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Summary

  1. feat_out:外设命令cmd枚举调整 (details)
Commit 78742f614045dfc91b5e32773a9faa46dfebc4f0 by zhaojianfeng2
feat_out:外设命令cmd枚举调整
The file was modifiedtos_msgs/msg/PeripheralCmd.msg

Summary

  1. fix: add gjk (details)
  2. fix: add DECELERATION. (details)
  3. fix: forward_simulation bug. (details)
  4. fix: lka_deviation using yard_name. (details)
  5. fix: hmi load map. (details)
  6. fix: deceleration state optimization. (details)
  7. fix: semantic_type in replayer. (details)
  8. fix: forward_simulator bug. (details)
  9. fix: decision logic. (details)
  10. fix: decision parameters. (details)
  11. fix: update lka_deviation_region. (details)
  12. fix: add deviation around stacker/dest. (details)
  13. fix: wbca path length (details)
  14. fix:add driving_corridor_ogm_dilate_size (details)
  15. fix: boundary shift in yard. (details)
  16. fix: add usef_func_after_destination_wbca_no_shift_mode. (details)
  17. fix: lattice error for lon_decision deceleration. (details)
  18. fix: shif out yard. (details)
  19. fix: shift into&out yard (details)
  20. fix: lattice error for lon_decision deceleration. (details)
  21. fix: lon_decision for car. (details)
  22. fix: using backward obstacle in lane changing lon_decision. (details)
  23. fix: lka deviation for out_yard region. (details)
  24. fix: using last_path when out_yard wbca failed. (details)
  25. fix: correct imv crab mode conditions. (details)
  26. fix: lka deviation through yard. (details)
  27. fix: disable wbca smooth mode for seaside buffer. (details)
  28. fix: extract lane_pts msg in replayer. (details)
  29. fix:修复崩溃的bug (details)
  30. fix:修复崩溃的bug (details)
  31. refactor:优化关路禁停 (details)
  32. chore: ssep: 1.增加进堆场时终点选择逻辑 - 优先选择宽阔的区域作为终点，提前把挂车甩直。2. keb_optimizer加上最后一段直线的约束 (details)
  33. feat: ssep: 新增低贝位搜索模式 -- 在进入窄通道前把挂甩直。适配杨浦场景。 (details)
  34. fix: max_acc = 0.5 for wbca velocity reference. (details)
  35. fix: lane_pts deviation calculation. (details)
  36. feat: lane_pts debug  msg. (details)
  37. fix: hmi load map. (details)
  38. feat_out: path_opt in replayer. (details)
  39. fix: velocity profile exception. (details)
  40. fix: delete history in smooth mode. (details)
  41. fix:修复封路变道的bug (details)
  42. fix:引桥前变道的bug (details)
  43. fix:可能崩溃的bug (details)
  44. fix:修复合并的bug (details)
  45. fix:修复合并的bug (details)
  46. fix: using maximum vehicle size in WBCA (details)
  47. fix:人工对准误创建约束 (details)
  48. fix: abandon  last segment in wbca. (details)
  49. fix: wbca debug msg. (details)
  50. fix: end_velocity for wbca calc exception. (details)
  51. fix: velocity profile exception. (details)
  52. fix: add wbca debug var. (details)
  53. fix: add lateral acc cost. (details)
  54. fix: add wbca cost and time_consuming. (details)
  55. fix: add wbca cost and time_consuming. (details)
  56. fix: add lateral acc cost. (details)
  57. feat:添加根据定位值的倒车防护，防治对准时，跟着桥走. (details)
  58. fix:修复连续普通路口搜索的bug (details)
  59. fix: wbca bd expanding. (details)
  60. feat:调整搜索终点位置 (details)
  61. feat:堆高机作业关路重叠时，合并 (details)
  62. feat:park lock下 不校验地图 (details)
  63. feat:调整出堆场口的约束创建 (details)
  64. fix:修复因为距离阈值，带来场景识别错误的bug (details)
  65. fix:修复终点距离计算的bug (details)
  66. fix:修复海润进弯道后第一个停车位停不正的bug (details)
  67. fix:修复误触发open space的bug (details)
  68. refactor:优化动态搜索限速 (details)
  69. feat: lon_decision from SQ (details)
  70. fix: add min_safe_ttc (details)
  71. fix: v_min_coef = 9.9 wbca (details)
  72. fix: disable dynamic and steering speed constraints (details)
  73. feat:适配大港ssep (details)
  74. fix:堆场口禁停异常的bug (details)
  75. feat: add drving_corridor_ogm_dilate_size_in_yard (details)
  76. fix: start up boundary optimization. (details)
  77. fix: stacker crane wbca smooth mode thr. (details)
  78. feat: low bay operation smooth (details)
  79. fix: wbca smoth_mode route interval (details)
  80. fix: disable smooth mode in yard. (details)
  81. feat:优化绕行判断 (details)
  82. feat:杨浦进堆场优化 (details)
  83. fix:上引桥极限变道的bug (details)
  84. feat:杨浦进堆场优化 (details)
  85. feat:最近车道匹配的bug (details)
  86. fix:修复连续普通路口搜索的bug (details)
  87. fix:身后障碍物过滤的bug (details)
  88. fix:replan逻辑的优化 (details)
  89. refacor:搜索的优化 (details)
  90. fix:编译的bug (details)
  91. fix:重复规划的bug (details)
  92. fix:出堆场，误进平滑模式的bug (details)
  93. fix:优化出堆场的搜索 (details)
  94. feat:翻斗角度过大停车值在bulkload场景下生效 (details)
  95. fix: SSEP路径当前段匹配的bug (details)
  96. fix:修复正常跟踪场景使用pjpo的bug (details)
  97. fix:ssep replan崩溃的bug (details)
  98. fix:完善搜索失败临时停车的功能 (details)
  99. fix:修复崩溃的bug (details)
  100. fix:修复太阳路口搜索失败的bug (details)
  101. feat:car类型的普通路口搜索考虑边界 (details)
  102. fix:修复可能崩溃的bug (details)
  103. refactor:优化太阳卸料区挡停的重搜索逻辑 (details)
  104. fix: start_pt from last_path. (details)
  105. feat: SSEP: 集卡多段倒车搜索器改进为双向搜索。复测威海、友谊关的问题场景，成功率100% (details)
  106. fix:连续载入快照崩溃的bug (details)
  107. fix: SSEP: 修复IMV PULLOVER场景最后一段不走直线的问题。 (details)
  108. fix:董家口靠边作业的问题 (details)
  109. feat:wbca求解失败后，使用ssep路径带来的路径跳变问题 (details)
  110. feat:曲率超限停车优化 (details)
  111. feat:travel out 没有一次规划的适配 (details)
  112. fix:调整曲率超限的滤波参数 (details)
  113. fix:曲率超限停车的bug (details)
  114. fix:travel out 没有一次规划，状态机切换的bug (details)
  115. feat:万道内pjpo路径跳变以及变道的bug修复 (details)
  116. fix:解决合并代码需要重新编译的问题 (details)
  117. fix:修复拼接的bug (details)
  118. refactor调整切换lock的阈值 (details)
  119. feat:锁站场景不膨胀尺寸 (details)
  120. fix:代码合并的bug (details)
  121. fix:修复崩溃的bug (details)
  122. feat:进堆场边界优化 (details)
  123. fix:ssep搜索失败的bug (details)
  124. fix:修复出停车位ssep路径方向的bug (details)
  125. fix:sweep路径的bug (details)
  126. feat:界面添加障碍物类别的显示 (details)
  127. feat:优化云端障碍物的赋值 (details)
  128. feat:1.根据堆场的偏移信息确定堆场相对道路的为位置。2.根据堆场位置调整约束 (details)
  129. feat:动态搜索考虑不可形式区域 (details)
  130. 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)
  131. feat: SSEP: 可视化增加地图元素显示 (details)
  132. feat: add repowiki by qoder (details)
  133. fix:终点在堆场出口，边界的bug (details)
  134. chore: SSEP: minor updates (details)
  135. fix: no_shift region around destination. (details)
  136. feat:调整 hfsm status中cur lane id的逻辑 (details)
  137. fix: deviation speed limit bug. (details)
  138. 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)
  139. Refactor: SSEP: 用aabox替换vector<double>表示search bounds (details)
  140. fix: truck wbca replayer debug. (details)
  141. fix: truck wbca replayer debug. (details)
  142. feat:优化cur laneid的赋值 (details)
  143. chore: SSEP: Improve bidirectional search (details)
  144. fix: fix compile errors (details)
  145. fix: using wbca failed_count to deactivate history. (details)
  146. fix: merge bug. (details)
  147. fix:搜索起点太远的问题 (details)
  148. fix: SSEP: 解决集卡常规场景轨迹异常的问题 (details)
  149. fix: cfg_static bug (details)
  150. fix: replayer bug (details)
  151. fix: SSEP: 修复IMV出停车位路径异常的问题 (details)
  152. fix:imv进停车位双向搜索的bug (details)
  153. fix:切换到idle保持状态的bug (details)
  154. feat:苏溪,西联,董分 双向搜索的bug (details)
  155. chore:添加gitgnore (details)
  156. fix:驾驶走廊图构建的bug (details)
  157. chore:删除多余的log (details)
  158. feat:调整 float to half (details)
  159. feat:适配新的region (details)
  160. feat:终点距离的判断使用map distance (details)
  161. feat:终点距离的判断使用map distance (details)
  162. fix:imv进停车位双向搜索的bug (details)
  163. fix:切换到idle保持状态的bug (details)
  164. feat:苏溪,西联,董分 双向搜索的bug (details)
  165. chore:添加gitgnore (details)
  166. fix:驾驶走廊图构建的bug (details)
  167. chore:删除多余的log (details)
  168. feat:调整 float to half (details)
  169. fix:修复动态上下面过程中，提前切换到bulk场景的bug (details)
  170. fix:修复动态上下面过程中，提前切换到bulk场景的bug (details)
  171. fix: ogm.height/width (details)
  172. fix: ogm.height/width (details)
  173. feat: SSEP: 初步跑通GPU加速版本的进堆场搜索 (details)
  174. chore: SSEP-GPU: 通过所有测试用例 (details)
  175. chore: SSEP: gpu search 性能优化 (details)
  176. chore: SSEP: 同步ssep的imv进充电桩的更新 (details)
  177. feat: SSEP: 前港倒车进货堆场景添加 fallback searcher。倒车不能到达的情况会使用通用搜索器搜索（现在可以支持向前到达货堆）。 (details)
  178. fix: SSEP: 修复回归测试失败的场景 (details)
  179. fix: SSEP: 解决集卡普通搜索画龙的问题 (details)
  180. fix:修复变道过程中，更新laneid的bug (details)
  181. refactor:出堆场的起始点从参考线上选取 (details)
  182. feat: 添加lowbag 判断函数 (details)
  183. fix: clear path_optimization_task esdf his. (details)
  184. feat: SSEP: 增加万能参数接口 (details)
  185. feat: SSEP: 集卡进堆场支持通过extra_params获取车头拉直位置与车挂最大夹角并规划符合要求的路径。 (details)
  186. chore: SSEP: 改进自卸车多段倒车 (details)
  187. feat: 太阳纸业使用pncc_port_related参数配置SSEP场景 (details)
  188. feat:添加clangd的配置文件 (details)
  189. fix: SSEP: 修复集卡普通搜索路口有可能超近道的问题 (details)
  190. feat:调整低贝位判断的逻辑，低贝位判断统一FlowController里面进行 (details)
  191. fix: smooth logic (details)
  192. fix: SSEP: 解决进堆场画龙 (details)
  193. fix:调整大谢进堆场路径 (details)
  194. feat:规划路径和ssep路径不一致的问题分析 (details)
  195. feat:适配clang (details)
  196. chore: SSEP: 大榭只优化一次 (details)
  197. refactor:适配clang编译 (details)
  198. feat:赋值的bug (details)
  199. fix:适配clang的bug (details)
  200. fix:修复甩正点的bug (details)
  201. feat:适配clang (details)
  202. feat:甩正点距离适配 (details)
  203. fix:修复甩正点的bug (details)
  204. fix:修复路径跳变的bug (details)
  205. fix: using LD v1 (details)
  206. feat:适配大谢右转进堆场 (details)
  207. feat:适配大谢右转进堆场 (details)
  208. feat: ssep 威海多段倒车支持按键拉直功能 (details)
  209. feat:适配缩小根据距离 (details)
  210. feat:调整counter和进堆场障碍物考虑的条件 (details)
  211. feat:单车道区分左右边界 (details)
  212. fix:大谢单车道，低贝位判断的bug (details)
  213. fix: del omp.h (details)
  214. feat:搜索尺寸参数赋值 (details)
  215. fix:车辆参数赋值错误的bug (details)
  216. fix: smooth mode in yard. (details)
  217. fix: smooth mode in yard. (details)
  218. feat:调整counter和进堆场障碍物考虑的条件 (details)
  219. feat:适配缩小根据距离 (details)
  220. feat:单车道区分左右边界 (details)
  221. fix:大谢单车道，低贝位判断的bug (details)
  222. feat: SSEP: 大榭、杨浦的SSEP场景从配置文件传入。支持添加参数切换到gpu搜索。 (details)
  223. fix: SSEP: fix GPU search bug (details)
  224. feat:优化进堆场的约束 (details)
  225. feat:into 都使用双向搜索 (details)
  226. feat:龙门吊位置计算的bug (details)
  227. feat:into 都使用双向搜索 (details)
  228. feat:龙门吊位置计算的bug (details)
  229. feat:优化进堆场的约束 (details)
  230. fix: SSEP: 修复大榭进堆场车体距离边界太近的问题 (details)
  231. feat:适配 utrun掉头 (details)
  232. chore:修复.gitignore (details)
  233. feat: SSEP: 大榭、杨浦的SSEP场景从配置文件传入。支持添加参数切换到gpu搜索。 (details)
  234. fix: SSEP: fix GPU search bug (details)
  235. fix: SSEP: 修复大榭进堆场车体距离边界太近的问题 (details)
  236. feat:添加通过lane id 配置不绕行区域的功能 (details)
  237. feat:大谢进堆场配置甩正的位置 (details)
  238. feat:适配 utrun掉头 (details)
  239. feat:添加通过lane id 配置不绕行区域的功能 (details)
  240. feat:适配大谢右转进堆场 (details)
  241. feat:适配缩小根据距离 (details)
  242. feat:调整counter和进堆场障碍物考虑的条件 (details)
  243. feat:单车道区分左右边界 (details)
  244. fix:大谢单车道，低贝位判断的bug (details)
  245. feat:优化进堆场的约束 (details)
  246. feat:龙门吊位置计算的bug (details)
  247. Auto stash before cherrypick of "feat:龙门吊位置计算的bug" (details)
  248. chore:修复.gitignore (details)
  249. feat:大谢进堆场配置甩正的位置 (details)
  250. fix: SSEP: 解决gpu编译问题 (details)
  251. fix: SSEP: gpu compile error (details)
  252. fix:修复编译报错 (details)
  253. fix:修复编译报错 (details)
  254. feat:修复编译的warning (details)
  255. fix: SSEP: 修复“最后一段不检测碰撞”功能遗漏的提交 (details)
  256. chore: SSEP: update unit tests (details)
  257. fix: SSEP: 修复地图元素"is_closed"标志位转换错误的问题 (details)
  258. feat:编译warnig (details)
  259. feat:锁站限速过滤 (details)
  260. fix: using smooth mode when opt failed. (details)
  261. fix: SSEP: 修复路径距离参考线太远的问题。 (details)
  262. fix: SSEP: 修复集卡多段倒车搜索的参数配置错误 (details)
  263. feat:添加忽略文件 (details)
  264. fix: SSEP: 修复车道线被处理为闭合多边形的bug（太阳纸业搜索失败），修复imv 进停车位因为终点约束导致路径异常的问题。 (details)
  265. feat:align过程中,拒绝直线步进 (details)
  266. fix:程序启动直接搜索带来的崩溃问题 (details)
  267. chore: SSEP: 改进集卡多段倒车拉直轨迹 (details)
  268. chore: SSEP: 提升GPU进堆场搜索成功率 (details)
  269. feat:修复搜索失败报警的等级 (details)
  270. feat:编译包warning的bug (details)
  271. feat:进堆场约束调整，并且调整low bay type (details)
  272. fix:修复虚拟场桥低贝判断的bug (details)
  273. feat:添加忽略文件 (details)
  274. feat:align过程中,拒绝直线步进 (details)
  275. fix:程序启动直接搜索带来的崩溃问题 (details)
  276. feat:修复搜索失败报警的等级 (details)
  277. feat:编译包warning的bug (details)
  278. feat:进堆场约束调整，并且调整low bay type (details)
  279. fix:修复虚拟场桥低贝判断的bug (details)
  280. chore: ssep: 高贝位进堆场时，只在终点的道路边界侧添加约束。 (details)
  281. fix:修复编译报错的bug (details)
  282. fix: SSEP: 固定编译时的依赖顺序 (details)
  283. fix: SSEP: 固定编译时的依赖顺序 (details)
  284. fix: SSEP: 固定编译时的依赖顺序 (details)
  285. chore: SSEP: 改进多段倒车拉直轨迹 (details)
  286. feat:缩短跟车距离的优化 (details)
  287. refactor:优化起始点的选择 (details)
  288. feat:优化杨浦进单侧堆场的边界 (details)
  289. feat:打开预测消息的发送 (details)
  290. feat:参考线不实时刷新的bug (details)
  291. feat:云端预测轨迹s赋值的bug (details)
  292. fix:修复崩溃的bug (details)
  293. fix:调整debug 字段 (details)
  294. feat:添加进堆场的超视距障碍物 (details)
  295. fix:修复起始点车辆有转角，路径异常的bug (details)
  296. feat: SSEP: 增加头部不参与优化的区域设置接口。 (details)
  297. fix: SSEP: 修复集卡普通搜索路径起点位于极窄的通道时路径可能画龙的问题 (details)
  298. fix: using maximum speed (details)
  299. fix:修复openspace 误重规划的bug (details)
  300. feat: Add truck multi seg planner (details)
  301. feat: SSEP: 刚性卡车搜索终点匹配从车道匹配改为参考线匹配 (details)
  302. fix:极限变道 replan的bug (details)
  303. refactor:删除多余的日志打印 (details)
  304. fix: smooth mode bug (details)
  305. fix:优化动态下码头面搜索终点选取的问题 (details)
  306. refactor:优化杨浦低贝位约束 (details)
  307. feat: SSEP: 增加末端微调采样，解决杨浦进堆场曲率跳变问题。 (details)
  308. chore: SSEP: 刚性卡车多段路径倒车时候更加原理后方障碍物 (details)
  309. feat:添加 Yard Name的显示 (details)
  310. feat:终点低贝位 缩小挂甩正的角度 (details)
  311. feat:变道搜索搜索失败不停车 (details)
  312. feat:大谢右转进堆场添加参数，适配仿真场景 (details)
  313. feat:更改reuse的次数 (details)
  314. fix: SSEP: 解决高贝位进堆场轨迹异常的问题 (details)
  315. feat:右转进低贝位拉值角度调整 (details)
  316. feat:卡车 车辆方向修改为路径方向 (details)
  317. fix: SSEP: 修复集卡普通搜索启发项错误的问题 (details)
  318. fix: SSEP: 过滤明显存在碰撞的集卡进堆场轨迹 (details)
  319. fix: SSEP: 回退集卡普通进堆场“超近道”的问题 (details)
  320. feat:进堆场偏离参考线过多，不触发禁停的bug (details)
  321. feat:进堆场口的限速参数独立出来 (details)
  322. feat:区分堆场的偏移和场桥的偏移 (details)
  323. feat: SSEP: 变道搜索时使用standby_guide_line当做引导线。 (details)
  324. feat:添加junctionid的显示 (details)
  325. feat:没有岸桥碰撞的时候也打开岸桥搜索。 然后根据是否碰撞切换进入场景的距离 (details)
  326. fix: SSEP: 修复集卡搜索轨迹不合理导致优化画龙的问题 (details)
  327. feat: SSEP: 非低贝位进堆场使用拉直点逻辑 (details)
  328. feat:龙须点碰撞检测添加开关 (details)
  329. refactor:1.调整进堆场的限速  2. 调整低贝位的距离 (details)
  330. feat: SSEP 集卡在NORMAL,INYARD,OUTYARD,SEASIDE,BRIDGE场景强制使用参考线。 (details)
  331. fix:无法三次对准的bug (details)
  332. 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)
  333. feat:优化og点的碰撞检测 (details)
  334. 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)
  335. fix: 优化友谊关倒车路径，更符合pass point (details)
  336. 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)
  337. feat:bulk场景判断的距离阈值调整成255米 (details)
  338. feat:单侧堆场默认左侧放箱子 (details)
  339. feat:进堆场 不是低贝位i的时候取消外侧的约束 (details)
  340. fix: 优化友谊关倒车路径，更符合pass point (details)
  341. 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)
  342. fix: SSEP: fix typo (details)
  343. feat:优化og的处理 (details)
  344. fix:修复绘制的bug (details)
  345. fix: SSEP: 提升远距离绕桥腿成功率 (details)
  346. feat:杨浦适配B场 (details)
  347. 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)
  348. feat: SSEP: 增加 is_blocked_by_shore_crane 和 use_hard_constraint 参数 (details)
  349. chore: mionr update (details)
  350. fix:杨浦 动态搜索 + 进堆场场景 路径拼接的bug (details)
  351. fix:3 4 阶段对准时,不能切换creep的bug (details)
  352. feat:og碰撞的优化 (details)
  353. feat:进堆场的优化 (details)
  354. feat:关闭debug信息 (details)
  355. feat:junction弯道区间计算的bug (details)
  356. feat:纵一路边上的转场临停修改判断阈值 (details)
  357. fix:修复误变道的问题 (details)
  358. feat:搜索的时候是否考虑静态障碍物添加开开关 (details)
  359. fix:龙须点处理的bug (details)
  360. fix:修复龙须点处理的bug (details)
  361. feat:调整单车道堆场的约束 (details)
  362. fix:没有路径，并且在弯道前，ssep无法搜索的bug (details)
  363. feat:优化场桥防护 (details)
  364. fix: lattice wbca velocity reference bug. (details)
  365. fix: send 50m path to control in bulk state. (details)
  366. fix: delete submodules (details)
  367. fix: serailize params for wbca (details)
  368. fix: merge bug (details)
  369. fix: wbca params serialization bug (details)
  370. fix: wbca params serialization bug (details)
  371. fix: Trajectory MatchByt bug. (details)
  372. fix: build bug (details)
  373. feat: 添加核心对象库并优化可执行文件链接逻辑 (details)
  374. fix: SSEP: 修复IMV进充电桩方向与现场任务不一致的问题。 (details)
  375. fix: wbca path fluctuation problem. (details)
  376. fix: add wbca min_start_velocity (details)
  377. fix: wbca crab mode condition opt. (details)
  378. fix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。 (details)
  379. fix:进充电桩场景切换的bug (details)
  380. feat: 添加IsAvailable方法以验证轨迹数据的有效性 (details)
  381. fix: 修复StitchSsepReferenceLine方法中的路径段验证逻辑 (details)
  382. fix:修复误进入openspace的bug (details)
  383. feat: add smooth_mode_wbca_params (details)
  384. fix: smooth_mode_wbca_params bug (details)
  385. fix: 修复车辆行进过程中，误进routing 方向的更新逻辑的bug (details)
  386. fix: 调整RefMatch匹配条件的范围以增强灵活性 (details)
  387. fix: 添加禁停区逻辑以避免在倒车路径区域创建禁停区 (details)
  388. fix: SSEP: 解决西联IMV进停车位搜索失败的问题 (details)
  389. fix: open space ssep env bug. (details)
  390. feat: ignore sending masked box to guarden under large lateral deviation. (details)
Commit 906615c00669d598322f728428d96e27547aae36 by 5081703.cr
fix: add gjk

The file was modifiedalgorithm/plan/trajectories_collistion_detection.hpp
The file was modifiedalgorithm/plan/trajectories_collistion_detection.cpp
The file was addedthirdparty/gjk/gjk.hpp
Commit d1cb7d28b0f4cca6686dbb81440ecf160d547fa6 by 5081703.cr
fix: add DECELERATION.

The file was modifieddata/semantic/semantic_description.hpp
The file was modifiedalgorithm/decision/simulator/forward_simulation.cpp
The file was modifieddata/semantic/semantic.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedalgorithm/decision/risk_aware_contingency_planning.cpp
The file was modifiedalgorithm/decision/simulator/forward_simulation.hpp
The file was modifiedalgorithm/decision/longitudinal_decision_3.hpp
The file was modifieddata/semantic/semantic.cpp
The file was modifieddata/semantic/semantic_description.cpp
The file was modifiedalgorithm/decision/longitudinal_decision_3.cpp
The file was modifieddecision/process/proc_longitudinal_decision.cpp
Commit 5c41119f452db3df32b83bb24b8da00cfee962b0 by 5081703.cr
fix: forward_simulation bug.

The file was modifiedalgorithm/decision/simulator/forward_simulation.cpp
Commit eb4c354eb675fd306649afc8863381a85a7a7ca2 by 5081703.cr
fix: lka_deviation using yard_name.

The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/ctrl/lka_start_up.cpp
Commit 6a7c0c1f1256ea297554c19656be5cd3a1844cbb by 5081703.cr
fix: hmi load map.

The file was modifiedreplayer/logic.cpp
The file was modifiedreplayer/replayer_data_process/load_snap_data.cpp
Commit cf1450cc4fae462e78c7d8ffd210d3dbc23aa72b by 5081703.cr
fix: deceleration state optimization.

The file was modifieddata/semantic/semantic.hpp
The file was modifiedhmi/draw/draw_constrain.cpp
The file was modifiedalgorithm/decision/risk_aware_contingency_planning.cpp
The file was modifieddata/semantic/semantic.cpp
The file was modifieddata/config/cfg_decision.cpp
The file was modifiedalgorithm/decision/risk_aware_contingency_planning.hpp
The file was modifiedalgorithm/decision/simulator/forward_simulation.cpp
The file was modifieddata/semantic/semantic_description.cpp
The file was modifiedalgorithm/decision/longitudinal_decision_3.cpp
The file was modifiedalgorithm/decision/simulator/forward_simulation.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/config/cfg_decision.hpp
Commit 9b614619623e61604b223095ee616f6881cb8d5d by 5081703.cr
fix: semantic_type in replayer.

The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit 7335dd82a9f8cec27b80b348e07b9e632fd40c89 by 5081703.cr
fix: forward_simulator bug.

The file was modifiedalgorithm/decision/simulator/forward_simulation.cpp
Commit 33f26be45f337fcd60163d8b4077b94fad8974b9 by 5081703.cr
fix: decision logic.

The file was modifiedalgorithm/decision/longitudinal_decision_3.hpp
The file was modifieddata/semantic/semantic_description.cpp
The file was modifiedalgorithm/decision/longitudinal_decision_3.cpp
The file was modifieddata/semantic/semantic.cpp
Commit ab6b561634e63417e09c5b7b6e05f3962a20824c by 5081703.cr
fix: decision parameters.

The file was modifieddata/config/cfg_decision.cpp
Commit 3e34a1c48e49de268af5b961ed6c9d481a327ada by 5081703.cr
fix: update lka_deviation_region.

The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/ctrl/lka_start_up.cpp
Commit 04ee538f5352762a8e72d69633cade008e4cf8f1 by 5081703.cr
fix: add deviation around stacker/dest.

The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedsink/ros_sink_ctrl_reference.cpp
The file was modifiedsink/ros_sink_ctrl_reference.hpp
The file was modifieddata/ctrl/lka_start_up.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
Commit 9df7fb4796ddb76ef2b019e37718c6e820fcbae8 by 5081703.cr
fix: wbca path length

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 176e42c70295df499e53fd91774d2e7c0ba57d66 by 5081703.cr
fix:add driving_corridor_ogm_dilate_size

The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/boundary/driving_corridor.cpp
Commit 3f20ff28a95ebaea5c3a33385daad999133ee23c by 5081703.cr
fix: boundary shift in yard.

The file was modifieddata/boundary/road_boundary.hpp
The file was modifieddata/boundary/road_boundary.cpp
Commit ac185a48aaa9e8111c6671c977db017290246cac by 5081703.cr
fix: add usef_func_after_destination_wbca_no_shift_mode.

The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/ctrl/lka_start_up.cpp
Commit de2de9daf9efceea02e1ca3509cd9cadf3da065d by 5081703.cr
fix: lattice error for lon_decision deceleration.

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 53fd5799210ff8c1c0bdc87f184e4ef79afda950 by 5081703.cr
fix: shif out yard.

The file was modifieddata/boundary/road_boundary.cpp
Commit 24ce590c5c078608bba7bf169f2633a8cb992d83 by 5081703.cr
fix: shift into&out yard

The file was modifieddata/boundary/road_boundary.cpp
Commit d6cba6af1e38625419cfb1ebacd9a9735a977938 by 5081703.cr
fix: lattice error for lon_decision deceleration.

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit cc91c797895b505945d59db91064e7fe03c2c0c0 by 5081703.cr
fix: lon_decision for car.

The file was modifiedalgorithm/decision/semantic_set_transformation_2.cpp
Commit 63e19eeb671e7422192ef300b8d2d48d377392d2 by 5081703.cr
fix: using backward obstacle in lane changing lon_decision.

The file was modifiedalgorithm/decision/path_collision_detection.cpp
Commit f317e042fe7f82d3226fd35c0e52899cf182f304 by 5081703.cr
fix: lka deviation for out_yard region.

The file was modifieddata/ctrl/lka_start_up.cpp
Commit 0403dd6ea8ece72f86e2b340b1c2a947d41db31f by 5081703.cr
fix: using last_path when out_yard wbca failed.

The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
Commit 71acb7fdd90e867aef98a367b5570f773932b953 by 5081703.cr
fix: correct imv crab mode conditions.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 6c835957075226cf70e6ec7cd282ff4e5cff7d35 by 5081703.cr
fix: lka deviation through yard.

The file was modifieddata/ctrl/lka_start_up.cpp
Commit 9f36a4098e80a2d4bb0dd6607210c977d62424c4 by 5081703.cr
fix: disable wbca smooth mode for seaside buffer.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 41e1611183895b21ba9b361cf660aa26be30876f by 5081703.cr
fix: extract lane_pts msg in replayer.

The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was modifieddata/vehicle/lane_detection.hpp
The file was modifieddata/vehicle/lane_detection.cpp
Commit 443db1d333dcd07a1948a35e41a9d09403e9f453 by wuyanjun110
fix:修复崩溃的bug

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit b5b15d2395450622819183e92e46b261af48aed7 by wuyanjun110
fix:修复崩溃的bug

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit db34608a50a96a3b765d3406a955ccc71bdb97cd by wuyanjun110
refactor:优化关路禁停

The file was modifieddata/obstacle/block.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedhmi/widget/distance.cpp
The file was modifieddata/constrain/disable_stop_range.hpp
The file was modifiedcommon/util/hdmap_wrapper.cpp
The file was modifieddata/constrain/block_data.hpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/constrain/temporary_stop_data.cpp
The file was modifiedhmi/draw/draw_blocks.hpp
The file was modifieddata/constrain/disable_stop_range.cpp
The file was modifieddata/obstacle/block.cpp
Commit 37494cf9ceaa19fcb1de4c5ef307cd1fe29f1114 by tangwenqing
chore: ssep: 1.增加进堆场时终点选择逻辑 - 优先选择宽阔的区域作为终点，提前把挂车甩直。2. keb_optimizer加上最后一段直线的约束

The file was addedssep/keb_optimizer/cost_features/heading_constraint.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit 17edfc25da7b888891d65be542555d86e544b2d4 by tangwenqing
feat: ssep: 新增低贝位搜索模式 -- 在进入窄通道前把挂甩直。适配杨浦场景。

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit 53d9a2d8cf925f083909dd85d1283369947f0da0 by 5081703.cr
 fix: max_acc = 0.5 for wbca velocity reference.

The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
Commit ff40eb3cfd659cebcd4cb39d803ead4d883e7fde by 5081703.cr
fix: lane_pts deviation calculation.
The file was modifieddata/vehicle/lane_detection.cpp
The file was modifieddata/vehicle/lane_detection.hpp
Commit dc6cb921131c2f38a5916568211a3abbc14d1857 by 5081703.cr
feat: lane_pts debug  msg.

The file was modifieddata/vehicle/lane_detection.cpp
The file was modifiedplan/prepare/prepare_lane_constrain.cpp
The file was modifiedplan/prepare/prepare_lane_constrain.hpp
Commit 0652ba3fd0d300c5fb654b91d600204d0f9b7965 by 5081703.cr
fix: hmi load map.

The file was modifiedreplayer/logic.cpp
The file was modifiedreplayer/replayer_data_process/load_snap_data.cpp
Commit f2caa4e92486ae2aace98348c71dc719135c57c6 by 5081703.cr
feat_out: path_opt in replayer.

The file was modifiedreplayer/replayer_data_process/replayer_data_process.hpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit 71bb7033676887623afb24fdf144682c2d2c5c04 by 5081703.cr
fix: velocity profile exception.

The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
Commit adc4f96834723bdbdc725c6ccd8fc25c13e3cf83 by 5081703.cr
fix: delete history in smooth mode.

The file was modifiedalgorithm/wbca/wbca_manager.hpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 1c0c0a643c7fe06365f5b68d0853658c92f6737a by wuyanjun110
fix:修复封路变道的bug

The file was modifieddata/map/reference/center_line.cpp
Commit 9733db6296966bca07437fb19d466f21e726479c by wuyanjun110
fix:引桥前变道的bug

The file was modifieddata/plan/switch_data.cpp
Commit 78758691721563c6788d48c9ddd295cd9d54c6cd by wuyanjun110
fix:可能崩溃的bug
The file was modifieddata/plan/switch_data.cpp
Commit 03885065165bc2d82696de044177b070eb6c2c12 by wuyanjun110
fix:修复合并的bug

The file was modifieddata/plan/switch_data.cpp
Commit 505c1b4bb5f81d459859a75090d122b02ed51f6b by wuyanjun110
fix:修复合并的bug

The file was modifieddata/plan/switch_data.cpp
Commit b71349f8c40f412fd26fa7afe1dfe224909ce298 by 5081703.cr
fix: using maximum vehicle size in WBCA

The file was modifiedalgorithm/wbca/truck_wbca_manager.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit c7d55549d1fa29cc760a8efdb29a40e01d6d9147 by wuyanjun110
fix:人工对准误创建约束

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 989f398e8adb5e6717f375d999ae8796c7291e1f by 5081703.cr
fix: abandon  last segment in wbca.

The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit fb99858d9895067e53c9e2dd819ca1900a4977fa by 5081703.cr
fix: wbca debug msg.

The file was modifiedsink/ros_sink_plan_debug.cpp
Commit 7eb65d8fad4428ff65a4ebb59279aace6786fefe by 5081703.cr
fix: end_velocity for wbca calc exception.

The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
Commit efe843eebc0988353431642b93a7e3baf0bacd75 by 5081703.cr
fix: velocity profile exception.

The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
Commit a6f28bf0226b3f41baf0866845c7af0849a43fac by 5081703.cr
fix: add wbca debug var.

The file was modifiedsink/ros_sink_plan_debug.cpp
Commit 4ab3db2e9d48be5657090e0a0dd586ae81c83607 by 5081703.cr
fix: add lateral acc cost.

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/car_path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/truck_path_optimization.cpp
Commit d00c94af2933638c8784fe5d5c844e8cf06af561 by 5081703.cr
fix: add wbca cost and time_consuming.
The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
Commit cddefcea61b2b710fcf223bcc9c374fa54c13a86 by 5081703.cr
fix: add wbca cost and time_consuming.
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
The file was modifieddata/wbca/wbca_data.hpp
Commit 52d4eff1db1a0f22867f43d3caa133ac53e05a07 by 5081703.cr
fix: add lateral acc cost.

The file was modifiedalgorithm/wbca/path_optimization/car_path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/truck_path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit 764457e161b26f99e4429ee95910810707655019 by wuyanjun110
feat:添加根据定位值的倒车防护，防治对准时，跟着桥走.

The file was modifieddata/app/cmd/cmd_align.cpp
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.hpp
Commit 41f63bb85f70821a416316f2deeee080a82bc422 by wuyanjun110
fix:修复连续普通路口搜索的bug

The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.hpp
The file was modifieddata/scenario/scenario_manager.cpp
The file was modifieddata/decide/decide_reaction.hpp
The file was modifiedtasks/deciders/search_decider/normal_junction_search_decider.cpp
The file was modifieddata/scenario/scenario_manager.hpp
Commit 393ff4b1567e26e1f160662e1dd0d3745b23f499 by 5081703.cr
fix: wbca bd expanding.

The file was modifiedalgorithm/wbca/occupancy_grid_map/data_render.cpp
Commit c0482707461266a3e3a894eb153bd2a8d4dfda99 by wuyanjun110
feat:调整搜索终点位置

The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit 3769459fde93fb52325f104384f270dc718a7a29 by wuyanjun110
feat:堆高机作业关路重叠时，合并

The file was modifiedmath/util/algebra.cpp
The file was modifiedmath/util/algebra.hpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/constrain/temporary_stop_data.cpp
Commit dec0413981b3ec63e201c15eefb6441fe6ea2c0a by wuyanjun110
feat:park lock下 不校验地图

The file was modifieddata/vehicle/request_routing_data.cpp
Commit 30c9ab2346df388fb00035aac7f1740f709407a4 by wuyanjun110
feat:调整出堆场口的约束创建

The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit 544b9dc994076be0386adbcb3b95b8622df06579 by wuyanjun110
fix:修复因为距离阈值，带来场景识别错误的bug

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 06bfc6322b63aaf658ee8bb0828a873833bba909 by wuyanjun110
fix:修复终点距离计算的bug
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 5c80f07840fa07c76ae26c093ee585cb0d1aa9a3 by wuyanjun110
fix:修复海润进弯道后第一个停车位停不正的bug
The file was modifieddata/plan/switch_data.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit e4b53590f63add07d6ac719a8faa70eafb610f6c by wuyanjun110
fix:修复误触发open space的bug

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 96a8d6212cb59118851ff31273dabc6fc64a63fe by wuyanjun110
refactor:优化动态搜索限速

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/plan/guide_line.cpp
Commit 4e81a167aca0f81d3e5e8b0e924c8b7419efebd5 by 5081703.cr
feat: lon_decision from SQ

The file was modifiedalgorithm/decision/semantic_set_transformation_2.cpp
The file was modifieddata/config/cfg_decision.hpp
The file was modifieddata/semantic/semantic.hpp
The file was modifiedalgorithm/decision/rule_base_behavior.cpp
The file was modifiedalgorithm/decision/longitudinal_decision_3.cpp
The file was modifiedalgorithm/decision/simulator/forward_simulation.cpp
The file was modifieddata/semantic/semantic.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/config/cfg_decision.cpp
The file was modifiedalgorithm/decision/simulator/forward_simulation.hpp
The file was modifieddata/semantic/semantic_description.cpp
Commit 147d9f3b1fe5be1fb37588d6bcca491a816b522a by 5081703.cr
fix: add min_safe_ttc

The file was modifieddata/lattice/path_time_graph.cpp
The file was modifieddata/config/cfg_long_plan.hpp
The file was modifieddata/config/cfg_long_plan.cpp
Commit f074a761a574f268fb8e14617d5518c45908112a by 5081703.cr
fix: v_min_coef = 9.9 wbca

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit 29f933aad008ad55073d42d39716f22995f151bc by 5081703.cr
fix: disable dynamic and steering speed constraints

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 9c4082246969ff4baf4cbfb06d11709c34cdf927 by wuyanjun110
feat:适配大港ssep

The file was modifieddata/config/cfg_region.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/config/cfg_region.hpp
The file was modifieddata/ssep/field_junction_ec.cpp
Commit dce023d8157f0b2a2ae0a7b324c8c5250b4a7f6a by wuyanjun110
fix:堆场口禁停异常的bug

The file was modifieddata/constrain/block_data.cpp
Commit d8b47444dc2bc732093b9d318f9ebd0f03cb62f9 by 5081703.cr
feat: add drving_corridor_ogm_dilate_size_in_yard

The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/boundary/driving_corridor.cpp
The file was modifieddata/config/cfg_safe_const.hpp
Commit 6509f8cb5699501238d848477a07328f737e6555 by 5081703.cr
fix: start up boundary optimization.

The file was modifieddata/boundary/road_boundary.cpp
Commit 552ccecd73faa3385226f0e39bf1367abeaa75c2 by 5081703.cr
fix: stacker crane wbca smooth mode thr.

The file was modifieddata/boundary/road_boundary.cpp
Commit 793bab2770b6ae3b1ecc8197703f35a96bbba5cd by 5081703.cr
feat: low bay operation smooth

The file was modifieddata/boundary/road_boundary.cpp
Commit 3b08bf2c422b284cb3131c7392d288b38e55e8cc by 5081703.cr
fix: wbca smoth_mode route interval

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 29feecb4938c3e649b1d38e873b43426fb3c57df by 5081703.cr
fix: disable smooth mode in yard.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 48c60244d685ed4a8ca292bece8f72a2c515490d by wuyanjun110
feat:优化绕行判断

The file was modifieddata/obstacle/obstacle_decider_attr.cpp
Commit 100a79d156d69e936b33968284b0c134883e3051 by wuyanjun110
feat:杨浦进堆场优化

The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.hpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/config/cfg_func_sw.cpp
Commit a1d1e8387aa3581123309ca99cbfe867f81e69e6 by wuyanjun110
fix:上引桥极限变道的bug

The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/ssep/ex_lane_change_ec.cpp
The file was modifieddata/plan/switch_data.cpp
Commit b44d16096f20b7e2593b57d0255917184bb88c4e by wuyanjun110
feat:杨浦进堆场优化

The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifieddata/boundary/road_boundary.hpp
The file was modifiedscenarios/scenario_interface.hpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedtasks/deciders/lat_decider/path_bounds_decider.cpp
The file was modifiedhmi/draw/draw_path_boundary.hpp
The file was modifiedscenarios/scenario.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifiedhmi/draw/draw_path_boundary.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
The file was modifieddata/plan/guide_line_base.cpp
The file was modifieddata/plan/guide_line_base.hpp
The file was modifieddata/plan/guide_line.cpp
Commit 5abc2c82fd145c2da9b039242f5de7997cd6a84e by wuyanjun110
feat:最近车道匹配的bug

The file was modifieddata/map/reference/reference_road_section.cpp
Commit 96dd770176e26228fd29c61cc02026715172f539 by wuyanjun110
fix:修复连续普通路口搜索的bug
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/scenario/scenario_manager.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.hpp
The file was modifiedtasks/deciders/search_decider/normal_junction_search_decider.cpp
The file was modifieddata/decide/decide_reaction.hpp
The file was modifieddata/scenario/scenario_manager.cpp
Commit 695fff64fa4736d07866e890a724c343583c5bbd by wuyanjun110
fix:身后障碍物过滤的bug

The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/obstacle/ogm.cpp
Commit d247bb339222e350fd787a71a479568bf0ed31ef by wuyanjun110
fix:replan逻辑的优化

The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_func_sw.hpp
Commit d42bda70f0ad41a8101e4fc2330c3a4ec654043d by wuyanjun110
refacor:搜索的优化

The file was modifiedssep/maps/ogm_builder.h
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/obstacle/obstacle.hpp
The file was modifieddata/ssep/forward_ec.hpp
The file was modifieddata/ssep/normal_junction_ec.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/ssep_planner.cc
Commit 64fc8eb7b5a7cb2e7bbf128e5a507e50d84fc72f by wuyanjun110
fix:编译的bug

The file was modifieddata/ssep/ssep_activation.cpp
Commit e39dcd6e348848c6b5dc2a9693d2a2c5935ee8bb by wuyanjun110
fix:重复规划的bug

The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/decide/decide_reaction.cpp
The file was modifieddata/decide/decide_reaction.hpp
Commit 80a3a731804faad34751f3f8f417278758bad999 by wuyanjun110
fix:出堆场，误进平滑模式的bug

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 8be78d94c2366b47fc8121f90d10b04f533d2327 by wuyanjun110
fix:优化出堆场的搜索

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedssep/ssep_planner.cc
The file was modifieddata/ssep/forward_ec.cpp
Commit 75887057ea21be1ced848f5999ea08ff77ccf013 by wuyanjun110
feat:翻斗角度过大停车值在bulkload场景下生效

The file was modifiedplan/prepare/prepare_status.cpp
Commit bd4c9ce5154ceaa5cbc66533a1cf25f1faaab991 by wuyanjun110
fix: SSEP路径当前段匹配的bug

The file was modifieddata/plan/ssep_data.cpp
Commit a2d46ddf2992606d6614efbb6ed0c17b60dc2c59 by wuyanjun110
fix:修复正常跟踪场景使用pjpo的bug

The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
Commit 28297f795caf72d646798903d3fd083ba1deb925 by wuyanjun110
fix:ssep replan崩溃的bug

The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit c16b73e94c97f0ec3e0f03cedbc3eebe84ae943f by wuyanjun110
fix:完善搜索失败临时停车的功能

The file was modifieddata/constrain/disable_stop_range.cpp
The file was modifieddata/app/fsm/stop_reason.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifiedhmi/widget/distance.cpp
Commit b4d91bfa686aa2fb4f1117ebf89916980d892750 by wuyanjun110
fix:修复崩溃的bug

The file was modifieddata/constrain/block_data.cpp
Commit 70769c56ebcce7a4768efb56a29b7c3df6b486dc by wuyanjun110
fix:修复太阳路口搜索失败的bug

The file was modifiedssep/ssep_planner.cc
Commit cf395aeeaac1c1cdd3d51a189434dd3703f8681c by wuyanjun110
feat:car类型的普通路口搜索考虑边界

The file was modifiedssep/ssep_planner.cc
Commit 229c800ba4352945a799a8491da2b71f7c1f65e4 by wuyanjun110
fix:修复可能崩溃的bug

The file was modifieddata/map/envelop/map_envelops.cpp
Commit aef344cb0dd0624163466efc632ceed2629d8760 by wuyanjun110
refactor:优化太阳卸料区挡停的重搜索逻辑

The file was modifiedssep/ssep_planner.cc
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit 8f80031d0d7637e98c5c75d87998ead69c977688 by wuyanjun110
fix: start_pt from last_path.

The file was modifieddata/plan/start_point_data.cpp
Commit 2dd84a30e8bc4d52ef1d2a64dd5dcc33bd1685dd by wuyanjun110
feat: SSEP: 集卡多段倒车搜索器改进为双向搜索。复测威海、友谊关的问题场景，成功率100%

The file was addedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/offboard/generate_scene_data/transform_to_body_frame_cli.cc
The file was modifiedssep/offboard/scene_frame_provider.cc
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/offboard/generate_scene_data/trim_scene_paths_cli.cc
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was addedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 8c6ef2c84e5d34a150d3a1551045e2fa440c642d by wuyanjun110
fix:连续载入快照崩溃的bug

The file was modifiedreplayer/logic.cpp
The file was modifiedreplayer/replayer_data_process/load_snap_data.cpp
The file was modifiedcommon/util/hdmap_wrapper.cpp
Commit 1d03336637287a2db83e7072e91334373502b167 by wuyanjun110
fix: SSEP: 修复IMV PULLOVER场景最后一段不走直线的问题。

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_exit_parking_spot_planner.h
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/scenarios/legacy_planner.h
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/truck_general_planner.h
Commit 789ec4028b2a33883c841842faf1686cf1fe3b05 by wuyanjun110
fix:董家口靠边作业的问题

The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/ssep/forward_ec.cpp
Commit 3ed68f77cd804238028515bf5a7aa49b385c324d by wuyanjun110
feat:wbca求解失败后，使用ssep路径带来的路径跳变问题

The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
Commit ba992138c997f6f6b70328429e12c07c9aa28d7a by wuyanjun110
feat:曲率超限停车优化

The file was modifiedhmi/widget/distance.cpp
The file was modifieddata/constrain/block_data.cpp
Commit 603d6e35a3c1e774ef27fad9e031f796025ab64a by wuyanjun110
feat:travel out 没有一次规划的适配

The file was modifieddata/other/flow_control.cpp
The file was modifieddata/app/fsm/task_fsm/task_travel/task_travel_fsm.cpp
The file was modifieddata/plan/guide_line.cpp
The file was modifiedtasks/other_tasks/create_reference_line.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
Commit 5d51162a1acdd29317bf8299acf79949442d35f8 by wuyanjun110
fix:调整曲率超限的滤波参数

The file was modifieddata/constrain/block_data.cpp
Commit 565ab8b5d3779b6f0ebbb412cbb3d25c6d314237 by wuyanjun110
fix:曲率超限停车的bug

The file was modifieddata/constrain/block_data.cpp
Commit f2290108ddf908793c546086114606cf3e5a07b3 by wuyanjun110
fix:travel out 没有一次规划，状态机切换的bug

The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
Commit c58bac22add22aa38736d83891440c3b7512e214 by wuyanjun110
feat:万道内pjpo路径跳变以及变道的bug修复

The file was modifieddata/plan/guide_line_base.cpp
The file was modifieddata/map/reference/center_line.cpp
The file was modifiedtasks/deciders/lat_decider/path_bounds_decider.cpp
The file was modifieddata/plan/switch_data.cpp
Commit c3ca0ecec2f21836d8a82b98fbd515172f0ad9f8 by wuyanjun110
fix:解决合并代码需要重新编译的问题

The file was modifiedCMakeLists.txt
The file was modified.gitignore
Commit e31d4506fcf83a014b2a55451d1e47c8e78241e5 by wuyanjun110
fix:修复拼接的bug

The file was modifieddata/plan/start_point_data.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
The file was modifieddata/plan/path_direction_data.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit bee8010e840a688c0151b8eced3e32d26505f915 by wuyanjun110
refactor调整切换lock的阈值

The file was modifieddata/config/cfg_safe_const.cpp
Commit 51f4f51b3c5fe810b8039a8c390f7d1005b6febf by wuyanjun110
feat:锁站场景不膨胀尺寸

The file was modifiedhmi/draw/draw_constrain.cpp
The file was modifiedalgorithm/plan/ego_expanding.cpp
Commit 65c2a4dae1673308a37a3eb889f1fd6ddb95fe89 by wuyanjun110
fix:代码合并的bug

The file was modifieddata/plan/switch_data.cpp
Commit 0d50bb7d411c0e5be060789f82719196031e378e by wuyanjun110
fix:修复崩溃的bug

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit 09e9a02563d1847ca03a767e851cec4af0dc1dfc by wuyanjun110
feat:进堆场边界优化

The file was modifiedhmi/draw/draw_ego.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifiedtasks/deciders/lat_decider/path_bounds_decider.cpp
Commit f4bb4ade11c45fccb04b6d9c7530892d4b0e870d by wuyanjun110
fix:ssep搜索失败的bug

The file was modifiedssep/coarse_search/evaluator/evaluator.h
Commit 59c45b01c93c3aa14c3a77ce4be98d22cc677f9c by wuyanjun110
fix:修复出停车位ssep路径方向的bug

The file was modifieddata/plan/ssep_data.cpp
Commit 1c08eaaf11f7e6a1bb74e2d9779177a77c0056f6 by wuyanjun110
fix:sweep路径的bug

The file was modifieddata/boundary/road_boundary.cpp
Commit 015fdd4ab92b0b367f523791922646df7fdb155d by wuyanjun110
feat:界面添加障碍物类别的显示

The file was modifieddata/obstacle/obstacle_decider_attr.cpp
Commit 9dccc2d83f43c187d39389d5df20bb529703ee5a by wuyanjun110
feat:优化云端障碍物的赋值

The file was modifieddata/scenario/scenario_planner_condition.cpp
The file was modifieddata/vehicle/cloud_pnc_config.cpp
Commit 2f81e37caa136fb2279265f28c8b604c587b7a94 by wuyanjun110
feat:1.根据堆场的偏移信息确定堆场相对道路的为位置。2.根据堆场位置调整约束

The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/plan/guide_line_base.hpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/ctrl/lka_start_up.cpp
The file was modifieddata/boundary/road_boundary.hpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit 53fce25be88b2b4069f31d2bc6e69d90a6ae4bdc by wuyanjun110
feat:动态搜索考虑不可形式区域

The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/ssep/open_space_ec.hpp
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 modifiedssep/offboard/scene_replay/replay_scene_frame_cli.cc
The file was modifiedssep/offboard/ssep_planner_wrapper.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was addedssep/common/utils/path_utils.h
The file was modifiedssep/common/utils/proto_io.h
The file was modifiedssep/offboard/scene_frame_provider.cc
The file was addedssep/test/ssep_planner_test.cc
The file was addedssep/common/utils/path_utils.cc
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/offboard/scene_replay/replay_ssep_input_cli.cc
The file was addedssep/test/CMakeLists.txt
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 122508031b8e5752da73c47360865aca40f4699c by liuhongshuo
feat: add repowiki by qoder
The file was added".qoder/repowiki/zh/content/\346\225\260\346\215\256\347\273\223\346\236\204\350\256\276\350\256\241/\350\267\257\345\276\204\346\225\260\346\215\256\347\273\223\346\236\204/\350\267\257\345\276\204\346\225\260\346\215\256\347\273\223\346\236\204.md"
The file was added.qoder/repowiki/en/content/Configuration Guide/Vehicle Configuration.md
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Commit 69ce5b9b7f598fe8746dd73da02093fb97586351 by wuyanjun110
fix:终点在堆场出口，边界的bug

The file was modifiedhmi/draw/draw_path_boundary.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
Commit 37779680e5ac819b4505714c2ac945f2ca441b41 by tangwenqing
chore: SSEP: minor updates

The file was modifiedssep/common/utils/scene_frame_visualization.cc
The file was modified.gitignore
The file was modifiedssep/test/ssep_planner_test.cc
Commit ca1f3b58fdd492fc72510a52dd82cc24925cf553 by 5081703.cr
fix: no_shift region around destination.
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
Commit 73dab7e618cce031f74f2c2f2d825e1759d1690f by wuyanjun110
feat:调整 hfsm status中cur lane id的逻辑

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

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_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_enter_yard_planner.h
The file was modifiedssep/offboard/ssep_visualizer.cc
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/coarse_search/evaluator/ref_line_heuristic_computer.h
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.h
The file was modifiedssep/scenarios/legacy_planner.h
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/maps/sl_projection_map.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/offboard/main_test/main_test_park.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/legacy_searcher_adaptor.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
The file was modifiedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was modifiedssep/data_structures/ssep_input.hpp
The file was modifiedssep/maps/sl_projection_map.cc
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.h
The file was modifiedssep/offboard/ssep_visualizer.h
The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
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/u_turn_insertion_maneuver_searcher_builder.h
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.h
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/truck_u_turn_planner.h
The file was modifiedssep/data_structures/search_boundary.h
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/evaluator/ref_line_cost_computer.h
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/data_structures/ssep_input.cc
The file was modifiedssep/scenarios/imv_pullover_planner.h
Commit 9c5de2358932fe346127431b3b34c11780b36ea8 by 5081703.cr
fix: truck wbca replayer debug.

The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit de7a29c1045959bc03c018a2ec95723a1533f3e6 by 5081703.cr
fix: truck wbca replayer debug.

The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit 3af3fd40567eb7498ea82f53778673fde97e7d29 by wuyanjun110
feat:优化cur laneid的赋值

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

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
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/state_hasher.h
Commit af737dee0680b4bc1a1a604c8c6551bd24e25ee8 by tangwenqing
fix: fix compile errors

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

The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
The file was modifiedhmi/widget/diagnose.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 4cdb4fb2cc902a14914585d82c77683745a3a6f7 by 5081703.cr
fix: merge bug.

The file was modifieddata/config/cfg_lat_plan.cpp
Commit dd1d6087331353ce8f78e51aab64ad25c0eb5ff2 by wuyanjun110
fix:搜索起点太远的问题

The file was modifieddata/ssep/into_yard_junction_ec.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_enter_yard_planner.h
The file was modifiedssep/scenarios/tractor_trailer_general_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_enter_station_planner.h
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_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 bb337fe93d17188b99fe5938008fff3bfa3738ca 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 b3f8c44df625b8e97664deaa650bc71ee3a31569 by wuyanjun110
fix:切换到idle保持状态的bug
The file was modifiedplan/prepare/prepare_status.cpp
Commit 448a8a054bfcbd28cc1200bfeaf08e433ac1beda by wuyanjun110
feat:苏溪,西联,董分 双向搜索的bug
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/plan/ssep_data.cpp
Commit ea31f947164cf7c8059c3588cee812bdb7057ce8 by wuyanjun110
chore:添加gitgnore
The file was modified.gitignore
Commit 7f5680cb0303cdfc8b0e763111f473b218d798a6 by wuyanjun110
fix:驾驶走廊图构建的bug
The file was modifieddata/boundary/driving_corridor.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/obstacle/ogm.hpp
Commit 24650afb3e953652318cc636969af68ea33cf019 by wuyanjun110
chore:删除多余的log
The file was modifieddata/plan/start_point_data.cpp
Commit 3581b0b6b94cdd8bd418da6fc81b5ed917c27182 by wuyanjun110
feat:调整 float to half
The file was modifiedmath/util/math_utils.cc
Commit 9a74820c3b2f57fab0c7d2fca89776444bd9759a by wuyanjun110
feat:适配新的region
The file was modifieddata/map/pnc_map/path_overlap.hpp
The file was modifieddata/plan/guide_line.cpp
The file was modifieddata/plan/guide_line.hpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifieddata/plan/guide_line_base.hpp
The file was modifieddata/vehicle/vehicle_status.hpp
Commit 541dc093eafcf9cf973f6ec7aff62f3bb0e158fa 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 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/plan/ssep_data.cpp
The file was modifieddata/ssep/forward_ec.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 modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/boundary/driving_corridor.cpp
The file was modifieddata/obstacle/ogm.hpp
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 a066d3e1dc4e63ac30b6626ace5f51ef6c61cc2f 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 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 5ead8be7cbd4b2b97a9c7cbbca2520f3ad7096f4 by wuyanjun110
fix: ogm.height/width

The file was modifiedplan/prepare/prepare_ogm.cpp
Commit e8ec60fb9586797b8fa729ac049464ac8f89811d by tangwenqing
feat: SSEP: 初步跑通GPU加速版本的进堆场搜索
The file was addedssep/gpu/memory_pool.cu
The file was addedssep/test/gpu_heuristic_test_kernel.cuh
The file was addedssep/test/gpu_data_convert_test.cc
The file was addedssep/gpu/heur_table_loader.h
The file was addedssep/coarse_search/gpu_batch_expander.h
The file was addedssep/gpu/device_types.h
The file was addedssep/test/gpu_collision_test_kernel.cu
The file was addedssep/test/gpu_heuristic_test.cc
The file was addedssep/coarse_search/gpu_batch_expander.cc
The file was addedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.h
The file was addedssep/gpu/samplers/multi_curvature_sampler.cuh
The file was addedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.h
The file was addedssep/test/gpu_sampler_test_kernel.cu
The file was addedssep/gpu/device_map_data.h
The file was modifiedssep/ssep_planner.cc
The file was addedssep/test/gpu_sampler_test.cc
The file was addedssep/gpu/samplers/sampler_params.h
The file was addedssep/test/gpu_sampler_test_kernel.cuh
The file was addedssep/gpu/batch_expander_bridge.cu
The file was addedssep/gpu/heur_table_loader.cu
The file was addedssep/gpu/kernels/batch_expand_kernel.cu
The file was addedssep/test/gpu_heuristic_test_kernel.cu
The file was addedssep/gpu/device_map_data.cuh
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was addedssep/gpu/collision/collision_checker.cuh
The file was addedssep/test/gpu_cost_test.cc
The file was addedssep/gpu/memory_pool.h
The file was addedssep/test/gpu_collision_test_kernel.cuh
The file was addedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was addedssep/gpu/kernels/batch_expand_kernel.h
The file was modifiedssep/CMakeLists.txt
The file was addedssep/gpu/cost/path_length_cost.cuh
The file was modifiedssep/test/CMakeLists.txt
The file was addedssep/gpu/heuristics/heuristic_computer.cuh
The file was addedssep/gpu/device_map_data.cu
The file was addedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.cc
The file was addedssep/gpu/batch_expander_bridge.h
The file was addedssep/test/gpu_collision_test.cc
The file was addedssep/gpu/device_utils.cuh
The file was addedssep/gpu/heur_table_loader.cc
Commit 4c7f0eea0f20d2774a07379f9c04cc1777d498e6 by tangwenqing
chore: SSEP-GPU: 通过所有测试用例

The file was modifiedssep/test/ssep_planner_test.cc
The file was modifiedssep/offboard/scene_replay/CMakeLists.txt
The file was modifiedssep/gpu/heuristics/heuristic_computer.cuh
The file was modifiedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
Commit 9660290466fc492978cdd2066bb3cdd5adb70f8a by tangwenqing
chore: SSEP: gpu search 性能优化

The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was addedssep/coarse_search/batched_priority_queue.h
The file was addedssep/test/gpu_ref_line_cost_test_kernel.cuh
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/motion_primitive.h
The file was addedssep/test/gpu_ref_line_cost_test.cc
The file was modifiedssep/gpu/samplers/multi_curvature_sampler.cuh
The file was addedssep/gpu/cost/curvature_cost.cuh
The file was modifiedssep/maps/sl_projection_map.h
The file was modifiedssep/gpu/cost/path_length_cost.cuh
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/common/utils/scene_frame_visualization.h
The file was modifiedssep/gpu/device_map_data.h
The file was modifiedssep/coarse_search/state_hasher.h
The file was modifiedssep/ssep_planner.cc
The file was addedssep/gpu/cost/ref_line_cost.cuh
The file was modifiedssep/gpu/device_types.h
The file was modifiedssep/test/CMakeLists.txt
The file was modifiedssep/coarse_search/disk_collision_checker.h
The file was addedssep/test/gpu_ref_line_cost_test_kernel.cu
The file was modifiedssep/gpu/device_map_data.cu
The file was modifiedssep/gpu/heuristics/heuristic_computer.cuh
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/gpu/kernels/batch_expand_kernel.cu
Commit 161d316820ad30f5da6c3257ca76140440dfac1e by tangwenqing
chore: SSEP: 同步ssep的imv进充电桩的更新

The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 952ea5b4e8ebcf5e552e070ee9b8aa3bd6a05508 by tangwenqing
feat: SSEP: 前港倒车进货堆场景添加 fallback searcher。倒车不能到达的情况会使用通用搜索器搜索（现在可以支持向前到达货堆）。

The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
Commit a5822c9b8c4f9e13049046ff40223e37ab9e762b by tangwenqing
fix: SSEP: 修复回归测试失败的场景

The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/offboard/scene_frame_provider.cc
Commit 1104a98f0c4fdf7218dac43989265d7292420779 by tangwenqing
fix: SSEP: 解决集卡普通搜索画龙的问题

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/keb_optimizer/cost_features/state_constraint.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit 0b110cab355d94612ba1176dbce47dcfedf6f834 by wuyanjun110
fix:修复变道过程中，更新laneid的bug
The file was modifieddata/plan/switch_data.cpp
Commit 610b436978cbc18d1a9a5cd80571252a9d4336ca by wuyanjun110
refactor:出堆场的起始点从参考线上选取

The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit d4d61862539f1a3100be295e5f7fb22961fed908 by wuyanjun110
feat: 添加lowbag 判断函数

The file was modifieddata/plan/guide_line.cpp
The file was modifieddata/plan/guide_line.hpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/ssep_common.hpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/other/flow_control.hpp
The file was modifieddata/ssep/ssep_ec.hpp
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 357aab4612e9084c385829c22a8619713e261308 by tangwenqing
feat: SSEP: 增加万能参数接口

The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/data_structures/ssep_input.hpp
The file was modifiedssep/protos/scene.proto
The file was modifiedssep/data_structures/ssep_input.cc
The file was modifiedssep/ssep_planner.h
The file was modifieddata/ssep/ssep_activation.cpp
Commit 34f52511f17d0b822c4c935449caf3f79be9bd49 by tangwenqing
feat: SSEP: 集卡进堆场支持通过extra_params获取车头拉直位置与车挂最大夹角并规划符合要求的路径。

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 734b8645572f46693901e90cb6e34d6a40e8cc2c by tangwenqing
chore: SSEP: 改进自卸车多段倒车

The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit 560bb1ec503c6500ce8a61eaa20bd23200725438 by tangwenqing
feat: 太阳纸业使用pncc_port_related参数配置SSEP场景

The file was modifiedtasks/deciders/search_decider/seaside_junction_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/reverse_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/ex_lane_change_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/bridge_junction_search_decider.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedtasks/deciders/search_decider/into_yard_junction_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/open_space_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/out_yard_junction_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/normal_junction_search_decider.cpp
Commit 07727c1b099922dea2aa6be0057ce0b9937bc626 by wuyanjun110
feat:添加clangd的配置文件

The file was added.clangd
Commit 2feed69ce35e1e753676a4a778ca8bb3651017d6 by tangwenqing
fix: SSEP: 修复集卡普通搜索路口有可能超近道的问题

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit 43ba3e517a1b192720cd2d4f8de6e869813f0abd by wuyanjun110
feat:调整低贝位判断的逻辑，低贝位判断统一FlowController里面进行

The file was modifieddata/ssep/ex_lane_change_ec.cpp
The file was modifieddata/scenario/scenario_region_condition.cpp
The file was modifieddata/ssep/into_yard_junction_ec.hpp
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/ssep/field_junction_ec.hpp
The file was modifieddata/scenario/scenario_region_bt.cpp
The file was modifieddata/obstacle/obstacle.cpp
The file was addedcommon/util/flag_register.hpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/plan_frame.hpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/other/flow_control.hpp
The file was modifieddata/ssep/ssep_common.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp
The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.hpp
The file was modifieddata/obstacle/obstacle.hpp
Commit 72bfbb733ca41b31b2d4311d2d6de8f8ebacf496 by 5081703.cr
fix: smooth logic

The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/boundary/road_boundary.cpp
Commit 246e5c7ef1721d0332bdb8ff09332e94b2045145 by tangwenqing
fix: SSEP: 解决进堆场画龙

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit d503b7959a4acfea521167289c46d543fb43d79e by wuyanjun110
fix:调整大谢进堆场路径

The file was modifiedhmi/draw/draw_ssep.cpp
The file was modifieddata/map/reference/reference_segment.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 070b69196b129681eef460f1620b33462974a6af by wuyanjun110
feat:规划路径和ssep路径不一致的问题分析

The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifieddata/ssep/ssep_scenario_config_loader.cpp
The file was modifiedhmi/draw/draw_ssep.cpp
The file was modifieddata/ssep/into_yard_junction_ec.hpp
The file was modifieddata/ssep/ssep_scenario_config_loader.hpp
The file was modifieddata/map/reference/reference_segment.cpp
The file was modifieddata/ssep/ssep_scenario_config.hpp
The file was modifieddata/ssep/base_stop_line_filter.cpp
Commit 4be06fa6f13fb7a0a2593c20819438c6853d7feb by wuyanjun110
feat:适配clang

The file was modifiedssep/offboard/servers/CMakeLists.txt
The file was modifiedCMakeLists.txt
The file was modifiedcommon/log/log_config.cpp
The file was modifiedssep/offboard/CMakeLists.txt
The file was modifiedssep/offboard/generate_scene_data/CMakeLists.txt
The file was modifiedssep/offboard/scene_replay/CMakeLists.txt
The file was modifiedssep/common/log/log_config.cc
Commit a6d0caa75ba5399aacbb68c03414f7052497d4a7 by tangwenqing
chore: SSEP: 大榭只优化一次

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit a76d736dff7835ae49f0f17053d51a06c3130a8a by wuyanjun110
refactor:适配clang编译

The file was modifieddata/ssep/region_builder.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifiedcommon/util/hdmap_wrapper.cpp
The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifiedhmi/draw/draw_map.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.hpp
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifieddata/app/cmd/cmd_set_target.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_help.cpp
The file was modifiedsink/ros_sink_snapshot.cpp
The file was modifieddata/vehicle/request_routing_data.cpp
The file was modifiedCMakeLists.txt
The file was modifieddata/map/envelop/map_envelop.cpp
The file was modifieddata/map/reference/center_line.cpp
The file was modifieddata/constrain/longitude_constrain.hpp
The file was modifiedsink/ros_sink_ads_hfsm_state.cpp
The file was modifieddata/map/pnc_map/road_segments.cpp
The file was modifieddata/constrain/pnc_junction.cpp
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifiedreplayer/replayer_data_process/load_snap_data.cpp
The file was modifieddata/plan/guide_line_base.cpp
The file was modifieddata/map/pnc_map/pnc_map.cpp
The file was modifiedcommon/util/hdmap_wrapper.hpp
The file was modifieddata/ctrl/lka_start_up.cpp
The file was modifieddata/map/reference/reference_road_section.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 08551b2332f90e122c2f1fcf97c2b1de3141ba85 by wuyanjun110
feat:赋值的bug

The file was modifiedssep/common/utils/common.hpp
Commit 5b929402a71df4cfd6ab95014b80ac47aa8cf160 by wuyanjun110
fix:适配clang的bug
The file was modifiedssep/common/utils/map_element_utils.hpp
Commit 9afcc5f9c45f5a770adcad060f637d12836d3a2d by wuyanjun110
fix:修复甩正点的bug
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 719043875afe09c441bf6cc5d0f20760b326f07c by wuyanjun110
feat:适配clang
The file was modifieddata/plan/guide_line_info.hpp
Commit ed942ed5c3e3da22522efc8bf6f42f96d906a4c7 by wuyanjun110
feat:甩正点距离适配
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 4ba94c3523bead83b3c8474daeb637a970cf413a by tangwenqing
fix:修复甩正点的bug
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
Commit 21afd222d152fd648eb869a481d014955f6354fe by wuyanjun110
fix:修复路径跳变的bug

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 2caa8631399569f1c5d327fdfc6b587c23d3f5e6 by 5081703.cr
fix: using LD v1

The file was modifieddata/config/cfg_decision.cpp
The file was modifiedalgorithm/decision/longitudinal_decision_3.hpp
The file was modifiedalgorithm/decision/path_collision_detection.cpp
The file was modifiedalgorithm/decision/simulator/forward_simulation.cpp
The file was modifiedhmi/draw/draw_constrain.cpp
The file was modifieddata/config/cfg_decision.hpp
The file was modifiedalgorithm/decision/rule_base_behavior.cpp
The file was modifieddata/semantic/semantic_description.hpp
The file was modifiedalgorithm/decision/longitudinal_decision_3.cpp
The file was modifieddata/semantic/semantic_description.cpp
The file was modifiedalgorithm/decision/semantic_set_transformation_2.cpp
The file was modifieddata/semantic/semantic.hpp
The file was modifiedalgorithm/decision/risk_aware_contingency_planning.cpp
The file was modifieddecision/process/proc_longitudinal_decision.cpp
The file was modifieddata/semantic/semantic.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedalgorithm/decision/simulator/forward_simulation.hpp
The file was modifiedalgorithm/decision/risk_aware_contingency_planning.hpp
Commit ea547e2c2f9770dd15786b6c2b5ea2c73e14d8bc by wuyanjun110
feat:适配大谢右转进堆场
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/ssep_ec.cpp
Commit 784947ed0f728824865680174e8e22c9370fe74c by wuyanjun110
feat:适配大谢右转进堆场
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 778e39df9d5633bc8a08483e0e46719b8e5c234b by tangwenqing
feat: ssep 威海多段倒车支持按键拉直功能

The file was modifiedssep/protos/ssep_scenario_type.proto
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifieddata/ssep/forward_ec.hpp
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/ssep_planner.cc
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
The file was modifieddata/plan/guide_line.cpp
The file was addedssep/scenarios/tractor_trailer_single_segment_parking_planner.h
Commit b8e9cb38a01dbffa996c2dcfd50193f8981466a5 by wuyanjun110
feat:适配缩小根据距离
The file was modifieddata/config/cfg_long_plan.hpp
The file was modifieddata/config/cfg_long_plan.cpp
Commit 69a3f62b7e082cc088f5c611c52af7be70ca6dbf by wuyanjun110
feat:调整counter和进堆场障碍物考虑的条件
The file was modifieddata/ssep/out_yard_junction_ec.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 17faf7af8cf2e711f6573e55c046a82c8f662cac by wuyanjun110
feat:单车道区分左右边界
The file was modifieddata/boundary/road_boundary.cpp
The file was modified.gitignore
The file was modifieddata/boundary/road_boundary.hpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
Commit e5e51f24c2a40acd10acaf124c3b47bd7b1bf091 by wuyanjun110
fix:大谢单车道，低贝位判断的bug
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit c277b698576ee96535fc9b570bdc19149e381b9a by 5081703.cr
fix: del omp.h

The file was modifiedssep/coarse_search/legacy_searchers/reeds_shepp_path.h
The file was modifiedssep/coarse_search/legacy_searchers/dubin_path.h
The file was modifiedssep/coarse_search/motion_primitive_sampler/dubins_path.h
Commit 3a8d1adfc7e724c32174d160b34780e24b429f39 by wuyanjun110
feat:搜索尺寸参数赋值

The file was modifiedtasks/plan/ssep_task.cpp
The file was modifieddata/ssep/ssep_activation.hpp
The file was modifieddata/ssep/ssep_activation.cpp
Commit 1cffa4bc11b05fb982ff0e3acff2bb37bf8d0f76 by wuyanjun110
fix:车辆参数赋值错误的bug

The file was modifieddata/ssep/ssep_activation.cpp
Commit 5829ba77d099cf753fd2273878b8d9ced6b8dc0a by 5081703.cr
fix: smooth mode in yard.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 6dc839429f73faaba88aa15ae2984d1bc6087782 by wuyanjun110
fix: smooth mode in yard.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 01ed49e3a1d9c26061f22cce93fef69876d1aa21 by wuyanjun110
feat:调整counter和进堆场障碍物考虑的条件
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit 598683d36f71ad4f7d35b8485a3b068b4bd718b2 by wuyanjun110
feat:适配缩小根据距离
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/config/cfg_long_plan.hpp
Commit cf6c87b43e975690d82afcbd9a0fc904ed475f19 by wuyanjun110
feat:单车道区分左右边界
The file was modified.gitignore
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifieddata/boundary/road_boundary.hpp
The file was modifieddata/boundary/road_boundary.cpp
Commit b3a245602d54adb5a669b15f94340edc3afe702c by wuyanjun110
fix:大谢单车道，低贝位判断的bug
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit f476a6002ce2d91832331f00374741e3301853ce by tangwenqing
feat: SSEP: 大榭、杨浦的SSEP场景从配置文件传入。支持添加参数切换到gpu搜索。

The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was modifieddata/ssep/ssep_common.hpp
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/ssep_planner.cc
The file was modifieddata/ssep/ssep_ec.cpp
Commit 1fa72800e97f70e7a4c67967c01ded79f57b5d46 by tangwenqing
fix: SSEP: fix GPU search bug

The file was modifiedssep/coarse_search/batched_priority_queue.h
Commit f10526944c6e43dfac95d52a8d5319fd4de052f8 by wuyanjun110
feat:优化进堆场的约束
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 47181462b33b701b0a15fc9a6b6ea3eb8ec3678e by wuyanjun110
feat:into 都使用双向搜索
The file was modifieddata/ssep/ssep_ec.cpp
Commit e1fa7f1ad37ac5c0aab5b554ff59b76128c68f6f by wuyanjun110
feat:龙门吊位置计算的bug
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 1b760c513a0c5603ad2435fc24fa96e8ace8d6b9 by wuyanjun110
feat:into 都使用双向搜索
The file was modifieddata/ssep/ssep_ec.cpp
Commit 4b5bcfcaac8558e19ecc2d0738c8606e14e4727a by wuyanjun110
feat:龙门吊位置计算的bug
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 573de177610e2a61d4dbbbde539bfc2c9e302761 by wuyanjun110
feat:优化进堆场的约束
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/other/flow_control.cpp
Commit e81a86160acda52f09e62d9cec5c57698f38261c by tangwenqing
fix: SSEP: 修复大榭进堆场车体距离边界太近的问题

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/keb_optimizer/cost_features/curvature_cost.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/ssep_planner.cc
Commit 0918edea4764dc1622e26b61c27bf4d746ed1e1d by wuyanjun110
feat:适配 utrun掉头
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifiedplan/prepare/prepare_state.cpp
The file was modifieddata/plan/guide_line.cpp
The file was modifieddata/ssep/online_region_contour_creator.cpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/plan/ssep_data.hpp
The file was modifieddata/plan/path_direction_data.cpp
The file was modifieddata/ssep/ssep_common.hpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/ssep/open_space_ec.hpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/vehicle/vehicle_destination.cpp
The file was modifiedssep/ssep_planner.cc
Commit f115c897aad1807c8d75e9765aba8550a0050773 by wuyanjun110
chore:修复.gitignore
The file was modified.gitignore
Commit f268a74b18ba6176f74160a2995062ac0991a9a8 by tangwenqing
feat: SSEP: 大榭、杨浦的SSEP场景从配置文件传入。支持添加参数切换到gpu搜索。
The file was modifiedssep/ssep_planner.cc
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was modifieddata/ssep/ssep_common.hpp
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.h
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/CMakeLists.txt
Commit 0cbb908c171063afdab58b9d76ed9a2ee537b5cf by tangwenqing
fix: SSEP: fix GPU search bug

The file was modifiedssep/coarse_search/batched_priority_queue.h
Commit cf00827bc84a946f8280069b1350cc86ba37eab1 by tangwenqing
fix: SSEP: 修复大榭进堆场车体距离边界太近的问题

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/keb_optimizer/cost_features/curvature_cost.h
Commit 679116086a91458a6ecb776740848834fcaaab23 by wuyanjun110
feat:添加通过lane id 配置不绕行区域的功能
The file was modifieddata/common/guide_path.hpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/common/guide_path.cpp
The file was modifieddata/config/cfg_env_const.cpp
Commit 37835a26e4b5c069b732959899c414254c0751f3 by wuyanjun110
feat:大谢进堆场配置甩正的位置
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 2becdec1645e83113380b66e4a91cc0fd05f0d76 by wuyanjun110
feat:适配 utrun掉头
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/vehicle/vehicle_destination.cpp
The file was modifieddata/ssep/open_space_ec.hpp
The file was modifiedplan/prepare/prepare_state.cpp
The file was modifiedssep/ssep_planner.cc
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/plan/path_direction_data.cpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/ssep/ssep_common.hpp
The file was modifieddata/ssep/online_region_contour_creator.cpp
The file was modifieddata/plan/guide_line.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/plan/ssep_data.hpp
Commit c2ca73e3e18779fb30af04b3d90756a1544e93e4 by wuyanjun110
feat:添加通过lane id 配置不绕行区域的功能
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/common/guide_path.hpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/common/guide_path.cpp
Commit 4eb0b998056f1cb9be48d1e97830cfcc9bea27c6 by wuyanjun110
feat:适配大谢右转进堆场
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 6b54177535b572f5a57da6728ddb1c03f88855c4 by wuyanjun110
feat:适配缩小根据距离
The file was modifieddata/config/cfg_long_plan.hpp
The file was modifieddata/config/cfg_long_plan.cpp
Commit 46cb4d2b2c18e4ff6a626eb5eec9e79a28cb98fa by wuyanjun110
feat:调整counter和进堆场障碍物考虑的条件
The file was modifieddata/ssep/out_yard_junction_ec.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 6bdf3e1319d42e2e43356edc1ce7422971306bda by wuyanjun110
feat:单车道区分左右边界
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modified.gitignore
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/boundary/road_boundary.hpp
Commit e96ae14dff51ef049a1dfa957263fcea6b99c6eb by wuyanjun110
fix:大谢单车道，低贝位判断的bug
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 73728442cc85684ba68b9d2405dd6764fe5ef5f8 by wuyanjun110
feat:优化进堆场的约束
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit d7b6974dfd439341297fef1f7057284055ded10e by wuyanjun110
feat:龙门吊位置计算的bug
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 302964080da5748bc50baf1dcf8c2112163300a6 by wuyanjun110
Auto stash before cherrypick of "feat:龙门吊位置计算的bug"
The file was modifieddata/ssep/ssep_ec.cpp
Commit 60dbde4290ae73ce3e689e9e217c70d24c81be7c by wuyanjun110
chore:修复.gitignore
The file was modified.gitignore
Commit 96880d9171d734fd7d456be80ddfa9253f7ce4cf by wuyanjun110
feat:大谢进堆场配置甩正的位置
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 1b18ef6b5728a991dc7999a0acbf6d3fa382b99f by tangwenqing
fix: SSEP: 解决gpu编译问题

The file was modifiedCMakeLists.txt
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/offboard/scene_replay/CMakeLists.txt
Commit b9b3bd6e9b4435826d6e8fccc957058de29d152a by tangwenqing
fix: SSEP: gpu compile error

The file was modifiedCMakeLists.txt
Commit 6460e7ff9ec2cb3de2e848f11a261d000f3fe60c by wuyanjun110
fix:修复编译报错

The file was modifiedssep/offboard/CMakeLists.txt
The file was modifiedCMakeLists.txt
The file was modifiedssep/offboard/generate_scene_data/CMakeLists.txt
The file was modifiedssep/offboard/servers/CMakeLists.txt
Commit 95ec02275057819dc75132f6c4243563271e48bc by wuyanjun110
fix:修复编译报错

The file was modifiedCMakeLists.txt
The file was modifiedssep/offboard/generate_scene_data/CMakeLists.txt
The file was modifiedssep/offboard/CMakeLists.txt
The file was modifiedssep/offboard/servers/CMakeLists.txt
Commit 9248ef43aac2717f6f5df4e1b107f6c88f584e11 by wuyanjun110
feat:修复编译的warning
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_tt.cc
The file was modifieddata/app/cmd/cmd_traffic_light.hpp
The file was modifieddata/config/iconfig.hpp
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was modifiedhmi/node_hmi.hpp
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_imv.cc
The file was modifieddata/app/cmd/cmd_fsm/fsm_base.hpp
The file was modifieddata/app/cmd/cmd_cancel_expand.hpp
The file was modifieddata/app/cmd/cmd_cancel_safe.hpp
The file was modifieddata/app/cmd/cmd_set_target.hpp
The file was modifiedmath/curve2d/curve2d.hpp
The file was modifieddata/app/cmd/cmd_set_target.cpp
The file was modifieddata/app/cmd/cmd_fsm/ifsm.hpp
The file was modifiedhmi/draw/draw_perception.cpp
The file was modifieddata/ssep/reverse_ec.cpp
The file was modifieddata/vehicle/related_offset.cpp
The file was modifieddata/app/app_data.cpp
The file was modifiedsource/ros_source_ads_target.cpp
The file was modifiedcommon/behaviour_tree/bt_composite.hpp
The file was modifieddata/app/fsm/task_command_type.cpp
The file was modifieddata/app/cmd/cmd_align.cpp
The file was modifieddata/app/cmd/cmd_dead_lock.hpp
The file was modifieddata/app/cmd/cmd_nstop.hpp
The file was modifiedalgorithm/plan/plot_st_graph.cpp
The file was modifieddata/app/cmd/cmd_remote.cpp
The file was modifiedsource/ros_source_ads_command.cpp
The file was modifiedreplayer/logic.cpp
The file was modifiedmath/smoothing/fem_pos_deviation_interface.h
The file was modifieddata/snapshot_data.hpp
The file was modifieddata/app/cmd/cmd_cancel_lock.hpp
The file was modifieddata/obstacle/occupy_grid.hpp
The file was modifieddata/plan/reference_line_info.hpp
The file was modifiedreplayer/replayer_data_process/load_snap_data.cpp
The file was modifiedhmi/common/status_sign.hpp
The file was modifiedmath/curve2d/icurve.hpp
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_car.cc
Commit 65d6c2cce2d8aff5b0e73f4892a819ac9e5e0f33 by tangwenqing
fix: SSEP: 修复“最后一段不检测碰撞”功能遗漏的提交

The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/ssep_planner.cc
Commit 31851ec9d69d2ed7443eb19fdff3d3d6425cc657 by tangwenqing
chore: SSEP: update unit tests

The file was modifiedssep/test/CMakeLists.txt
The file was modifiedssep/test/ssep_planner_test.cc
Commit a09c14f8c55f3b7508e314a72e37b2f5cf6e1d44 by tangwenqing
fix: SSEP: 修复地图元素"is_closed"标志位转换错误的问题

The file was modifiedssep/data_structures/map_element_polyline.cc
The file was modifiedssep/common/utils/map_element_utils.hpp
Commit fbde8c264fca5973e84f32572931fc56ca9d01a5 by wuyanjun110
feat:编译warnig
The file was modifieddata/ssep/forward_ec.cpp
Commit 907c83937e0f2d2f9c02e688e5ad81278acc83d8 by wuyanjun110
feat:锁站限速过滤
The file was modifieddata/scenario/scenario_manager.hpp
The file was modifieddata/vehicle/lock_station_data.cpp
The file was modifieddata/scenario/scenario_manager.cpp
Commit c6b6ccf20c7d513449b81457bb07ebd12f6e611b by 5081703.cr
fix: using smooth mode when opt failed.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 23ab2c599764008ba346ff82c9f3cc1dc44a3bcd by tangwenqing
fix: SSEP: 修复路径距离参考线太远的问题。

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
Commit 7e76fe3459080b1a580cbcc56f37f7b8a7e5ab8d by tangwenqing
fix: SSEP: 修复集卡多段倒车搜索的参数配置错误

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 d3b7c4de30890c7e42d6dcbb0294c553a8be1f1b by wuyanjun110
feat:添加忽略文件
The file was modified.gitignore
Commit 3f79843062a68caac24ce465ab10b9e9eedc8a29 by tangwenqing
fix: SSEP: 修复车道线被处理为闭合多边形的bug（太阳纸业搜索失败），修复imv 进停车位因为终点约束导致路径异常的问题。

The file was modifiedssep/coarse_search/topology_analysis/candidate_goals_generator.cc
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/data_structures/polyline.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/scenarios/truck_u_turn_planner.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
Commit 69cbabd709b7a5abca45565cac111b29a97a8a1b by wuyanjun110
feat:align过程中,拒绝直线步进
The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
The file was modifieddata/app/cmd/cmd_align.cpp
Commit 0e5019f451e9849431de16056aa7c992bb0f92d4 by wuyanjun110
fix:程序启动直接搜索带来的崩溃问题
The file was modifiedssep/coarse_search/evaluator/shortest_path_heur_table.h
Commit e9d377907b25f7250122a63b2a85af7c594a6327 by tangwenqing
chore: SSEP: 改进集卡多段倒车拉直轨迹

The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_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/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.h
Commit 421421ce7a739015db91605151bd469bf4c6ad60 by tangwenqing
chore: SSEP: 提升GPU进堆场搜索成功率

The file was modifiedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/offboard/servers/CMakeLists.txt
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/test/gpu_ref_line_cost_test.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit c8a3b1118c057ddd6d41173a7ba464c6f16097ae by wuyanjun110
feat:修复搜索失败报警的等级
The file was modifieddata/config/cfg_error.cpp
Commit c08184033470325d01ae5320719d887cf85777a7 by wuyanjun110
feat:编译包warning的bug
The file was modifieddata/ssep/forward_ec.cpp
Commit cfeb0de536c35738ce6c8edd26d137f19662abe8 by wuyanjun110
feat:进堆场约束调整，并且调整low bay type
The file was modifieddata/other/flow_control.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifiedplan/prepare/prepare_objs.cpp
The file was modifieddata/ssep/ssep_common.hpp
The file was modifieddata/other/flow_control.cpp
The file was modifiedhmi/widget/distance.cpp
Commit 54f5492c7e8131e77a3f2d06ece6b26adbd01bf8 by wuyanjun110
fix:修复虚拟场桥低贝判断的bug
The file was modifieddata/other/flow_control.cpp
Commit e66185efe00f95aa664a175af89a424fd21150fe by wuyanjun110
feat:添加忽略文件
The file was modified.gitignore
Commit d4cea6dfddd7fad5447e8cee911680335ef33c69 by wuyanjun110
feat:align过程中,拒绝直线步进
The file was modifieddata/app/cmd/cmd_align.cpp
The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
Commit 00bed67b47d871229e82d530f79ce5031491454e by wuyanjun110
fix:程序启动直接搜索带来的崩溃问题
The file was modifiedssep/coarse_search/evaluator/shortest_path_heur_table.h
Commit 8a13951775d29f50947f92f1377db0ec05b53cbf by wuyanjun110
feat:修复搜索失败报警的等级
The file was modifieddata/config/cfg_error.cpp
Commit 602f87374ffec1027240349d5e298039407a29cb by wuyanjun110
feat:编译包warning的bug
The file was modifieddata/ssep/forward_ec.cpp
Commit fdcc507633b1d13142454f7e892c0f2a14befd34 by wuyanjun110
feat:进堆场约束调整，并且调整low bay type
The file was modifiedplan/prepare/prepare_objs.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/other/flow_control.hpp
The file was modifiedhmi/widget/distance.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/ssep_common.hpp
Commit 0525883764c99198faf1072afbb9bf0e37506573 by wuyanjun110
fix:修复虚拟场桥低贝判断的bug
The file was modifieddata/other/flow_control.cpp
Commit 8a7ba9429fe2948c931f876dfae085ca239b7e15 by tangwenqing
chore: ssep: 高贝位进堆场时，只在终点的道路边界侧添加约束。

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 699fb3610ca31093d6fc4c645064c4d708fccbfd by wuyanjun110
fix:修复编译报错的bug
The file was modifiedssep/CMakeLists.txt
Commit db2de58f5d88539320fc5ba0293b01053b55af87 by tangwenqing
fix: SSEP: 固定编译时的依赖顺序

The file was modifiedssep/CMakeLists.txt
Commit b2fd552e9172869904153cbf112a700c2d7659d4 by wuyanjun110
fix: SSEP: 固定编译时的依赖顺序

The file was modifiedssep/CMakeLists.txt
Commit 74dbb4238f4c9d365dea2b77353f46ee301e0af4 by wuyanjun110
fix: SSEP: 固定编译时的依赖顺序

The file was modifiedssep/CMakeLists.txt
Commit a7e74c6f20550d5d7f485624861f9b7bbbc504cc by tangwenqing
chore: SSEP: 改进多段倒车拉直轨迹

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
The file was addedssep/coarse_search/evaluator/heading_cost_computer.h
The file was modifiedssep/coarse_search/evaluator/cost_feature_computer.h
Commit 43e3450d4cf462098cf5609e6229f39e596ac70b by wuyanjun110
feat:缩短跟车距离的优化
The file was modifieddata/constrain/longitude_constrain.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/other/flow_control.hpp
Commit c96fd20b600b26ddf45181307fd025601eec8075 by wuyanjun110
refactor:优化起始点的选择
The file was modifieddata/plan/start_point_data.cpp
Commit 5660118379cb5dd128be3da074f954022479ba28 by wuyanjun110
feat:优化杨浦进单侧堆场的边界
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 6a1a6f4e4dc8058301dbdce5cdf9fc4dd2b43d86 by wuyanjun110
feat:打开预测消息的发送
The file was modifiedplan/scenarios/prepare_scenario.cpp
Commit ab377116e2f3758660230012d01f46f666c6cf33 by wuyanjun110
feat:参考线不实时刷新的bug
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifiedtasks/other_tasks/create_reference_line.cpp
The file was modifieddata/map/pnc_map/pnc_map.cpp
The file was modifieddata/map/reference/reference_road_section.cpp
Commit b9ee5346de12ba6ba48c5c2fadee0b9401c775ee by wuyanjun110
feat:云端预测轨迹s赋值的bug
The file was modifieddata/common/trajectory.cpp
Commit 9f8e48ebc18181bd6443f3da343ac480b725fe7f by wuyanjun110
fix:修复崩溃的bug
The file was modifiedplan/prepare/prepare_status.cpp
Commit c2271d9001bbab76396a02877527ebdadee674a8 by wuyanjun110
fix:调整debug 字段
The file was modifieddata/obstacle/obstacle_decider_attr.cpp
Commit cdf17fd0a3f625f744540c12c030122367033912 by wuyanjun110
feat:添加进堆场的超视距障碍物
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 66091bc87bfd1318cde77a5784e796ddfb627b61 by wuyanjun110
fix:修复起始点车辆有转角，路径异常的bug
The file was modifieddata/plan/start_point_data.cpp
Commit 44562be43322b4b8bea759c5b4ddd93d785de2ec by tangwenqing
feat: SSEP: 增加头部不参与优化的区域设置接口。

The file was modifiedssep/scenarios/stitching_replanner.h
The file was modifiedssep/scenarios/tractor_trailer_single_segment_parking_planner.h
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/scenarios/truck_u_turn_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
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/scenarios/truck_remote_guided_escape_planner.h
The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/scenarios/legacy_planner.h
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
Commit 2b28bfd8125f8a123cbdb468d6689b88dcecfa80 by tangwenqing
fix: SSEP: 修复集卡普通搜索路径起点位于极窄的通道时路径可能画龙的问题

The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/common/utils/path_utils.cc
The file was modifiedssep/common/utils/path_utils.h
Commit 52cfb71599b3964f8378166541f7c3591d125c81 by 5081703.cr
fix: using maximum speed

The file was modifieddata/plan/start_point_data.cpp
Commit 0387e8d718a652ebdcb94ffa9548e8df264f9f9f by wuyanjun110
fix:修复openspace 误重规划的bug
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit 93fb175d45c935489a685eaa8606a9f6b2d8dba1 by tangwenqing
feat: Add truck multi seg planner

The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/protos/ssep_scenario_type.proto
The file was addedssep/scenarios/truck_multi_seg_general_planner.h
The file was modifiedssep/ssep_planner.cc
Commit 1f69d29f8bebce0dfaa001fedcf268c83893327d by tangwenqing
feat: SSEP: 刚性卡车搜索终点匹配从车道匹配改为参考线匹配

The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/scenarios/truck_multi_seg_general_planner.h
The file was modifiedssep/scenarios/truck_u_turn_planner.h
The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
Commit 8272b12044b6e461b6cc08346f43b60d67ee2c5b by wuyanjun110
fix:极限变道 replan的bug
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit ee9261999da7545182602565a8c994a4c449e3e9 by wuyanjun110
refactor:删除多余的日志打印
The file was modifieddata/plan/switch_data.cpp
Commit 54da7db6f6027ba1ed62c7b4c049c50fafdf95d7 by 5081703.cr
fix: smooth mode bug

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 3d2d072507031e0d1190dda96869b0609881db11 by wuyanjun110
fix:优化动态下码头面搜索终点选取的问题
The file was modifieddata/ssep/open_space_ec.cpp
Commit 50860293d0c03245290f1017bbf6ddaf7526a1a0 by wuyanjun110
refactor:优化杨浦低贝位约束
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 4beb3e4090867551b5d13ab0bb6c0a3ed9027586 by tangwenqing
feat: SSEP: 增加末端微调采样，解决杨浦进堆场曲率跳变问题。

The file was modifiedssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.h
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/utils.cc
The file was modifiedssep/coarse_search/motion_primitive_sampler/motion_primitive_sampler.h
The file was modifiedssep/coarse_search/utils.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was addedssep/coarse_search/motion_primitive_sampler/const_pinch_motion_primitive_sampler.h
The file was addedssep/coarse_search/motion_primitive_sampler/const_pinch_motion_primitive_sampler.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 23a9b7750ce8d5815c25a69e9a3f67bdcf09c040 by tangwenqing
chore: SSEP: 刚性卡车多段路径倒车时候更加原理后方障碍物

The file was modifiedssep/scenarios/truck_multi_seg_general_planner.h
Commit 850c6d7dada591e3c1bde66a7a6ea107009706ea by wuyanjun110
feat:添加 Yard Name的显示
The file was modifiedhmi/draw/draw_map.cpp
Commit e4c491704d2e5213a94eff93372bf28e09c52c94 by wuyanjun110
feat:终点低贝位 缩小挂甩正的角度
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit ae833840646171727e7f8756c68934f150b7b8f7 by wuyanjun110
feat:变道搜索搜索失败不停车
The file was modifieddata/constrain/block_data.cpp
Commit 581793fb16574bef458980f896fc150b53ce15ec by wuyanjun110
feat:大谢右转进堆场添加参数，适配仿真场景
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_func_sw.hpp
Commit 39f90d3211b9e1ac6ae7487705ab2aa17a29e6d3 by wuyanjun110
feat:更改reuse的次数
The file was modifieddata/config/cfg_long_plan.cpp
Commit 28faf0e46a27f89edffd993629a9e96c8a566352 by tangwenqing
fix: SSEP: 解决高贝位进堆场轨迹异常的问题

The file was modifiedssep/common/utils/scene_frame_visualization.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/common/utils/scene_frame_visualization.h
Commit ccf2604271a7710151fb198158eb54fb7d9b6e35 by wuyanjun110
feat:右转进低贝位拉值角度调整
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit f99d37ec4259cdc0487efdc797b2774275301cdb by wuyanjun110
feat:卡车 车辆方向修改为路径方向
The file was modifiedsink/ros_sink_pnc_status.cpp
Commit 55db8ebfd1664ea77bd73ce0649b50496714479d by tangwenqing
fix: SSEP: 修复集卡普通搜索启发项错误的问题

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit c490988a2ab457d070d3b6c1385529d5e95eead3 by tangwenqing
fix: SSEP: 过滤明显存在碰撞的集卡进堆场轨迹

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/common/utils/scene_frame_visualization.h
The file was modifiedssep/coarse_search/evaluator/cost_feature_computer.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 57ef4060115b74d7eca7475de7780b67ac839cd9 by tangwenqing
fix: SSEP: 回退集卡普通进堆场“超近道”的问题

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit df3375073a8e2d0b379162e44ad90c65215f262d by wuyanjun110
feat:进堆场偏离参考线过多，不触发禁停的bug
The file was modifiedcommon/util/crash_helper.cpp
The file was modifiedcommon/util/crash_helper.hpp
The file was modifieddata/constrain/block_data.cpp
Commit 9f533572119d55b459c5200933e9da33856ddffa by wuyanjun110
feat:进堆场口的限速参数独立出来
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/config/cfg_long_plan.hpp
Commit 85ff9bf05545965b5094ab1eccf1273ff89e8618 by wuyanjun110
feat:区分堆场的偏移和场桥的偏移
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/boundary/road_boundary.hpp
Commit 5c0a18c7d48e53a7c751daf8cd7f5bf8dffe8ede by tangwenqing
feat: SSEP: 变道搜索时使用standby_guide_line当做引导线。

The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit 7605f8bcffe6424a67247339451fb3a81f030eda by wuyanjun110
feat:添加junctionid的显示
The file was modifiedhmi/draw/draw_map.cpp
Commit 1467942a6b41145325043dddb9cbb004110416c3 by wuyanjun110
feat:没有岸桥碰撞的时候也打开岸桥搜索。 然后根据是否碰撞切换进入场景的距离
The file was modifieddata/scenario/scenario_region_bt.cpp
The file was modifiedcommon/util/crash_helper.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.hpp
The file was modifieddata/scenario/scenario_region_condition.hpp
The file was modifieddata/scenario/scenario_region_condition.cpp
The file was modifieddata/ssep/seaside_junction_ec.cpp
The file was modifieddata/map/reference/reference_segment.hpp
The file was modifieddata/other/flow_control.hpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/map/reference/reference_segment.cpp
The file was modifieddata/scenario/scenario_planner_condition.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.hpp
The file was modifiedcommon/util/crash_helper.hpp
The file was modifieddata/scenario/scenario_planner_action.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/other/flow_control.cpp
Commit c05c0246c9acfa37a1b0e97b10556a7e3b69f48e by tangwenqing
fix: SSEP: 修复集卡搜索轨迹不合理导致优化画龙的问题

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
Commit 70170322e94d0f01081e7a8f38ff85dfb226c67e by tangwenqing
feat: SSEP: 非低贝位进堆场使用拉直点逻辑

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/common/utils/scene_frame_visualization.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 1af9c15803d381eef87be1fc0c9bb680ca4e8aff by wuyanjun110
feat:龙须点碰撞检测添加开关
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/config/cfg_func_sw.cpp
Commit 5949bdd339c630f033970431252106e78308b8d9 by wuyanjun110
refactor:1.调整进堆场的限速  2. 调整低贝位的距离
The file was modifieddata/other/flow_control.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 83f67f6b625cc544144d929ab7864ba651dbf188 by tangwenqing
feat: SSEP 集卡在NORMAL,INYARD,OUTYARD,SEASIDE,BRIDGE场景强制使用参考线。

The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 50290228fcb6d8b16bc6ea8dfd4cd2ba9eba4c50 by wuyanjun110
fix:无法三次对准的bug
The file was modifieddata/vehicle/related_offset.cpp
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 modifiedcommon/util/crash_helper.cpp
The file was modifieddata/lattice/ogm_crash_data.cpp
The file was modifieddata/plan/predict_path.cpp
The file was modifieddata/lattice/ogm_crash_data.hpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifiedcommon/util/crash_helper.hpp
The file was modifieddata/obstacle/ogm.cpp
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/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_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/common/utils/path_utils.cc
Commit ae60eafbf0679245ce50399758da8a70ac5c2b29 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 modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_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/config/cfg_long_plan.cpp
The file was modifieddata/lattice/ogm_crash_data.cpp
The file was modifiedtasks/deciders/lat_decider/path_bounds_decider.cpp
The file was modifieddata/plan/guide_line_base.cpp
The file was modifiedhmi/draw/draw_contour.hpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifieddata/lattice/ogm_crash_data.hpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifiedhmi/draw/draw_pose_predict.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedhmi/draw/draw_contour.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/plan/guide_line_base.hpp
The file was modifiedplan/prepare/prepare_ogm.hpp
The file was modifieddata/plan/predict_path.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifiedtasks/deciders/lat_decider/path_bounds_decider.hpp
The file was modifieddata/config/cfg_long_plan.hpp
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 modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/common/utils/scene_frame_visualization.cc
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
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/keb_optimizer/cost_features/state_constraint.h
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/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
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/config/cfg_safe_const.cpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifiedhmi/draw/draw_perception.cpp
The file was modifiedplan/prepare/prepare_ogm.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/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_general_planner.h
Commit 9deba718267a35d12d01a970f688b7e9264e00d2 by wuyanjun110
feat:杨浦适配B场
The file was modifieddata/ssep/field_junction_ec.hpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/boundary/road_boundary.hpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/boundary/road_boundary.cpp
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/seaside_junction_ec.cpp
The file was modifieddata/ssep/into_yard_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/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.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 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/other/flow_control.cpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifiedcommon/util/crash_helper.cpp
The file was modifiedplan/prepare/prepare_ogm.hpp
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit 6fa7889e24cc21d00f6c5db01ba7db1b5c47bb98 by wuyanjun110
feat:进堆场的优化
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 46e57e398fd2e66ec7453b47a284d8ba023af0e8 by wuyanjun110
feat:关闭debug信息
The file was modifieddata/other/flow_control.cpp
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_long_plan.cpp
The file was modifiedplan/prepare/prepare_objs.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifiedplan/prepare/prepare_objs.hpp
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 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/config/cfg_func_sw.cpp
The file was modifieddata/ssep/normal_junction_ec.cpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/bridge_junction_ec.cpp
The file was modifieddata/ssep/open_space_ec.cpp
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 modifieddata/map/reference/reference_road_section.cpp
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.cpp
The file was modifiedplan/prepare/prepare_objs.hpp
The file was modifieddata/map/reference/reference_road_section.hpp
Commit c0b8686b88f5be57e5a3926c88c7dd1d8ece0a6d by chenran
fix: lattice wbca velocity reference bug.
The file was modifieddata/lattice/trajectory_evaluator.cpp
Commit 69059fafedde839874b5b77734462e62795eb3b3 by chenran
fix: send 50m path to control in bulk state.
The file was modifiedsink/ros_sink_path.hpp
The file was modifiedsink/ros_sink_path.cpp
Commit c69346089151b42332c257711f6a985c957b691f by chenran
fix: delete submodules
The file was removed.gitmodules
The file was removedsubmodule/ads_proto
Commit cabde13e015314bc0c7c78c1d54eb77e56c3f663 by chenran
fix: serailize params for wbca
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifieddata/wbca/wbca_data.hpp
Commit 0c135ec8dd0e2db4a247421530b0dfe36e56c61c by chenran
fix: merge bug
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/vehicle/related_offset.cpp
Commit fc43baf4dcf0bffc0d81f57e87ccdec078d9699f by chenran
fix: wbca params serialization bug
The file was modifieddata/config/cfg_lat_plan.hpp
Commit 8f03756a11e0ed43a8f0d357bc91df4162926fcf by chenran
fix: wbca params serialization bug
The file was modifieddata/config/cfg_lat_plan.hpp
Commit b100483d63c965125de328cb5a8bd9db1997db1c by chenran
fix: Trajectory MatchByt bug.
The file was modifieddata/common/trajectory_point.cpp
Commit 252892cc23ad130a218e251f61d127c1a18a3705 by chenran
fix: build bug
The file was modifieddata/config/cfg_env_const.hpp
Commit f30dcba8137c34892d27029c7c49467ba887d16a 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 4bf1d9123193b59bce5cec3cf4c0f5c99115b31c by wuyanjun110
fix: SSEP: 修复IMV进充电桩方向与现场任务不一致的问题。

The file was modifiedssep/scenarios/imv_enter_station_planner.h
Commit 4721fbb98c8c3f4a02c52aa61d2e363ec8bee4ac by chenran
fix: wbca path fluctuation problem.
The file was modifieddata/plan/start_point_data.hpp
The file was modifieddata/plan/start_point_data.cpp
Commit 81d3cdb94db0b7d350cbe44a0440fdd7b0f25e87 by chenran
fix: add wbca min_start_velocity
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/plan/start_point_data.hpp
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit c799fbc816ed7ac97459c9a6f83da30da12420b2 by chenran
fix: wbca crab mode condition opt.
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit bf29d886d0b6908319dbdd6a243e24199b6116d3 by wuyanjun110
fix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。

The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
Commit bca00d5a1a152b9f58ec76ac573479d128623a05 by wuyanjun110
fix:进充电桩场景切换的bug
The file was modifiedplan/prepare/prepare_status.cpp
Commit 0397367e55966239ac1882398b60d66c20610e95 by wuyanjun110
feat: 添加IsAvailable方法以验证轨迹数据的有效性
The file was modifieddata/lattice/piecewise_acc_traj1d.cpp
The file was modifieddata/lattice/piecewise_acc_traj1d.hpp
The file was modifieddata/lattice/trajectory_combiner.cpp
The file was modifiedmath/curve1d/curve1d.hpp
Commit 48becb12a9ae19b4084c5a5d2f83a96ccd07219b by wuyanjun110
fix: 修复StitchSsepReferenceLine方法中的路径段验证逻辑
The file was modifiedtasks/other_tasks/stitch_path_to_reference_line.cpp
Commit 3001382e4da8a90bb2207c8ebc1f2abb7b0e03a1 by wuyanjun110
fix:修复误进入openspace的bug
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit d139f15bf463997ee997c79687feca4fd884c284 by chenran
feat: add smooth_mode_wbca_params
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modified.clangd
The file was modifieddata/config/cfg_lat_plan.hpp
Commit bffc729ab74e52199d824957e3de786bf735aa45 by chenran
fix: smooth_mode_wbca_params bug
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 5e1def34a1ab7f1f4863441233d8e7bd06f3d684 by wuyanjun110
fix: 修复车辆行进过程中，误进routing 方向的更新逻辑的bug
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit a76643e4c21c168879c1a71da896bc65a8291933 by wuyanjun110
fix: 调整RefMatch匹配条件的范围以增强灵活性
The file was modifieddata/map/reference/reference_segment.cpp
Commit 65ebb62e3b5a0dd60ecede17b26d9f9af1f6cd5f by wuyanjun110
fix: 添加禁停区逻辑以避免在倒车路径区域创建禁停区
The file was modifieddata/constrain/block_data.cpp
Commit 52bb041a298a685ad7b18fc6619078d0a0a1a576 by wuyanjun110
fix: SSEP: 解决西联IMV进停车位搜索失败的问题

The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
Commit dcd0fb00aaa7d4aaa2cf4c1eeac9ae854e41d00f by chenran
fix: open space ssep env bug.
The file was modifieddata/ssep/open_space_ec.cpp
Commit 339584337e65242f16a20ec65ce7f5cbf644d2bf by chenran
feat: ignore sending masked box to guarden under large lateral deviation.
The file was modifiedsink/ros_sink_pnc_status.cpp