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frameeditalgorithm/wbca/path_optimization/path_optimization.cppssep/common/utils/clipper2/include/clipper2/clipper.version.hssep/keb_optimizer/cost_features/imv_steer_constraint.htasks/plan/keb_lane_follow_path_task.cppssep/common/utils/clipper2/src/clipper.triangulation.cppoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/common/utils/clipper2/include/clipper2/clipper.rectclip.hssep/common/utils/clipper2/include/clipper2/clipper.engine.hssep/keb_optimizer/distance_field_interpolator.hssep/common/utils/clipper2/src/clipper.engine.cppssep/keb_optimizer/cost_features/cost_functions.hssep/common/utils/clipper2/include/clipper2/clipper.export.hssep/keb_optimizer/keb_problem.ccoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.ccalgorithm/plan/keb_optimizer.cppoffboard/keb_path_opt_cli/keb_simulator.ccssep/common/utils/clipper2/include/clipper2/clipper.triangulation.hssep/keb_optimizer/cost_features/sdf_disk_collision_cost.hssep/common/utils/clipper2/include/clipper2/clipper.core.hssep/keb_optimizer/cost_features/imv_kinematic_constraint.hssep/common/utils/clipper2/include/clipper2/clipper.minkowski.hssep/keb_optimizer/imv_keb_optimizer.ccssep/common/utils/clipper2/include/clipper2/clipper.offset.hssep/CMakeLists.txtssep/data_structures/polyline.ccssep/common/utils/clipper2/src/clipper.offset.cppssep/common/utils/clipper2/src/clipper.rectclip.cppssep/keb_optimizer/keb_problem.hssep/common/utils/clipper2/include/clipper2/clipper.hoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.hppbf5c8b6a5d40a577e06606874e8c3225fb2d58ee1780580361000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: Keb: 1. 引入clipper2几何运算库处理多边形的膨胀腐蚀操作。解决之前的膨胀逻辑对某些特殊形状处理存在错误的问题。2. 将最近点膨胀代价升级为sdf碰撞检测代价，鲁棒性更高收敛更快。3. 前轮转向约束使用softplus函数建立梯度平滑的约束，解决在极限转弯场景优化时梯度跳变的问题。 2026-06-04 21:39:21 +0800bf5c8b6a5d40a577e06606874e8c3225fb2d58eefeat: Keb: 1. 引入clipper2几何运算库处理多边形的膨胀腐蚀操作。解决之前的膨胀逻辑对某些特殊形状处理存在错误的问题。2. 将最近点膨胀代价升级为sdf碰撞检测代价，鲁棒性更高收敛更快。3. 前轮转向约束使用softplus函数建立梯度平滑的约束，解决在极限转弯场景优化时梯度跳变的问题。addssep/common/utils/clipper2/include/clipper2/clipper.heditoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.ccaddssep/common/utils/clipper2/include/clipper2/clipper.export.heditssep/keb_optimizer/keb_problem.heditalgorithm/plan/keb_optimizer.cppaddssep/common/utils/clipper2/include/clipper2/clipper.offset.haddssep/common/utils/clipper2/include/clipper2/clipper.core.haddssep/common/utils/clipper2/include/clipper2/clipper.engine.heditoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.hppaddssep/keb_optimizer/distance_field_interpolator.heditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/keb_optimizer/imv_keb_optimizer.cceditssep/CMakeLists.txtaddssep/keb_optimizer/cost_features/cost_functions.haddssep/keb_optimizer/cost_features/sdf_disk_collision_cost.haddssep/common/utils/clipper2/src/clipper.rectclip.cppaddssep/common/utils/clipper2/include/clipper2/clipper.rectclip.haddssep/common/utils/clipper2/src/clipper.offset.cppeditssep/keb_optimizer/cost_features/imv_steer_constraint.haddssep/common/utils/clipper2/include/clipper2/clipper.minkowski.heditssep/data_structures/polyline.ccaddssep/common/utils/clipper2/src/clipper.engine.cppeditssep/keb_optimizer/keb_problem.ccedittasks/plan/keb_lane_follow_path_task.cppeditssep/keb_optimizer/cost_features/imv_kinematic_constraint.haddssep/common/utils/clipper2/src/clipper.triangulation.cppaddssep/common/utils/clipper2/include/clipper2/clipper.triangulation.haddssep/common/utils/clipper2/include/clipper2/clipper.version.heditoffboard/keb_path_opt_cli/keb_scene_converter.ccdata/constrain/block_data.cppdata/config/cfg_safe_const.hppdata/config/cfg_safe_const.cpp4e529beda6281c89daa913f798b557c92d0a3df51780997289000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: curature over limit stop optimization 2026-06-09 17:28:09 +08004e529beda6281c89daa913f798b557c92d0a3df5fix: curature over limit stop optimizationeditdata/config/cfg_safe_const.cppeditdata/constrain/block_data.cppeditdata/config/cfg_safe_const.hppoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/maps/ogm.htasks/plan/keb_utils_core.cppssep/maps/ogm.ccssep/maps/ogm_builder.ccssep/keb_optimizer/keb_problem.cctasks/plan/keb_utils_core.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.ccdata/config/cfg_lat_plan.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppssep/keb_optimizer/keb_problem.hssep/maps/ogm_builder.hoffboard/keb_path_opt_cli/keb_simulator.cc5b1a62a1b19dc733d075fcb7f51dab31938582f41781010932000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb: 集卡进堆场增加“最后拉直段减小避障半径”的逻辑 2026-06-09 21:15:32 +08005b1a62a1b19dc733d075fcb7f51dab31938582f4chore: Keb: 集卡进堆场增加“最后拉直段减小避障半径”的逻辑editssep/maps/ogm.heditssep/keb_optimizer/keb_problem.heditssep/maps/ogm_builder.cceditssep/maps/ogm_builder.hedittasks/plan/keb_utils_core.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditdata/config/cfg_lat_plan.cppeditoffboard/keb_path_opt_cli/keb_simulator.cceditoffboard/keb_path_opt_cli/keb_scene_converter.ccedittasks/plan/keb_utils_core.hppeditalgorithm/plan/keb_optimizer.cppeditssep/maps/ogm.cceditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/maps/ogm_config_utils.hssep/maps/ogm_config_utils.ccssep/ssep_planner.cc7af0c7391673b03d1f2c27d375eb87e89d84fdcf1781073903000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autorefactor: SSEP: 重构OGM构建流程 2026-06-10 14:45:03 +08007af0c7391673b03d1f2c27d375eb87e89d84fdcfrefactor: SSEP: 重构OGM构建流程addssep/maps/ogm_config_utils.ccaddssep/maps/ogm_config_utils.heditssep/ssep_planner.cc.gitignorebe3ce1d49b1c6d7f491a658c7263620f1afcb7221781075255000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加skills到.gitignore以忽略相关文件 2026-06-10 15:07:35 +0800be3ce1d49b1c6d7f491a658c7263620f1afcb722feat: 添加skills到.gitignore以忽略相关文件edit.gitignoredata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppdata/constrain/longitude_constrain.hppdata/constrain/longitude_constrain.cppdata/app/fsm/stop_reason.cppc8876f9999372ab3bfe13fbffda89c1ecef665481781075255000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: step align状态下，吊具防护，montion状态机切换的bug 2026-06-10 15:07:35 +0800c8876f9999372ab3bfe13fbffda89c1ecef66548fix: step align状态下，吊具防护，montion状态机切换的bugeditdata/constrain/longitude_constrain.cppeditdata/constrain/longitude_constrain.hppeditdata/app/fsm/stop_reason.cppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppdata/map/pnc_map/pnc_map_helper.hppplan/prepare/prepare_status.cppdata/map/pnc_map/pnc_map_helper.cppa36a7f30bdbce770bcbb209a26e659a01417e2571781075255000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复进充电桩，场景适配错误的bug 2026-06-10 15:07:35 +0800a36a7f30bdbce770bcbb209a26e659a01417e257fix:修复进充电桩，场景适配错误的bugeditplan/prepare/prepare_status.cppeditdata/map/pnc_map/pnc_map_helper.hppeditdata/map/pnc_map/pnc_map_helper.cpptasks/plan/keb_utils.cpptasks/plan/keb_utils.hpp72ef714fd0e866823e7d2dd7c0df42e08a47dac71781076428000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 删除未用到的“BuildKebOGM”方法 2026-06-10 15:27:08 +080072ef714fd0e866823e7d2dd7c0df42e08a47dac7fix: Keb: 删除未用到的“BuildKebOGM”方法edittasks/plan/keb_utils.cppedittasks/plan/keb_utils.hpphmi/widget/path_curve_detail.hpphmi/replayer_hmi.hpphmi/node_hmi.hpphmi/widget/path_curve_detail.cpphmi/node_hmi.cpphmi/replayer_hmi.cpp9303bd8e2d53b8012b3756c1275e8ce4f95990941781081026000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat(hmi): 新增路径曲线面板 path_curve_detail 2026-06-10 16:43:46 +08009303bd8e2d53b8012b3756c1275e8ce4f9599094feat(hmi): 新增路径曲线面板 path_curve_detailedithmi/node_hmi.hppaddhmi/widget/path_curve_detail.hppedithmi/replayer_hmi.hppaddhmi/widget/path_curve_detail.cppedithmi/node_hmi.cppedithmi/replayer_hmi.cppalgorithm/util/curvature.hppalgorithm/util/curvature.cppdata/common/guide_path.cppdata/plan/path_data.cppaceeded995c38d29a70420d2aa4721405dd9f2f31781081617000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化引导线曲率跳变的bug 2026-06-10 16:53:37 +0800aceeded995c38d29a70420d2aa4721405dd9f2f3refactor:优化引导线曲率跳变的bugeditdata/plan/path_data.cppeditalgorithm/util/curvature.hppeditalgorithm/util/curvature.cppeditdata/common/guide_path.cppscripts/clang_format.shc993e76f4bcac3a41330f1f0e86409606f30ba661781082251000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 更新 clang-format 命令的使用说明和检查逻辑 2026-06-10 17:04:11 +0800c993e76f4bcac3a41330f1f0e86409606f30ba66fix: 更新 clang-format 命令的使用说明和检查逻辑editscripts/clang_format.shalgorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.cppmath/piecewise_jerk/piecewise_jerk_problem.hpptasks/plan/pjpo_task.cppmath/piecewise_jerk/piecewise_jerk_path_problem.cppdcf2390c1b8735e60ba08704a7d4c9796a2fb94f1781088125000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加软约束以支持初始状态的灵活性 - 在 PiecewiseJerkProblem 中添加了对初始状态的软约束支持，允许在优化过程中对初始位置（l）、速度（dl）和加速度（ddl）进行灵活处理。 - 更新了相关的计算和约束逻辑，以支持软约束的引入。 - 在 PJPO 算法中实现了对初始状态的软化处理，增强了路径优化的鲁棒性。 - 进行了代码格式化和逻辑优化，提高了代码可读性。 2026-06-10 18:42:05 +0800dcf2390c1b8735e60ba08704a7d4c9796a2fb94ffeat: 添加软约束以支持初始状态的灵活性editmath/piecewise_jerk/piecewise_jerk_problem.hppeditmath/piecewise_jerk/piecewise_jerk_problem.cppedittasks/plan/pjpo_task.cppeditalgorithm/plan/pjpo.cppeditmath/piecewise_jerk/piecewise_jerk_path_problem.cppalgorithm/plan/pjpo.cppe9c9d88b14b740b58efb48bf08c66eb9620ac4841781089147000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 注释掉停止车辆的初始化日志输出 2026-06-10 18:59:07 +0800e9c9d88b14b740b58efb48bf08c66eb9620ac484fix: 注释掉停止车辆的初始化日志输出editalgorithm/plan/pjpo.cppssep/keb_optimizer/imv_keb_optimizer.ccbe675513a5048a731785209afa4355e958d793f71781091915000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 增加IMV后方碰撞检测距离 2026-06-10 19:45:15 +0800be675513a5048a731785209afa4355e958d793f7fix: Keb: 增加IMV后方碰撞检测距离editssep/keb_optimizer/imv_keb_optimizer.ccplan/prepare/prepare_ogm.cppreplayer/replayer_data_process/replayer_data_process.cppdata/config/cfg_hmi.hppdata/lattice/ogm_crash_data.cppdata/config/cfg_hmi.cppdata/lattice/ogm_crash_data.hppdata/plan_frame.cpphmi/replayer_hmi.cpp1b8760659f115f904630f63c1c3846324e8a6a071781100097000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:replay界面添加菜单选项控制是否进行 obj和ogm的碰撞检测 2026-06-10 22:01:37 +08001b8760659f115f904630f63c1c3846324e8a6a07feat:replay界面添加菜单选项控制是否进行 obj和ogm的碰撞检测editdata/config/cfg_hmi.hppeditdata/config/cfg_hmi.cppeditplan/prepare/prepare_ogm.cppeditdata/lattice/ogm_crash_data.hppeditdata/plan_frame.cppeditreplayer/replayer_data_process/replayer_data_process.cppedithmi/replayer_hmi.cppeditdata/lattice/ogm_crash_data.cppdata/plan/cloud_trajectory.hppc5cb73ea011dc96e57e8627246e29fe6cd3f8b281781100284000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加CloudTrajectoryPoint的赋值运算符重载 2026-06-10 22:04:44 +0800c5cb73ea011dc96e57e8627246e29fe6cd3f8b28feat: 添加CloudTrajectoryPoint的赋值运算符重载editdata/plan/cloud_trajectory.hpphmi/draw/draw_collision_detection.cppcf2d8b2594e72a6829842a63598cdefe67a0cb601781100302000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 注释掉OgmCollisionPos函数中的更新检查 2026-06-10 22:05:02 +0800cf2d8b2594e72a6829842a63598cdefe67a0cb60feat: 注释掉OgmCollisionPos函数中的更新检查edithmi/draw/draw_collision_detection.cppreplayer/replayer_data_process/replayer_data_process.cppplan/prepare/prepare_ogm.cppdata/config/cfg_hmi.hppdata/lattice/ogm_crash_data.cppdata/config/cfg_hmi.cppdata/lattice/ogm_crash_data.hppdata/plan_frame.cpphmi/replayer_hmi.cppb7d0da6551b2d1288386fb5485e8e7358efaf9521781101463000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:replay界面添加菜单选项控制是否进行 obj和ogm的碰撞检测 2026-06-10 22:24:23 +0800b7d0da6551b2d1288386fb5485e8e7358efaf952feat:replay界面添加菜单选项控制是否进行 obj和ogm的碰撞检测editdata/config/cfg_hmi.cppeditreplayer/replayer_data_process/replayer_data_process.cppeditplan/prepare/prepare_ogm.cppeditdata/lattice/ogm_crash_data.hppeditdata/config/cfg_hmi.hppedithmi/replayer_hmi.cppeditdata/plan_frame.cppeditdata/lattice/ogm_crash_data.cpphmi/draw/draw_collision_detection.cpp5b60ab02615b439f33dce7bc015d900f4583ecf51781101471000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 注释掉OgmCollisionPos函数中的更新检查 2026-06-10 22:24:31 +08005b60ab02615b439f33dce7bc015d900f4583ecf5feat: 注释掉OgmCollisionPos函数中的更新检查edithmi/draw/draw_collision_detection.cpphmi/replayer_hmi.cpp2be76502ab8460d9f50c979959c2bde171ff05e21781109945000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:合并的bug 2026-06-11 00:45:45 +08002be76502ab8460d9f50c979959c2bde171ff05e2fix:合并的bugedithmi/replayer_hmi.cppalgorithm/plan/obstacle_risk_evaluation.cppdata/obstacle/obstacle_decider_attr.cpptasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/obstacle/obstacle_decider_attr.hppalgorithm/plan/obstacle_risk_evaluation.hpp2613c75400eb3d06c154c5cccbc3bc4cf8d33eaf1781153489000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 重构障碍物风险评估器，另外添加横路不进行龙门吊风险限速的功能。 2026-06-11 12:51:29 +08002613c75400eb3d06c154c5cccbc3bc4cf8d33eaffeat: 重构障碍物风险评估器，另外添加横路不进行龙门吊风险限速的功能。editdata/config/cfg_func_sw.hppeditalgorithm/plan/obstacle_risk_evaluation.cppeditdata/config/cfg_func_sw.cppeditalgorithm/plan/obstacle_risk_evaluation.hppeditdata/obstacle/obstacle_decider_attr.hppeditdata/obstacle/obstacle_decider_attr.cppedittasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_lat_plan.hppconfig/config_imv/scenario.yamldata/config/cfg_lat_plan.cppdata/plan/switch_data.cppdata/config/cfg_stage.cpptasks/plan/lane_change_path_task_v2.hpptasks/task_factory.cppdata/config/cfg_stage.hpptasks/plan/lane_change_path_task_v2.cppb7f53a0bfa8f370f104b66a273b55a68190e004f1781156898000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add lane_change_path_task v2 2026-06-11 13:48:18 +0800b7f53a0bfa8f370f104b66a273b55a68190e004ffix: add lane_change_path_task v2editdata/config/cfg_stage.cppeditdata/config/cfg_lat_plan.hppeditdata/config/cfg_stage.hppaddtasks/plan/lane_change_path_task_v2.hppeditconfig/config_imv/scenario.yamleditdata/config/cfg_lat_plan.cppedittasks/task_factory.cppeditdata/plan/switch_data.cppaddtasks/plan/lane_change_path_task_v2.cppscenarios/lane_follow_scenario/lane_follow_stage.cppscenarios/lane_change_scenario/lane_change_stage.cppscenarios/scenario.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cppcore/plan_runtime_watchdog.hppscenarios/lane_change_scenario/lane_change_cancel_stage.cppscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppscenarios/parking_scenario/parking_move_stage.cppscenarios/parking_scenario/parking_prepare_stage.cppscenarios/lane_change_scenario/lane_change_prepare_stage.cppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppscenarios/stage.cppscenarios/bulkload_scenario/bulkload_lane_change_stage.cppscenarios/parking_scenario/parking_lane_change_stage.cppnode/logic.cppscenarios/bulkload_scenario/bulkload_preapre_stage.cppscenarios/bulkload_scenario/bulkload_move_backward_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppd428f839d466a526ed34f78e031585e10206975a1781159693000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化看门狗功能 2026-06-11 14:34:53 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