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Changes

Summary

  1. fix(wbca): correct path cost gradients (details)
  2. feat(wbca): add trailer-led reversing path optimizer (details)
  3. feat(wbca): integrate reversing truck manager with SSEP (details)
  4. fix(wbca): use nearby ego pose for reversing path start (details)
Commit 220cf88ad8837fbca150f5f48ac4f59217bfea82 by chenran
fix(wbca): correct path cost gradients

Differentiate trailer collision costs through the discrete integration across samples and segment durations. Correct the tractor collision Jacobian transpose and the initial-sample minimum-distance gradient.

Add a standalone finite-difference regression target covering forward and reverse coefficients and durations.
The file was modifiedTesting/CMakeLists.txt
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/truck_path_optimization.hpp
The file was modifiedalgorithm/wbca/path_optimization/truck_path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.hpp
The file was addedTesting/wbca_cost_gradient_test.cpp
Commit aa270a365c0d6e630c1e88746acae4283316679c by chenran
feat(wbca): add trailer-led reversing path optimizer
The file was addedalgorithm/wbca/path_optimization/reversing_truck_path_optimizer.hpp
The file was addedalgorithm/wbca/path_optimization/reversing_truck_path_optimizer.cpp
Commit 398e6a273420b68c794a5c7cd3c9b9fde1fb3842 by chenran
feat(wbca): integrate reversing truck manager with SSEP
The file was modifiedTesting/scene_replay_foundation_test.cpp
The file was modifieddata/plan_frame.hpp
The file was addedalgorithm/wbca/reversing_truck_wbca_manager.cpp
The file was modifiedTesting/CMakeLists.txt
The file was addedtools/reversing_wbca_replay.cpp
The file was addedTesting/reversing_path_wbca_test.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/plan/ssep_data.hpp
The file was modifiedreplayer/scene_data/generated/full_custom_cpp_member_inputs.json
The file was modifieddata/ssep/ssep_activation.hpp
The file was modifiedtasks/plan/ssep_task.cpp
The file was modifiedhmi/draw/draw_wbca_rlt.cpp
The file was modifieddata/vehicle/request_routing_data.cpp
The file was modifiedreplayer/scene_data/full_custom_codec_exclusions.yaml
The file was modifiedreplayer/scene_data/generated/full_custom_codec_coverage_audit.yaml
The file was modifiedreplayer/scene_data/plan_frame_full_mapping.yaml
The file was addedalgorithm/wbca/reversing_truck_wbca_manager.hpp
The file was addedTesting/reversing_truck_path_optimizer_test.cpp
The file was modifiedtasks/plan/reversing_truck_path_task.cpp
The file was modifiedreplayer/scene_data/generated/plan_frame_member_inputs.json
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedreplayer/scene_data/generated/plan_frame_encoder.cpp
The file was modifiedtasks/plan/reversing_truck_path_task.hpp
The file was addeddocs/reversing_truck_path_optimizer.md
The file was modifiedtasks/deciders/search_decider/search_decider_lifecycle.hpp
The file was modifieddata/other/reverse_pickup.cpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/plan_frame.cpp
Commit d9ef30d021b2ff32d8b8349d610e0e35a56d3d02 by chenran
fix(wbca): use nearby ego pose for reversing path start
The file was modifiedtasks/plan/reversing_truck_path_task.cpp
The file was modifiedalgorithm/wbca/reversing_truck_wbca_manager.cpp
The file was modifiedTesting/reversing_path_wbca_test.cpp
The file was modifiedalgorithm/wbca/reversing_truck_wbca_manager.hpp