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Changes

Summary

  1. 添加新消息——跨运车z向抱夹到位 (details)
Commit b8f59b921d1a229a9a39dc06f08a35101d710294 by liuwenjing
添加新消息——跨运车z向抱夹到位
The file was modifiedalign_msgs/CMakeLists.txt
The file was addedalign_msgs/msg/TargetCarStatus.msg

Summary

  1. fix: IMV: 修复偶发优化失败的问题，修复距离path boundary较近时路径异常的问题 (details)
  2. fix: SSEP: 解决威海多段倒车距离og墙太近的问题 (details)
  3. fix: SSEP: 跨运车: 1.搜索禁止匹配参考线.  2.末端直线忽略碰撞 (details)
  4. feat: 添加计划运行监视器以跟踪任务执行时间和状态 (details)
  5. feat:终点在身后的时候 并且车辆没有移动的情况下 不创建停止线。 (details)
  6. feat: SSEP: 增加运动学约束warm up功能。在优化初期减小运动学约束的代价，并增加逐步衰减的平滑、避障代价。让优化器在优化初期更关注轨迹形态，后期更关注运动学约束。 (details)
  7. chore: SSEP: 跨运车自转逻辑改进 (details)
  8. feat: SSEP: 支持上下码头面同时进堆场 (details)
  9. fix: SSEP: 修复集卡多段倒车搜索失败的问题 (details)
  10. feat: 添加不可以区域Z层处理逻辑，优化地图绘制功能 (details)
Commit fd66e4bd2d7af4fa76e4651e5bae615c0ace7172 by tangwenqing
fix: IMV: 修复偶发优化失败的问题，修复距离path boundary较近时路径异常的问题

The file was modifiedtasks/plan/keb_utils_core.cpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
Commit dff765e360805cc6cd25a6a6df811933d253cdce by tangwenqing
fix: SSEP: 解决威海多段倒车距离og墙太近的问题

The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit 21a1df2d731e984cb4d3fd10e4b367b5433adc37 by tangwenqing
fix: SSEP: 跨运车: 1.搜索禁止匹配参考线.  2.末端直线忽略碰撞

The file was modifiedssep/scenarios/straddle_carrier_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
Commit 335bc124e56c2536cc6128b6211da5406e756911 by wuyanjun110
feat: 添加计划运行监视器以跟踪任务执行时间和状态
The file was modifiedscenarios/stage.hpp
The file was modifiedscenarios/lane_change_scenario/lane_change_prepare_stage.cpp
The file was modifiedplan/pilot/module.cpp
The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
The file was modifiedscenarios/parking_scenario/parking_prepare_stage.cpp
The file was modifiedscenarios/stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cpp
The file was modifiedscenarios/lane_change_scenario/lane_change_cancel_stage.cpp
The file was modifiedscenarios/lane_change_scenario/lane_change_stage.cpp
The file was modifiedscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_move_backward_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_preapre_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
The file was modifiedscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cpp
The file was modifiedscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cpp
The file was modifiedplan/prepare/module.cpp
The file was modifiedscenarios/parking_scenario/parking_move_stage.cpp
The file was modifiedcore/plan_async.cpp
The file was modifiednode/logic.cpp
The file was modifiedscenarios/ex_lane_change_scenario/ex_lane_change_stage.cpp
The file was modifiedscenarios/parking_scenario/parking_lane_change_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_lane_change_stage.cpp
The file was addedcore/plan_runtime_watchdog.hpp
Commit 849b809662aefd3a936983d16c9eb850bf0628d6 by wuyanjun110
feat:终点在身后的时候 并且车辆没有移动的情况下 不创建停止线。
The file was modifieddata/map/pnc_map/routing_extension/routing_data.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit d18a7474fa7354e2aa5f5fbf9d696bbc071de17d by tangwenqing
feat: SSEP: 增加运动学约束warm up功能。在优化初期减小运动学约束的代价，并增加逐步衰减的平滑、避障代价。让优化器在优化初期更关注轨迹形态，后期更关注运动学约束。

The file was modifiedssep/keb_optimizer/cost_features/disk_collision_cost.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
The file was modifiedssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/cost_features/tractor_trailer_kinematic_constraint.h
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedssep/keb_optimizer/cost_features/truck_kinematic_constraint.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/keb_optimizer/cost_features/path_length_cost.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit d189bbc6258b48ba139a99f51101e0cd19269dc3 by tangwenqing
chore: SSEP: 跨运车自转逻辑改进

The file was modifiedssep/scenarios/straddle_carrier_pick_vehicle_planner.h
Commit 6e58a963e9a696edda1a1fbc57114f301c2d47fc by tangwenqing
feat: SSEP: 支持上下码头面同时进堆场

The file was modifiedssep/scenarios/scenario_planner_factory.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
Commit 0dbf3b3c0dd814f60915d79a4e08490a137974c4 by tangwenqing
fix: SSEP: 修复集卡多段倒车搜索失败的问题

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
Commit f7fd1e3a50183051c8d0f349ab6a1277aaf7c5db by wuyanjun110
feat: 添加不可以区域Z层处理逻辑，优化地图绘制功能
The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifiedhmi/draw/draw_map.cpp

Summary

  1. feat_out: objectinfo透传z (details)
Commit cba9cbaf4225ccc7a789ca75d6b0dadc9380f1fd by caoxue
feat_out: objectinfo透传z
The file was modifiedinclude/hdmap_interface/map_elements/object_info.h
The file was modifiedinterface/map_elements/object_info.cc