[Jenkins]Jenkins

Changes

Summary

  1. feat: 普通卡车多段倒车入库时适配拉直点逻辑 (details)
  2. fix: SSEP: 修复变道路径可能有碰撞的问题 (details)
  3. chore: keb task 增加最大转向角余量 (details)
  4. chore: keb实时优化 将转向角余量 提取为配置参数 (details)
  5. chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹 (details)
  6. feat: keb-task 输出的轨迹保持固定长度，解决轨迹越来越短导致到达不了终点的问题 (details)
  7. fix: keb task ssep_end_s_ 赋值错误 (details)
  8. fix: 解决西联IMV进停车位搜索过慢的问题 (details)
  9. fix: 集卡搜索时滤除起点和终点车挂内部的og点 (details)
  10. chore: SSEP: 自卸车进出散货堆场搜索使用软约束 (details)
  11. fix: SSEP: 修复集卡进堆场S弯轨迹不合理，及自适应拉直距离失效的问题 (details)
  12. fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。 (details)
  13. feat: Add Keb-Lane-Follow Task (details)
  14. fix: SSEP: 西联进充电桩压线问题修复 (details)
  15. feat: SSEP:  普通卡车搜索增加“final_straight_distance”参数配置项 (details)
  16. feat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离 (details)
  17. fix: SSEP: 修复苏溪IMV出停车位可能绕大圈的问题 (details)
  18. fix: SSEP: 解决普通卡车多段倒车进卸料点路径可能跳变的问题 (details)
  19. fix: SSEP: 精确倒车时不使用历史路径 (details)
  20. fix: SSEP: 修复普通卡车搜索拉直段失效的问题 (details)
  21. feat: SSEP: 增加离线轨迹库功能（包括轨迹库生成与可视化） (details)
  22. feat: SSEP: 接入离线轨迹库 (details)
  23. fix: SSEP: 修复苏溪集卡进停车位可能停歪的问题 (details)
  24. fix: SSEP: 修复IMV掉头进堆场轨迹绕圈问题，提升搜索成功率，加快搜索速度 (details)
  25. feat:  SSEP: 完善离线轨迹框架，IMV进充电桩场景跑通离线轨迹全流程 (details)
  26. chore: SSEP: 精准倒车时，搜索器采用更严格的曲率上限，确保优化完不超限 (details)
  27. Refactor: 重构keb task，提高可读性，梳理参数并与PlanFrame解耦，支持后续构建离线仿真调试。 (details)
  28. feat: Keb-Task: task与algorithm解耦，进一步梳理keb algorithm的模块输入输出。replayer增加KebScene数据提取功能。 (details)
  29. chore: keb-task: 完整跑通keb-scene extranction及可视化全流程 (details)
  30. feat: Keb-Task: 完整跑通keb调试数据提取、离线仿真、可视化。 (details)
  31. fix: 修复imv普通搜索参考线错误的问题 (details)
  32. fix: SSEP: 提升太阳纸业自卸车出堆场成功率 (details)
  33. feat: Keb-task: 碰撞检测使用dual-layer双层检测。同步更新仿真与可视化 (details)
  34. chore: SSEP: 集卡多段倒车场景，Replan时加入最后一段拉直逻辑 (details)
  35. chore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度 (details)
  36. chore: SSEP: 解决集卡多段倒车可能绕圈的问题 (details)
  37. fix: SSEP: 修复多段倒车路径异常问题 (details)
  38. feat: keb实时优化 - 双层车体碰撞模型通过离线测试 (details)
  39. feat: keb-task 仿真工具增加场景扩展功能与基于场景扩展的闭环仿真 (details)
  40. fix: SSEP: 修复自卸车进卸料区路径有点斜的问题 (details)
  41. feat: Keb-Simulation: 3D可视化 (details)
  42. fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 (details)
  43. feat:合并ssep (details)
  44. fix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题 (details)
  45. feat: SSEP-offboard: 添加离线路径绘制工具 (details)
  46. feat: SSEP-offboard: 离线路径编辑器支持二次编辑、增加路径复制、路径平移等功能 (details)
  47. feat: SSEP: 增加跨运车抓车场景 (details)
  48. chore: SSEP-offboard: 修复bug，增加车体box可视化 (details)
  49. refactor:优化ssep passing pt的赋值 (details)
  50. feat: Keb-Task: OGM构造放入Keb算法内部，防止阻塞主线程 (details)
  51. feat: Keb-Task: OGM构造放入Keb算法内部，防止阻塞主线程 (details)
  52. fix: wbca smooth path is exception in align state (details)
  53. feat: 添加性能成本详细信息分组显示，优化绘制面板更新逻辑 (details)
  54. refactor: 简化pass_posture_的赋值逻辑 (details)
  55. feat: SSEP: 集卡上下码头面根据pass point构建三次曲线参考线 (details)
Commit 8f68653b9d125843b6051233fc17eaaff5b7d41b by tangwenqing
feat: 普通卡车多段倒车入库时适配拉直点逻辑

The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/planner_utils.h
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/scenarios/planner_utils.cc
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit 2a4a3514b4d6189f853259a0bb514c214ed33381 by tangwenqing
fix: SSEP: 修复变道路径可能有碰撞的问题

The file was modifiedssep/scenarios/tractor_trailer_lane_change_planner.h
Commit 5c74f7713ddb7866d189e49484343f797d0ea008 by tangwenqing
chore: keb task 增加最大转向角余量

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 0ba658ed3f927a6d0b3dee0373a90b1c01086574 by tangwenqing
chore: keb实时优化 将转向角余量 提取为配置参数

The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifieddata/config/cfg_lat_plan.hpp
Commit 781cd4cf9b7ce57bc5c663fbdca5d7e6b0ce556c by tangwenqing
chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit 70d37c4b05efead9836daae68422a009780d7c02 by tangwenqing
feat: keb-task 输出的轨迹保持固定长度，解决轨迹越来越短导致到达不了终点的问题

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
Commit 4759524e88de1ad03ab5db3fd72d4c61c2d1b352 by tangwenqing
fix: keb task ssep_end_s_ 赋值错误

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 270076048affadcc2efda531703271bf59bdf934 by tangwenqing
fix: 解决西联IMV进停车位搜索过慢的问题

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
Commit 4c5d87ca4d81f80b640ece8b32e0037bd9d2907a by tangwenqing
fix: 集卡搜索时滤除起点和终点车挂内部的og点

The file was modifiedssep/maps/ogm_builder.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/maps/ogm_builder.h
Commit a55b1d4a04856902abcc98cb26e679a7322b4031 by tangwenqing
chore: SSEP: 自卸车进出散货堆场搜索使用软约束

The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
Commit 7d345fe068388c5cfcafa2b5146f647344bd4239 by tangwenqing
fix: SSEP: 修复集卡进堆场S弯轨迹不合理，及自适应拉直距离失效的问题

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit cf69665bcc958500349e2fa758f961203e97ac62 by tangwenqing
fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。

The file was modifiedssep/common/utils/path_utils.cc
Commit 219b35a8cff152c0d01f914ba16d1ee88c9c26dc by tangwenqing
feat: Add Keb-Lane-Follow Task

The file was modifiedssep/ssep_planner.cc
The file was modifiedtasks/task_factory.cpp
The file was modifieddata/config/cfg_stage.hpp
The file was addedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifieddata/config/cfg_stage.cpp
The file was addedtasks/plan/keb_lane_follow_path_task.hpp
Commit fb9f4cef0ec26de180bbc86b8707a4d98ffa9aaf by tangwenqing
fix: SSEP: 西联进充电桩压线问题修复

The file was modifiedssep/common/utils/path_utils.cc
The file was modifiedssep/scenarios/imv_enter_station_planner.h
Commit 6f21bc5a6c0ac05e0ab717fe7bad09c38ee1a2f0 by tangwenqing
feat: SSEP:  普通卡车搜索增加“final_straight_distance”参数配置项

The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/truck_general_planner.h
Commit b53f0a1cd6255d70b5f57042afbb4c5b5e5a1cd5 by tangwenqing
feat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离

The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
Commit 0ac0111c82d8bb79499fdd3ea8f5ae49ea41a38d by tangwenqing
fix: SSEP: 修复苏溪IMV出停车位可能绕大圈的问题

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.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
Commit 98ceb2ee4254cb399a4a3bb1901cc13987cfbbc8 by tangwenqing
fix: SSEP: 解决普通卡车多段倒车进卸料点路径可能跳变的问题

The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
Commit cd4d9dd354b21917814376879733624be88f3dbd by tangwenqing
fix: SSEP: 精确倒车时不使用历史路径

The file was modifiedssep/ssep_planner.cc
Commit f2e8e1e7d82d9f4cfa9d95d99fac30edcd26d961 by tangwenqing
fix: SSEP: 修复普通卡车搜索拉直段失效的问题

The file was modifiedssep/scenarios/truck_general_planner.h
Commit 882808fccb8e2b57410240ce996fd01f871924aa by tangwenqing
feat: SSEP: 增加离线轨迹库功能（包括轨迹库生成与可视化）

The file was addedssep/offboard/servers/path_repository_vis_html_template.h
The file was addedssep/offboard/servers/path_repository_vis_server.cc
The file was addedssep/offboard/generate_path_repository/CMakeLists.txt
The file was modifiedssep/offboard/servers/CMakeLists.txt
The file was addedssep/protos/path_repository.proto
The file was addedssep/protos/state_match_condition.proto
The file was addedssep/offboard/generate_path_repository/generate_path_repository_cli.cc
The file was modifiedssep/CMakeLists.txt
The file was addedssep/offboard/servers/path_repository_vis_html_template.cc
Commit c40f17e705fcd22d588f509e223b97afd6f94701 by tangwenqing
feat: SSEP: 接入离线轨迹库

The file was addedssep/data_structures/state_match_condition.cc
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/protos/path_repository.proto
The file was addedssep/data_structures/state_match_condition.h
The file was addedssep/data_structures/path_repository_manager.cc
The file was addedssep/data_structures/path_repository_manager.h
The file was modifiedssep/offboard/generate_path_repository/generate_path_repository_cli.cc
The file was modifiedssep/ssep_planner.cc
Commit 73643888aac8b5f7b0a28de66d6b9dae5c35014e by tangwenqing
fix: SSEP: 修复苏溪集卡进停车位可能停歪的问题

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
Commit d75a79ff291255b2073946e678d0ef4e69c69c4a by tangwenqing
fix: SSEP: 修复IMV掉头进堆场轨迹绕圈问题，提升搜索成功率，加快搜索速度

The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
Commit 71318654777a1d34b5e432c05012dcba1defbcf9 by tangwenqing
feat:  SSEP: 完善离线轨迹框架，IMV进充电桩场景跑通离线轨迹全流程

The file was modifieddata/config/cfg_ssep.cpp
The file was modifiedssep/offboard/servers/path_repository_vis_html_template.cc
The file was modifiedssep/protos/path_repository.proto
The file was modifieddata/config/cfg_ssep.hpp
The file was modifiedssep/data_structures/path_repository_manager.h
The file was addedssep/protos/operation_mode.proto
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/offboard/generate_path_repository/generate_path_repository_cli.cc
The file was modifiedssep/offboard/scene_replay/CMakeLists.txt
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifiedssep/data_structures/path_repository_manager.cc
The file was modifiedssep/offboard/servers/path_repository_vis_server.cc
The file was modifiedssep/protos/scene.proto
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/ssep_planner.cc
Commit 2c034f89e04c6b63b9a9b3325f0114aa3d23c67c by tangwenqing
chore: SSEP: 精准倒车时，搜索器采用更严格的曲率上限，确保优化完不超限

The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
Commit 419575f0bc72c58284e15eeb174aeac24f3654e1 by tangwenqing
Refactor: 重构keb task，提高可读性，梳理参数并与PlanFrame解耦，支持后续构建离线仿真调试。

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was addedalgorithm/plan/keb_optimizer.hpp
The file was modifiedssep/data_structures/path_utils.h
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was addedalgorithm/plan/keb_optimizer.cpp
The file was modifieddata/common/path.hpp
Commit f0150e3d3ab34ee7357c0d80af6d509b2deb1cd4 by tangwenqing
feat: Keb-Task: task与algorithm解耦，进一步梳理keb algorithm的模块输入输出。replayer增加KebScene数据提取功能。

The file was modifiedhmi/replayer_hmi.cpp
The file was modifiedhmi/replayer_hmi.hpp
The file was addedtasks/plan/keb_utils.hpp
The file was modifiedssep/maps/ogm.h
The file was addedproto/CMakeLists.txt
The file was modifiedCMakeLists.txt
The file was modifiedreplayer/logic.cpp
The file was modifieddata/common/path.hpp
The file was modifiedssep/CMakeLists.txt
The file was addedproto/keb_scene.proto
The file was addedtasks/plan/keb_utils.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was modifiedssep/maps/ogm.cc
The file was addedssep/protos/ogm.proto
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedreplayer/main.cpp
The file was modifieddata/common/path_point.cpp
The file was modifiedssep/maps/ogm_builder.cc
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedreplayer/logic.hpp
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.hpp
The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was modifieddata/common/path_point.hpp
The file was modifieddata/common/path.cpp
The file was addedproto/data_path.proto
Commit f8e0a36c66f5040d93ab15f3eea8eedecc5d9f92 by tangwenqing
chore: keb-task: 完整跑通keb-scene extranction及可视化全流程

The file was modifiedssep/protos/ogm.proto
The file was modifiedssep/maps/ogm.h
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was addedoffboard/keb_vis_server/keb_vis_html_template.h
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was addedoffboard/keb_vis_server/keb_vis_html_template.cc
The file was modifieddata/plan/start_point_data.hpp
The file was addedoffboard/keb_vis_server/keb_vis_server.cc
The file was addedoffboard/keb_vis_server/CMakeLists.txt
The file was modifiedssep/maps/ogm.cc
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit 52abfb30b6c58693392fbab9c7aa288e231a3901 by tangwenqing
feat: Keb-Task: 完整跑通keb调试数据提取、离线仿真、可视化。

The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was modifiedoffboard/keb_vis_server/keb_vis_html_template.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifieddata/ssep/field_junction_ec.hpp
The file was modifiedproto/keb_scene.proto
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifiedCMakeLists.txt
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifiedssep/keb_optimizer/cost_features/dynamic_constraint.h
The file was addedoffboard/keb_path_opt_cli/keb_path_opt_cli.cc
Commit a8a77d0c941af4a95bc3670a81a607e4ab3ed093 by tangwenqing
fix: 修复imv普通搜索参考线错误的问题

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
Commit 8ccf5f548cd0e4131c1b82954c2adecdac06c3e2 by tangwenqing
fix: SSEP: 提升太阳纸业自卸车出堆场成功率

The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
Commit cb4d9f128e3c5f9691bbeb42c422b23711f7aa61 by tangwenqing
feat: Keb-task: 碰撞检测使用dual-layer双层检测。同步更新仿真与可视化

The file was modifiedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was addedssep/keb_optimizer/cost_features/dual_layer_disk_collision_cost.h
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedtasks/plan/keb_utils.hpp
The file was modifiedoffboard/keb_vis_server/keb_vis_html_template.cc
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was addedssep/keb_optimizer/cost_features/dual_layer_trailer_disk_collision_cost.h
The file was modifiedssep/maps/ogm.h
The file was modifiedoffboard/keb_vis_server/CMakeLists.txt
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/param_loader/param.h
The file was modifiedoffboard/keb_path_opt_cli/keb_path_opt_cli.cc
The file was modifiedproto/keb_scene.proto
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/protos/params.proto
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifiedssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
Commit 78cecf1ba9ad4a0ecc14fb30756722d7d294ec61 by tangwenqing
chore: SSEP: 集卡多段倒车场景，Replan时加入最后一段拉直逻辑

The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/scenarios/stitching_replanner.h
Commit c3744d5c2226e5ec04a54249deca78e4abaa48d9 by tangwenqing
chore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度

The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
Commit 9fd0e87b9539412176f5438b4cf8fa2c4353941a by tangwenqing
chore: SSEP: 解决集卡多段倒车可能绕圈的问题

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 7f9930f514e94f399ae91826d94469b8c4543ac7 by tangwenqing
fix: SSEP: 修复多段倒车路径异常问题

The file was modifiedssep/ssep_planner.cc
Commit 37980ff352590504416c64de985244f7000d8da5 by tangwenqing
feat: keb实时优化 - 双层车体碰撞模型通过离线测试

The file was modifiedssep/param_loader/param.h
The file was modifiedoffboard/keb_vis_server/keb_vis_html_template.cc
The file was removedssep/keb_optimizer/cost_features/dual_layer_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/cost_features/trailer_disk_collision_cost.h
The file was modifiedCMakeLists.txt
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedssep/protos/params.proto
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was removedssep/keb_optimizer/cost_features/dual_layer_trailer_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
Commit 8d0a9328235149cea3ae87be7d21efde5c8a236a by tangwenqing
feat: keb-task 仿真工具增加场景扩展功能与基于场景扩展的闭环仿真

The file was modifiedCMakeLists.txt
The file was addedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was addedoffboard/keb_path_opt_cli/keb_scene_converter.hpp
The file was addedoffboard/keb_path_opt_cli/closed_loop_utils.cc
The file was addedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifiedoffboard/keb_path_opt_cli/keb_path_opt_cli.cc
The file was addedoffboard/keb_path_opt_cli/closed_loop_utils.hpp
The file was addedoffboard/keb_path_opt_cli/keb_simulator.hpp
Commit eabb10afdc35e185d27771aac7ba24bd61889764 by tangwenqing
fix: SSEP: 修复自卸车进卸料区路径有点斜的问题

The file was modifiedssep/scenarios/stitching_replanner.h
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
Commit 8667ab96d09a1370c69066ea1ffe91c989e814f5 by tangwenqing
feat: Keb-Simulation: 3D可视化

The file was modifiedoffboard/keb_vis_server/keb_vis_html_template.cc
Commit d71f84f7a302a3f5eceb0fcf5b867f77b33e6435 by tangwenqing
fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题

The file was modifiedssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
Commit 711ae84b63603a37fd75db06de659795e77678fa by wuyanjun110
feat:合并ssep

The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/offboard/servers/path_repository_vis_html_template.cc
The file was modifiedssep/param_loader/param.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/protos/path_repository.proto
The file was modifiedssep/offboard/servers/path_repository_vis_server.cc
The file was modifiedssep/maps/ogm_builder.cc
The file was modifiedssep/offboard/scene_replay/CMakeLists.txt
The file was modifiedssep/data_structures/path_repository_manager.h
The file was modifiedssep/data_structures/path_utils.h
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/keb_optimizer/cost_features/dynamic_constraint.h
The file was modifiedssep/protos/scene.proto
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/maps/ogm.h
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/data_structures/path_repository_manager.cc
The file was modifiedssep/maps/ogm.cc
The file was modifiedssep/protos/params.proto
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/cost_features/trailer_disk_collision_cost.h
The file was modifiedssep/scenarios/stitching_replanner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was addedssep/protos/operation_mode.proto
The file was modifiedssep/offboard/generate_path_repository/generate_path_repository_cli.cc
The file was modifiedssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
The file was addedssep/protos/ogm.proto
The file was modifiedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
Commit 4b4d21aeba2a5465e2532f017b9f5725d703037a by tangwenqing
fix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题

The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 28c58b5889385d77f87b0a147fa930b0cf793cc9 by tangwenqing
feat: SSEP-offboard: 添加离线路径绘制工具

The file was addedssep/offboard/path_drawing_tool/path_drawing_tool_main.cc
The file was addedssep/offboard/path_drawing_tool/CMakeLists.txt
The file was addedssep/offboard/path_drawing_tool/path_drawing_html_template.h
The file was addedssep/offboard/path_drawing_tool/path_drawing_html_template.cc
The file was addedssep/offboard/path_drawing_tool/hermite_path_generator.h
The file was addedssep/offboard/path_drawing_tool/hermite_path_generator.cc
Commit 333b3ebc6cdbb5cbdcbebecd0b9959bb8cf63045 by tangwenqing
feat: SSEP-offboard: 离线路径编辑器支持二次编辑、增加路径复制、路径平移等功能

The file was modifiedssep/offboard/path_drawing_tool/path_drawing_tool_main.cc
The file was modifiedssep/offboard/path_drawing_tool/path_drawing_html_template.cc
Commit 19d43f16047fee154f24f14a80002e88dcf82d7f by tangwenqing
feat: SSEP: 增加跨运车抓车场景

The file was modifiedssep/common/utils/scene_frame_visualization.cc
The file was modifiedssep/protos/ssep_scenario_type.proto
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was addedssep/scenarios/straddle_carrier_pick_vehicle_planner.h
Commit 30e6bf3d7c6cfe92ad1634c56514020972a93f0d by tangwenqing
chore: SSEP-offboard: 修复bug，增加车体box可视化

The file was modifiedssep/offboard/path_drawing_tool/path_drawing_html_template.cc
The file was modifiedssep/offboard/path_drawing_tool/hermite_path_generator.cc
The file was modifiedssep/offboard/path_drawing_tool/path_drawing_tool_main.cc
The file was modifiedssep/offboard/path_drawing_tool/hermite_path_generator.h
Commit b63375377c7e33d1f9b90bf0e4d35ca8059bdddc by wuyanjun110
refactor:优化ssep passing pt的赋值
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/ssep/ssep_ec.hpp
Commit e506b961c19a089454f59fe4fe26dcda7e6910d8 by tangwenqing
feat: Keb-Task: OGM构造放入Keb算法内部，防止阻塞主线程

The file was modifiedoffboard/keb_vis_server/keb_vis_html_template.cc
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was modifiedproto/keb_scene.proto
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedtasks/plan/keb_utils.hpp
The file was modifiedoffboard/keb_path_opt_cli/closed_loop_utils.cc
Commit 532974338bfb34db8cb80624fa8e6a81ccef32e9 by tangwenqing
feat: Keb-Task: OGM构造放入Keb算法内部，防止阻塞主线程

The file was modifiedoffboard/keb_path_opt_cli/closed_loop_utils.cc
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedoffboard/keb_vis_server/keb_vis_html_template.cc
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedproto/keb_scene.proto
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was modifiedtasks/plan/keb_utils.hpp
Commit 42b099371f6e8a99b001977dbb062ad6d7e8d5ad by chenran
fix: wbca smooth path is exception in align state
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 28bbba1eee60507ba6de0414eb33da590f7d0b29 by wuyanjun110
feat: 添加性能成本详细信息分组显示，优化绘制面板更新逻辑
The file was modifiedhmi/widget/perf_cost_detail.cpp
The file was modifiedhmi/node_hmi.cpp
Commit 62e19231bf61aa89eb3cdda3e31b9c4b109d844d by wuyanjun110
refactor: 简化pass_posture_的赋值逻辑
The file was modifieddata/ssep/ssep_ec.cpp
Commit 6bc50a6714be053d17ee070e2fe82c5b858df708 by tangwenqing
feat: SSEP: 集卡上下码头面根据pass point构建三次曲线参考线

The file was modifiedssep/data_structures/pose.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/scenarios/planner_utils.cc
The file was modifiedssep/scenarios/planner_utils.h