typo (details)
  11. feat:优化og的处理 (details)
  12. fix:修复绘制的bug (details)
  13. fix: SSEP: 提升远距离绕桥腿成功率 (details)
  14. feat:杨浦适配B场 (details)
  15. feat: 1. 绕跷腿搜索标志位 2.右转进堆场的强制用约束的标志位 (details)
  16. feat: SSEP: 增加 is_blocked_by_shore_crane 和 use_hard_constraint 参数 (details)
  17. chore: mionr update (details)
  18. fix:杨浦 动态搜索 + 进堆场场景 路径拼接的bug (details)
  19. fix:3 4 阶段对准时,不能切换creep的bug (details)
  20. feat:og碰撞的优化 (details)
  21. feat:进堆场的优化 (details)
  22. feat:关闭debug信息 (details)
  23. feat: SSEP: 增加场景编辑工具 (details)
  24. feat:junction弯道区间计算的bug (details)
  25. feat:纵一路边上的转场临停修改判断阈值 (details)
  26. fix:修复误变道的问题 (details)
  27. chore: SSEP: update scene editor server (details)
  28. fix: SSEP: 改进多段倒车场景的启发项，解决威海更换pass point后搜索成功率低的问题。 (details)
  29. feat: SSEP: 多段倒车忽略终点附近障碍物。提升威海倒车成功率 (details)
  30. feat:搜索的时候是否考虑静态障碍物添加开开关 (details)
  31. chore: SSEP: Fix mult-segment searching params. (details)
  32. fix:龙须点处理的bug (details)
  33. fix:修复龙须点处理的bug (details)
  34. feat:调整单车道堆场的约束 (details)
  35. fix:没有路径，并且在弯道前，ssep无法搜索的bug (details)
  36. feat:优化场桥防护 (details)
  37. feat:修改对准数据的打印 (details)
  38. feat: SSEP: 使用多项式采样器生成变道路径 (details)
  39. fix: lattice wbca velocity reference bug. (details)
  40. fix:杨浦堆场入口重搜索的bug (details)
  41. refactor:优化打印日志 (details)
  42. feat: 添加更多忽略文件到.gitignore (details)
  43. chore: SSEP: 1. 变道场景使用更严格的车挂碰撞判断。2. 过滤超过曲率上限的路径。 (details)
  44. fix: 修复边界约束逻辑并优化障碍物处理代码 (details)
  45. chore: SSEP: merge 集卡进堆场的新改动 (details)
  46. fix: 优化障碍物处理逻辑，过滤不必要的障碍物类型 (details)
  47. fix: 优化OgmPoints序列化，过滤无效点并调整序列化方法 (details)
  48. fix: 杨浦 调整虚拟车道与第一排箱体的距离和左侧后退延伸长度 (details)
  49. fix: 优化SubProcessIdle逻辑，增加对引导线信息可用性的检查，防止没有识别低贝位就进行搜索的bug (details)
  50. fix: SSEP: 修复反向路径拖挂角度错误的问题 (details)
  51. feat: 1.添加OgmCollisionPos绘制功能，增强碰撞检测可视化 2.replayer 添加og碰撞检测的回放功能 (details)
  52. fix: 注释掉日志记录代码以减少输出干扰 (details)
  53. feat: SSEP: 完善网页可视化。现在在网页上可以可视化所有元素并任意调整分辨率。 (details)
  54. fix: build bug (details)
  55. fix: Trajectory MatchByt bug. (details)
  56. chore: SSEP: 搜索使用障碍物软约束，提升自卸车进出堆场极限场景的搜索成功率。 (details)
  57. chore: SSEP: 过滤无效的采样轨迹，提高进堆场搜索成功率 (details)
  58. chore: SSEP: 处理掉头场景终点在standby_guideline上的情况 (details)
  59. feat: 添加镜子配置和绘制功能 (details)
  60. feat: 优化JudgeFinishAlign函数，简化FSM接口调用，增强对齐完成判断逻辑 (details)
  61. feat: 优化低贝激活判断逻辑，简化条件判断，提高代码可读性 (details)
  62. fix: 移除不必要的日志警告，优化代码逻辑 (details)
  63. chore: SSEP: 掉头进堆场时增加参考线权重 (details)
  64. refactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bug (details)
  65. fix: 更新YANGPU虚拟车道到第一排箱子的阈值，修正为0.0 (details)
  66. fix: 修正右侧车道拉直点阈值为2.0度 (details)
  67. fix:进堆场终点距离计算的bug (details)
  68. fix: 优化地图包围体和在线区域轮廓创建逻辑,修复潜在的空指针和多边形合并问题 (details)
  69. fix: 修正OgmCollisionPos函数中的颜色定义注释，确保颜色代码清晰 (details)
  70. feat:添加挂车的上层纵向参数 (details)
  71. fix: 简化UpdateCurLaneData函数中的当前和目标车道索引更新逻辑 (details)
  72. fix: 优化ConstructStartAndEndContour和ConstructEndStraightPosture函数中的逻辑，增加双车道距离补偿 (details)
  73. fix: 调整GetExtendPoint函数中的扩展点计算逻辑，增加扩展距离；优化在线区域轮廓创建逻辑，增加多边形连接性检查和简化处理 (details)
  74. feat: 添加核心对象库并优化可执行文件链接逻辑 (details)
  75. feat: 添加PncGraphicsView类以支持图像显示和交互功能；更新相关文件以替换DragImage (details)
  76. fix: 调整ConstructEndPosture函数中的扩展距离逻辑，将TT类型的扩展距离从20.0增加到25.0 (details)
  77. fix: 取消CalRefPtsKappa函数中的注释，启用航向角计算逻辑 (details)
  78. feat: 添加测量功能，支持在PncGraphicsView中显示测量线和文本；更新鼠标事件处理逻辑以支持控制键测量 (details)
  79. fix: 注释掉DrawTargetPath函数中的轮廓生成和绘制逻辑 (details)
  80. fix: 修复EgoExpanding类中VertexExpanding函数的除零错误；更新KinematicBicycleModel类中TrailerPtFromTractorPt函数的代码格式 (details)
  81. fix: 在CreateTrajInfo函数中添加continue语句以优化逻辑 (details)
  82. fix: 在InterpPtByLinearS函数中添加对s值的有效性检查，避免无效输入导致错误 (details)
Commit e71cb207e035f0f300cabae8ad84ec99ffc500f9 by tangwenqing
fix: SSEP: 集卡普通搜索使用更严格的车挂判断标准。防止后续优化不收敛。

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit 50dd6319a291dfa0072c8a87433a5011fb8cf22c by wuyanjun110
feat:优化og点的碰撞检测
The file was modifieddata/lattice/ogm_crash_data.hpp
The file was modifiedcommon/util/crash_helper.cpp
The file was modifieddata/lattice/ogm_crash_data.cpp
The file was modifiedcommon/util/crash_helper.hpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifieddata/plan/predict_path.cpp
The file was modifieddata/obstacle/ogm.hpp
Commit 6a2c58bbe7ccf1d5d550a77f0c9f6dbdcebaebed by tangwenqing
fix: SSEP: 修复动态搜索使用standby guideline作为参考线轨迹异常的问题

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/common/utils/path_utils.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifiedssep/common/utils/path_utils.cc
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit 2d87fc5706d92e7ae63f3761d8423e86ad71bbf4 by wuyanjun110
feat:1. ogm精细碰撞检测添加开关2. ogm高度 分层 添加更多层3.进堆场过程中，xx重新规划，扩展边界，解决pjpo求解失败的问题4.添加进堆场虚拟停止线附近的限速
The file was modifieddata/plan/predict_path.cpp
The file was modifiedhmi/draw/draw_contour.hpp
The file was modifiedhmi/draw/draw_contour.cpp
The file was modifiedhmi/draw/draw_pose_predict.cpp
The file was modifiedtasks/deciders/lat_decider/path_bounds_decider.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifiedtasks/deciders/lat_decider/path_bounds_decider.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_long_plan.hpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifieddata/plan/guide_line_base.hpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/lattice/ogm_crash_data.cpp
The file was modifieddata/lattice/ogm_crash_data.hpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedplan/prepare/prepare_ogm.hpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/plan/guide_line_base.cpp
Commit bf9ff1c63bdd91efb6646dcbaf85e34b6368e16c by wuyanjun110
feat:bulk场景判断的距离阈值调整成255米
The file was modifieddata/other/flow_control.cpp
Commit 46cc3298e48d212c403a0a347a0761530fdda22f by wuyanjun110
feat:单侧堆场默认左侧放箱子
The file was modifieddata/boundary/road_boundary.cpp
Commit a7de2818a86e434970526f4481852df7ed298ea0 by wuyanjun110
feat:进堆场 不是低贝位i的时候取消外侧的约束
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 90d8a0908b4191e8616f3a5b921f7b656a08bd15 by tangwenqing
fix: 优化友谊关倒车路径，更符合pass point

The file was modifiedssep/common/utils/scene_frame_visualization.cc
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifieddata/ssep/forward_ec.cpp
Commit c56b4c5d8314992eac3334c7dcc08e29920b2af3 by tangwenqing
fix: SSEP: 优化集卡非低贝位进堆场路径。全路径开启keb优化+终点扰动。恢复上个版本可以“小角度斜着进堆场”的特性。

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/keb_optimizer/cost_features/state_constraint.h
Commit 5f6f4cf5d78da3995c5c8429456fa6784d3098bc by tangwenqing
fix: SSEP: fix typo

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 5efaa43dc52bdd4b739598dcc0ac5827fcd7100f by wuyanjun110
feat:优化og的处理
The file was modifieddata/obstacle/ogm.hpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifiedhmi/draw/draw_perception.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/other/flow_control.cpp
Commit 6f5f4c682ec3bc37d019989920d3bdf64e1b5e18 by wuyanjun110
fix:修复绘制的bug
The file was modifiedhmi/draw/draw_perception.cpp
Commit d2e71e8082e64a035cf1801d86c91adb1e84d756 by tangwenqing
fix: SSEP: 提升远距离绕桥腿成功率

The file was modifiedssep/common/utils/path_utils.cc
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
Commit 9deba718267a35d12d01a970f688b7e9264e00d2 by wuyanjun110
feat:杨浦适配B场
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/ssep/field_junction_ec.hpp
The file was modifieddata/boundary/road_boundary.hpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/config/cfg_env_const.hpp
Commit 8d3bea64b182d97c7efe05e6589f0720fbe2c72a by wuyanjun110
feat: 1. 绕跷腿搜索标志位 2.右转进堆场的强制用约束的标志位
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/seaside_junction_ec.cpp
Commit 4f9f657a13d19cdd1e01505f4b33908006057079 by tangwenqing
feat: SSEP: 增加 is_blocked_by_shore_crane 和 use_hard_constraint 参数

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/tractor_trailer_general_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
Commit a95555f93a6b230456e53e7d9b90ae6a33dcb8fb by tangwenqing
chore: mionr update

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 1e66b1189f9ade7bd0f368109950eef1aa8ba17b by wuyanjun110
fix:杨浦 动态搜索 + 进堆场场景 路径拼接的bug
The file was modifiedtasks/other_tasks/stitch_path_to_reference_line.cpp
Commit 6249df04821ba4a8a7b513776a1e2470fd40f979 by wuyanjun110
fix:3 4 阶段对准时,不能切换creep的bug
The file was modifieddata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp
Commit 28293224708d8e0d7b4e2999471cb83d63d21c20 by wuyanjun110
feat:og碰撞的优化
The file was modifieddata/obstacle/ogm.cpp
The file was modifiedcommon/util/crash_helper.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifiedplan/prepare/prepare_ogm.hpp
Commit 6fa7889e24cc21d00f6c5db01ba7db1b5c47bb98 by wuyanjun110
feat:进堆场的优化
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 46e57e398fd2e66ec7453b47a284d8ba023af0e8 by wuyanjun110
feat:关闭debug信息
The file was modifieddata/other/flow_control.cpp
Commit 7be6e8a3557675f4c2d6d633cedadbb2aa178236 by tangwenqing
feat: SSEP: 增加场景编辑工具

The file was addedssep/offboard/servers/scene_editor_html_template.cc
The file was modifiedssep/offboard/servers/CMakeLists.txt
The file was addedssep/offboard/servers/scene_editor_server.cc
The file was addedssep/offboard/servers/scene_editor_html_template.h
Commit 62ef79f26bc881eacc6e12a9314fa37eba0f42da by wuyanjun110
feat:junction弯道区间计算的bug
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
Commit 4d500dad766b8e536de631881d75ae027809c52f by wuyanjun110
feat:纵一路边上的转场临停修改判断阈值
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifiedplan/prepare/prepare_objs.hpp
The file was modifiedplan/prepare/prepare_objs.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/config/cfg_long_plan.hpp
Commit b502d4fc0d1b166087b270f5b8a99baf5a9950ac by wuyanjun110
fix:修复误变道的问题
The file was modifieddata/map/reference/center_line.cpp
Commit 14ae272916e84cc2b0c459eea328af1126f4037c by tangwenqing
chore: SSEP: update scene editor server

The file was modifiedssep/offboard/servers/scene_editor_server.cc
Commit 39d91da2688fad295f61b72e03343113f4b58bec by tangwenqing
fix: SSEP: 改进多段倒车场景的启发项，解决威海更换pass point后搜索成功率低的问题。

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit 202d8a3a5b87a2837990b959e7c9f6dc4ed91937 by tangwenqing
feat: SSEP: 多段倒车忽略终点附近障碍物。提升威海倒车成功率

The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 4bb05a4344ab158f060f928548a850417e929f00 by wuyanjun110
feat:搜索的时候是否考虑静态障碍物添加开开关
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/ssep/bridge_junction_ec.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/ssep/normal_junction_ec.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp
The file was modifieddata/config/cfg_func_sw.hpp
Commit 9eb6a23d27a51b50abc4551e2f77e805f5f31c2d by tangwenqing
chore: SSEP: Fix mult-segment searching params.

The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/param_loader/param.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 21cb765d2970f4bd4b36ed21519fc5d7b7d3ce78 by wuyanjun110
fix:龙须点处理的bug
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit 5e1d4f6f3bcdf540595ab88c76e49434b694d538 by wuyanjun110
fix:修复龙须点处理的bug
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit 9fa2aeecf1ef0ef5baf401e12d21bfb49880b27f by wuyanjun110
feat:调整单车道堆场的约束
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 43cbb45932adb9d7d510b89e3281def3b227d5a9 by wuyanjun110
fix:没有路径，并且在弯道前，ssep无法搜索的bug
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 6664bad30a1e69a7ff7f4685fe158bac39cb0da5 by wuyanjun110
feat:优化场桥防护
The file was modifiedplan/prepare/prepare_objs.cpp
The file was modifieddata/map/reference/reference_road_section.cpp
The file was modifieddata/map/reference/reference_road_section.hpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifiedplan/prepare/prepare_objs.hpp
Commit c4de19b7d9d140ad782aef87dc88d7bd43c07a89 by wuyanjun110
feat:修改对准数据的打印
The file was modifiedsource/ros_source_offset.cpp
The file was modifiedcommon/util/express.cpp
Commit a4a70c8cc13449cc12587345ac23584c4cf64b50 by tangwenqing
feat: SSEP: 使用多项式采样器生成变道路径

The file was modifiedssep/test/CMakeLists.txt
The file was modifiedssep/test/ssep_planner_test.cc
The file was modifiedssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
The file was addedssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.cc
The file was modifiedssep/coarse_search/conditions/search_condition_interface.h
The file was addedssep/test/quintic_polynomial_sampler_test.cc
The file was modifiedssep/protos/ssep_scenario_type.proto
The file was modifiedssep/coarse_search/motion_primitive_sampler/motion_primitive_sampler.h
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was addedssep/coarse_search/motion_primitive_sampler/quintic_polynomial_motion_primitive_sampler.cc
The file was addedssep/scenarios/tractor_trailer_lane_change_planner.h
The file was addedssep/coarse_search/motion_primitive_sampler/quintic_polynomial_motion_primitive_sampler.h
The file was modifiedssep/coarse_search/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/search_graph.h
The file was modifiedssep/coarse_search/stage_transition_controller.h
The file was modifiedssep/common/utils/scene_frame_visualization.cc
The file was addedssep/coarse_search/conditions/node_level_condition.h
The file was addedssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
Commit e20a48ccf907c172cd258badb80770444a39bdc5 by 5081703.cr
fix: lattice wbca velocity reference bug.
The file was modifieddata/lattice/trajectory_evaluator.cpp
Commit f08fc47daa4732107487be5e95cff6c7519c5e76 by wuyanjun110
fix:杨浦堆场入口重搜索的bug
The file was modifieddata/other/flow_control.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/config/cfg_func_sw.cpp
Commit 346b3313849cd4c2a92ff2eae1281fefa17c6bdf by wuyanjun110
refactor:优化打印日志
The file was modifiedtasks/deciders/lat_decider/path_bounds_decider.cpp
The file was modifieddata/lattice/trajectory_evaluator.cpp
Commit efb4b5efff5051ea0cb101f63308b3cf96b24f90 by wuyanjun110
feat: 添加更多忽略文件到.gitignore
The file was modified.gitignore
Commit 680d711465338cdb7b63d2fbb55ac8231aa0522b by tangwenqing
chore: SSEP: 1. 变道场景使用更严格的车挂碰撞判断。2. 过滤超过曲率上限的路径。

The file was modifiedssep/coarse_search/evaluator/curvature_cost_computer.h
The file was modifiedssep/scenarios/tractor_trailer_lane_change_planner.h
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.cc
Commit 07eddc3b7ec1ad94417e2dc1bfac5d2a8b76c46d by wuyanjun110
fix: 修复边界约束逻辑并优化障碍物处理代码
The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit 5b23bc622f63cdeb7f9546641b51d620b2b35d22 by tangwenqing
chore: SSEP: merge 集卡进堆场的新改动

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 54a568d284cc21044add53f825e13ffea0c16be0 by wuyanjun110
fix: 优化障碍物处理逻辑，过滤不必要的障碍物类型
The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit d868d505a77a1ca04d496f97347e1060ead1641f by wuyanjun110
fix: 优化OgmPoints序列化，过滤无效点并调整序列化方法
The file was modifieddata/obstacle/ogm.hpp
Commit 3374681c6ddc84be7755c8ebf8e6854e61159f98 by wuyanjun110
fix: 杨浦 调整虚拟车道与第一排箱体的距离和左侧后退延伸长度
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit e347247ce0d00a200574cc5bb25112621e193570 by wuyanjun110
fix: 优化SubProcessIdle逻辑，增加对引导线信息可用性的检查，防止没有识别低贝位就进行搜索的bug
The file was modifiedtasks/deciders/search_decider/into_yard_junction_search_decider.cpp
Commit 66056d9ff0da904e2072d9011666631d41cea52a by tangwenqing
fix: SSEP: 修复反向路径拖挂角度错误的问题

The file was modifiedssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
Commit 29291b95199687e97991d9489d85fad645045654 by wuyanjun110
feat: 1.添加OgmCollisionPos绘制功能，增强碰撞检测可视化 2.replayer 添加og碰撞检测的回放功能
The file was modifiedhmi/draw/draw_collision_detection.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.hpp
The file was modifiedhmi/draw/draw_collision_detection.hpp
Commit c72005d662d95de7153c7a15d40b4505c7b69771 by wuyanjun110
fix: 注释掉日志记录代码以减少输出干扰
The file was modifiedtasks/deciders/lat_decider/side_pass_decider.cpp
Commit b9e7010a6647b88f2d1b7ccbf0a107796c00420d by tangwenqing
feat: SSEP: 完善网页可视化。现在在网页上可以可视化所有元素并任意调整分辨率。

The file was modifiedssep/offboard/servers/scene_vis_server.cc
The file was modifiedssep/offboard/servers/scene_vis_html_template.cc
The file was modifiedssep/offboard/servers/scene_vis_html_template.h
Commit db6b2998c7b19ac262faae5ce406b6bb1c0300f6 by chenran
fix: build bug
The file was modifieddata/config/cfg_env_const.hpp
Commit 857f4abd0e008f86dea5d5880f2a4ab903f6110b by chenran
fix: Trajectory MatchByt bug.
The file was modifieddata/common/trajectory_point.cpp
Commit b3d8e7f1b8a0f4f404506eb060e6f56f37d35cae by tangwenqing
chore: SSEP: 搜索使用障碍物软约束，提升自卸车进出堆场极限场景的搜索成功率。

The file was modifiedssep/common/utils/path_utils.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/common/utils/path_utils.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
Commit dac7c89094f1f75b409fb7ea12870735e8c44f3e by tangwenqing
chore: SSEP: 过滤无效的采样轨迹，提高进堆场搜索成功率

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 3300e1a9daf69673daac19ea5fbe0039afcbc115 by tangwenqing
chore: SSEP: 处理掉头场景终点在standby_guideline上的情况

The file was modifiedssep/scenarios/scenario_planner_factory.h
Commit ec15472120f3d67d5bcf92713ca0ab7847c5809f by wuyanjun110
feat: 添加镜子配置和绘制功能
The file was modifiedhmi/draw/draw_ego.cpp
The file was modifieddata/config/cfg_static.cpp
The file was modifieddata/config/cfg_static.hpp
Commit 17c3f62191f31f60680819b599f7c257ba28af42 by wuyanjun110
feat: 优化JudgeFinishAlign函数，简化FSM接口调用，增强对齐完成判断逻辑
The file was modifiedplan/prepare/prepare_status.cpp
Commit 8baf0a211150128214102de2d4e3261838b09944 by wuyanjun110
feat: 优化低贝激活判断逻辑，简化条件判断，提高代码可读性
The file was modifiedtasks/deciders/search_decider/into_yard_junction_search_decider.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit 51180b0d25c6387ef489de1a8ff39f49bcb37f58 by wuyanjun110
fix: 移除不必要的日志警告，优化代码逻辑
The file was modifieddata/lattice/trajectory_combiner.cpp
Commit 828b79a882767843680f05395f4f8cc73f01d28e by tangwenqing
chore: SSEP: 掉头进堆场时增加参考线权重

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit b49664473025df194c4e99e8a592283933351183 by wuyanjun110
refactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bug
The file was modifiedsink/ros_sink_ctrl_reference.cpp
Commit 06f00af19d0f07a9c4ebfb1a14a0adf834e0725e by wuyanjun110
fix: 更新YANGPU虚拟车道到第一排箱子的阈值，修正为0.0
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 1ae44720a335293b49d9d198cd6dee924fa28138 by wuyanjun110
fix: 修正右侧车道拉直点阈值为2.0度
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 422d0cd121bf66362cb39f51b2a52a4de9002038 by wuyanjun110
fix:进堆场终点距离计算的bug
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit c224b5b2ad8ef6113c9c822ea496bde7e9219ea3 by wuyanjun110
fix: 优化地图包围体和在线区域轮廓创建逻辑,修复潜在的空指针和多边形合并问题
The file was modifieddata/ssep/online_region_contour_creator.cpp
The file was modifieddata/map/envelop/map_envelop.cpp
Commit ed0b322e870556662db2c272f6cca28d3b2505cf by wuyanjun110
fix: 修正OgmCollisionPos函数中的颜色定义注释，确保颜色代码清晰
The file was modifiedhmi/draw/draw_collision_detection.cpp
Commit 9958c4fb244203a16577ebb183946313ac4902b3 by wuyanjun110
feat:添加挂车的上层纵向参数
The file was modifiedalgorithm/vehicle_model/kinematic_bicycle_model.cpp
The file was modifieddata/config/cfg_static.hpp
The file was modifiedalgorithm/plan/ego_expanding.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifiedalgorithm/plan/sweep_area.cpp
The file was modifiedhmi/draw/draw_constrain.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifiedhmi/draw/draw_ego.cpp
The file was modifieddata/lattice/collision_checker.cpp
The file was modifiedcommon/util/crash_helper.cpp
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedalgorithm/wbca/truck_wbca_manager.cpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifieddata/config/cfg_static.cpp
Commit 9236dd6181e0b7c771e63db307356296e789dbf2 by wuyanjun110
fix: 简化UpdateCurLaneData函数中的当前和目标车道索引更新逻辑
The file was modifieddata/plan/switch_data.cpp
Commit 1500480102eebfe23dc08f22baee8e8a5e45c038 by wuyanjun110
fix: 优化ConstructStartAndEndContour和ConstructEndStraightPosture函数中的逻辑，增加双车道距离补偿
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 1b3e1d627380950b922bf794cd8f9b9160f4a6e0 by wuyanjun110
fix: 调整GetExtendPoint函数中的扩展点计算逻辑，增加扩展距离；优化在线区域轮廓创建逻辑，增加多边形连接性检查和简化处理
The file was modifieddata/map/envelop/map_envelop.cpp
The file was modifieddata/ssep/online_region_contour_creator.cpp
Commit ab65d3bc4ea9b19ca8a03e9090432de03b66bc73 by wuyanjun110
feat: 添加核心对象库并优化可执行文件链接逻辑
The file was modifiedCMakeLists.txt
Commit 8c79ea9cf0d58a434b38c9fd839eba62571b8eeb by wuyanjun110
feat: 添加PncGraphicsView类以支持图像显示和交互功能；更新相关文件以替换DragImage
The file was modifiedhmi/node_hmi.cpp
The file was modifiedhmi/common/image_viewer.cpp
The file was addedhmi/common/pnc_graphics_view.hpp
The file was modifiedhmi/widget/pnc_mat.cpp
The file was modifiedhmi/widget/pnc_mat.hpp
The file was modifiedhmi/widget/replayer_pnc_mat.hpp
The file was modifiedhmi/replayer_hmi.cpp
The file was modifiedhmi/widget/replayer_pnc_mat.cpp
The file was modifiedCMakeLists.txt
The file was addedhmi/common/pnc_graphics_view.cpp
Commit 596962e10fec144af58b2e0fd7b089fca8661440 by wuyanjun110
fix: 调整ConstructEndPosture函数中的扩展距离逻辑，将TT类型的扩展距离从20.0增加到25.0
The file was modifieddata/ssep/open_space_ec.cpp
Commit f6df47fe7a095d203cffc46df3eec57303915643 by wuyanjun110
fix: 取消CalRefPtsKappa函数中的注释，启用航向角计算逻辑
The file was modifieddata/map/reference/reference_segment.cpp
Commit 6c6c78a4cb5ad24627297a27ec668ab5e3913a37 by wuyanjun110
feat: 添加测量功能，支持在PncGraphicsView中显示测量线和文本；更新鼠标事件处理逻辑以支持控制键测量
The file was modifiedhmi/draw/draw_ssep.cpp
The file was modifiedhmi/common/pnc_graphics_view.cpp
The file was modifiedhmi/replayer_hmi.cpp
The file was modifiedhmi/common/pnc_graphics_view.hpp
Commit 174fffc20a252707cccc80f830bd65304bdef169 by wuyanjun110
fix: 注释掉DrawTargetPath函数中的轮廓生成和绘制逻辑
The file was modifiedhmi/draw/draw_ssep.cpp
Commit 65a7777d7c662ac049366c24e60b684062dae23d by wuyanjun110
fix: 修复EgoExpanding类中VertexExpanding函数的除零错误；更新KinematicBicycleModel类中TrailerPtFromTractorPt函数的代码格式
The file was modifiedalgorithm/plan/ego_expanding.cpp
The file was modifiedalgorithm/vehicle_model/kinematic_bicycle_model.cpp
Commit 2a3c11f3986d0c8c71aea388f19bb0cc1ef03230 by wuyanjun110
fix: 在CreateTrajInfo函数中添加continue语句以优化逻辑
The file was modifieddata/plan/cloud_trajectory.cpp
Commit 8724ebfc9392edaa35d0827ba5f4eeea7642e316 by wuyanjun110
fix: 在InterpPtByLinearS函数中添加对s值的有效性检查，避免无效输入导致错误
The file was modifieddata/common/trajectory_point.cpp

Summary

  1. Revert "fix_out: "左转失败的情况下,进行右转"" (details)
  2. "fix_out: 不允许超车道变道到堆场" (details)
Commit a2827841a5d1a1d31a3564dd96c210294cd5c883 by caoxue
Revert "fix_out: "左转失败的情况下,进行右转""

This reverts commit b266fc54ed3cf07c4b37eceb70e4b756dae01842.
The file was modifiedrouting/common/routing_elements.cc
The file was modifiedrouting/strategy/a_star_strategy.cc
The file was modifiedrouting/common/routing_elements.h
The file was modifiedrouting/parser/param_parser.h
The file was modifiedrouting/routing.cc
The file was modifiedrouting/parser/param_parser.cc
Commit 8b0e5d8d610e139edeb5ecd677c6a07c71ef0381 by caoxue
"fix_out: 不允许超车道变道到堆场"
The file was modifiedrouting/strategy/a_star_strategy.cc