Changes

Summary

1. fix: fiter cost_beta (details)
2. feat: trust-region solver based WBCA (details)
3. fix: max_ref_len 60 (details)
4. feat:fsm interface 里面添加 开始对准是终点距离的接口 (details)
5. fix:align done 情况下还可以继续走的bug (details)
6. fix:停车原因赋值错误的bug (details)
7. feat: 添加对值阈值和条件，优化对准决策逻辑 (details)
8. fix: 添加路径点数量检查，确保至少有两个点以创建路径 (details)
9. feat:1.添加耗时显示2.优化绘制界面 map的绘制 (details)

Commit 64ef83d02cb4ee10b6552d567e1250eeeb5ced6d by chenran fix: fiter cost_beta
	algorithm/wbca/wbca_manager.cpp
Commit 28b808307c8011970b2cdff7fa66961de6217668 by chenran feat: trust-region solver based WBCA
	algorithm/wbca/path_optimization/car_path_optimization.cpp
	thirdparty/trust-region/truncated_cg_trust_region.hpp
	algorithm/wbca/path_optimization/path_optimization.hpp
	data/config/cfg_lat_plan.cpp
	algorithm/wbca/path_optimization/truck_path_optimization.cpp
	algorithm/wbca/path_optimization/path_optimization.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	data/config/cfg_lat_plan.hpp
Commit 8ac969a8781279ff5844967394890d8214fff0a7 by chenran fix: max_ref_len 60
	algorithm/wbca/wbca_manager.cpp
	data/config/cfg_lat_plan.cpp
Commit 819284d803105345130b63c9b6bd545af273446f by wuyanjun110 feat:fsm interface 里面添加 开始对准是终点距离的接口
	data/app/fsm/task_motion_fsm.hpp
	data/app/fsm_interface.cpp
	data/app/fsm/task_fsm/task_align_fsm/task_align_fsm.hpp
	data/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
	data/app/fsm_interface.hpp
	data/app/fsm/task_fsm/task_fsm.hpp
	data/app/fsm/task_motion_fsm.cpp
Commit 8c45894813ba6649234716d03a0f8db3819c13fd by wuyanjun110 fix:align done 情况下还可以继续走的bug
	data/app/fsm/motion_fsm/motion_fsm.cpp
Commit 1103882d593a0c4891581b5d3ce213d8c472bbf4 by wuyanjun110 fix:停车原因赋值错误的bug
	hmi/widget/command.cpp
	data/app/cmd/cmd_remote_ctrl.cpp
	data/app/fsm/task_command_type.hpp
	plan/prepare/module.cpp
	plan/prepare/prepare_status.cpp
	data/app/cmd/cmd_align.cpp
	data/app/fsm/task_command_type.cpp
Commit 8ba0710732b2cc129b93b855484552d35aac311c by wuyanjun110 feat: 添加对值阈值和条件，优化对准决策逻辑
	data/config/cfg_env_const.hpp
	data/config/cfg_env_const.cpp
	plan/prepare/prepare_status.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
	data/config/cfg_safe_const.cpp
	data/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
Commit b9301900bfe01801aee8ab789b9f37e9ee58fea1 by wuyanjun110 fix: 添加路径点数量检查，确保至少有两个点以创建路径
	data/map/pnc_map/pnc_map_path.cpp
Commit d30d6299d2fb251ac8aee52fca49b70da0214e63 by wuyanjun110 feat:1.添加耗时显示2.优化绘制界面 map的绘制
	replayer/logic.hpp
	CMakeLists.txt
	hmi/replayer_hmi.hpp
	hmi/widget/perf_cost_detail.cpp
	replayer/logic.cpp
	data/plan_frame.hpp
	hmi/widget/pnc_mat.cpp
	hmi/node_hmi.cpp
	node/logic.hpp
	hmi/replayer_hmi.cpp
	hmi/widget/pnc_mat_shared.hpp
	node/logic.cpp
	hmi/widget/pnc_mat.hpp
	data/hmi_frame.hpp
	hmi/node_hmi.hpp
	node/main.cpp
	replayer/main.cpp
	hmi/widget/pnc_mat_shared.cpp
	hmi/widget/replayer_pnc_mat.cpp
	hmi/draw/draw_map.cpp
	hmi/draw/draw_map.hpp
	hmi/widget/replayer_pnc_mat.hpp
	hmi/widget/perf_cost_detail.hpp