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Changes

Summary

  1. refactor: 修改GetOgmSize函数签名，增加车辆状态参数以优化OGM大小计算 (details)
  2. feat: 添加NormalizePolygonsForUnion函数以处理多边形归一化，并增加相应的单元测试 (details)
  3. fix: 修改杨浦区域半径值为2000以配置扩大的堆场 (details)
  4. fix: 更新停止标志重叠匹配逻辑，增加对交叉口ID的检查并调整LaneSegment的合并参数 (details)
  5. feat: Keb: 1. 引入clipper2几何运算库处理多边形的膨胀腐蚀操作。解决之前的膨胀逻辑对某些特殊形状处理存在错误的问题。2. 将最近点膨胀代价升级为sdf碰撞检测代价，鲁棒性更高收敛更快。3. 前轮转向约束使用softplus函数建立梯度平滑的约束，解决在极限转弯场景优化时梯度跳变的问题。 (details)
Commit 2b8630bb28241bdac3a14af8c243551f2c05a236 by wuyanjun110
refactor: 修改GetOgmSize函数签名，增加车辆状态参数以优化OGM大小计算
The file was modifiedplan/prepare/prepare_ogm.hpp
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit 764219d0d68f42da1d4279cb3930f6c934d284a0 by wuyanjun110
feat: 添加NormalizePolygonsForUnion函数以处理多边形归一化，并增加相应的单元测试
The file was modifieddata/ssep/online_region_contour_creator.cpp
The file was modifieddata/ssep/online_region_contour_creator_test.cpp
Commit 7baa2b7a96e4e1eeb97393b14b7e7249721a6f42 by wuyanjun110
fix: 修改杨浦区域半径值为2000以配置扩大的堆场
The file was modifieddata/config/cfg_region.cpp
Commit 065d835f51e01dac7fcd62e40121f5a6b8836fea by wuyanjun110
fix: 更新停止标志重叠匹配逻辑，增加对交叉口ID的检查并调整LaneSegment的合并参数
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
Commit bf5c8b6a5d40a577e06606874e8c3225fb2d58ee by tangwenqing
feat: Keb: 1. 引入clipper2几何运算库处理多边形的膨胀腐蚀操作。解决之前的膨胀逻辑对某些特殊形状处理存在错误的问题。2. 将最近点膨胀代价升级为sdf碰撞检测代价，鲁棒性更高收敛更快。3. 前轮转向约束使用softplus函数建立梯度平滑的约束，解决在极限转弯场景优化时梯度跳变的问题。

The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was addedssep/keb_optimizer/cost_features/sdf_disk_collision_cost.h
The file was addedssep/common/utils/clipper2/src/clipper.rectclip.cpp
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.core.h
The file was modifiedoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.hpp
The file was modifiedssep/data_structures/polyline.cc
The file was modifiedssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
The file was modifiedssep/keb_optimizer/cost_features/imv_steer_constraint.h
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.engine.h
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.minkowski.h
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.rectclip.h
The file was addedssep/common/utils/clipper2/src/clipper.triangulation.cpp
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.offset.h
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was addedssep/common/utils/clipper2/src/clipper.engine.cpp
The file was addedssep/common/utils/clipper2/src/clipper.offset.cpp
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.triangulation.h
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.export.h
The file was addedssep/keb_optimizer/distance_field_interpolator.h
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.cc
The file was addedssep/keb_optimizer/cost_features/cost_functions.h
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.version.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/CMakeLists.txt
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.h