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Changes

Summary

  1. feat:imv 变道的安全校验参数化 (details)
  2. feat:添加绕行状态机 (details)
  3. feat:添加变道状态机状态 (details)
  4. Revert "feat:imv 变道的安全校验参数化" (details)
  5. fix: disable wbca smooth mode for seaside buffer. (details)
  6. fix: 修复董家口imv pull over角度偏差过大的问题 (details)
  7. fix:修复终点前变道的bug (details)
  8. feat:添加参数 直行的junction 是否用路口的边界 (details)
  9. fix:road 级别的可行驶范围的bug (details)
  10. feat:适配董分进堆场边界 (details)
  11. fix: routing extending backward for bend. (details)
  12. fix:可能崩溃的bug (details)
  13. fix:修复封路变道的bug (details)
  14. fix:引桥前变道的bug (details)
  15. fix:变道的bug (details)
  16. fix:修复合并的bug (details)
  17. fix:修复合并的bug (details)
  18. feat:调整出堆场口的约束创建 (details)
  19. fix: SSEP: 修复IMV进充电桩方向错误的问题 (details)
  20. fix: wbca crash issue. (details)
  21. fix:修复带有bulk 途经点， opensspce 不搜索的bug (details)
  22. fix: crash issue. (details)
  23. feat: 增加ssep scenario config，通过参数文件设置场景触发条件及场景参数 (details)
  24. chore: SSEP: 前港进出堆场改进 (details)
  25. chore: SSEP: 改善集卡多段出停车位效果 (details)
  26. Refactor: SSEP: 整理代码目录结构，分离onboard代码与offboard代码 (details)
  27. Refactor: SSEP: minor updates (details)
  28. feat: SSEP: 前进/后退时使用不同的碰撞检测策略。增加前进方向的额外碰撞检测。 (details)
  29. feat: SSEP: IMV更换新的运动学模型，额外状态量从后轮转向更改为beta (details)
  30. Refactor: SSEP: 整理代码目录结构，分离onboard代码与offboard代码 (details)
  31. Refactor: SSEP: minor updates (details)
  32. feat: SSEP: 前进/后退时使用不同的碰撞检测策略。增加前进方向的额外碰撞检测。 (details)
  33. feat: SSEP: IMV更换新的运动学模型，额外状态量从后轮转向更改为beta (details)
  34. fix: wbca smooth_mode path opt. (details)
  35. feat: 增加ssep-heatnet-2.0训练场景生成器 (details)
  36. refactor: 将ssep的依赖改为sub_directory的形式，添加proto数据结构 (details)
  37. feat: SSEP增加IMV进堆场场景 (details)
  38. feat: 增加ssep-heatnet-2.0训练场景生成器 (details)
  39. refactor: 将ssep的依赖改为sub_directory的形式，添加proto数据结构 (details)
  40. feat: SSEP增加IMV进堆场场景 (details)
  41. chore: SSEP: 调试IMV路径 (details)
  42. chore: SSEP: 调试IMV路径 (details)
  43. chore: Add proto converters. (details)
  44. refactor: 去除SSEP中不再用到的参数与相关处理。 (details)
  45. fix:太阳纸业 出库， ssep路径匹配的bug (details)
  46. fix: SSEP 修复proto版本不兼容的问题 (details)
  47. fix: SSEP 修复proto版本不兼容的问题 (details)
  48. fix:修复ttc预测的bug (details)
  49. Revert "feat:暂时屏蔽container size 变量" (details)
  50. chore: SSEP: 改进多段路径 - 短路径去除的逻辑 (details)
  51. fix: reversing car bulk scenario. (details)
  52. fix:修复程序运行的bug (details)
  53. refactor: update cmakelist (details)
  54. fix: reversing crash. (details)
  55. feat: convert cloud_obstacles to cloud points. (details)
  56. chore: 改进出堆场搜索，调整offboard部分代码 (details)
  57. chore: 改进友谊关多段倒车路径形状 (details)
  58. fix: SSEP: proto去除optional关键字 (details)
  59. fix: motion_fsm to_normal bug. (details)
  60. feat: SSEP: 完成ssep相关的proto定义。 (details)
  61. fix: fix building issue (details)
  62. fix: 修复imv优化器斜行代价太小的问题 (details)
  63. fix: 修复imv优化器斜行代价太小的问题 (details)
  64. Revert "fix: 修复imv优化器斜行代价太小的问题" (details)
  65. fix:修复imv优化器斜行代价太小的问题 (details)
  66. fix: first_frame smooth mode except in_yard (details)
  67. refactor:优化进苏溪停车位的搜索 (details)
  68. fix: clear route in smooth mode when large deviation. (details)
  69. fix: clear route in smooth mode when large deviation. (details)
  70. chore: SSEP: 实现SceneFrame的构建 (details)
  71. fix: wbca smoth_mode route interval (details)
  72. feat:适配梁山港 (details)
  73. factor:添加搜索途径点的绘制 (details)
  74. feat: SSEP: 1. 增加集卡进停车位场景。2. 集卡出停车位场景倒车时增加额外后向检测。 (details)
  75. chore: ssep: yangpu enter yard (details)
  76. chore: SSEP: 改进杨浦进堆场路径 (details)
  77. feat: add KappaRateCost. (details)
  78. fix: add use_func_stationary_steering_activation (details)
  79. chore: SSEP: yangpu进堆场路径调试 (details)
  80. fix:宽度补偿的bug (details)
  81. refactor:优化序列化的显示 (details)
  82. refactor:调整末端的限速 (details)
  83. fix: smooth path opt. (details)
  84. fix:参考线拼接的问题 (details)
  85. feat:ssep的优化 (details)
  86. feat:杨浦进堆场口搜索约束的优化 (details)
  87. fix:参考线拼接的问题 (details)
  88. feat:对准指令校验的阈值参数化 (details)
  89. feat:优化counter的绘制 (details)
  90. feat:ssep的优化 (details)
  91. feat:杨浦进堆场口搜索约束的优化 (details)
  92. feat:wcba的优化 (details)
  93. feat: SSEP: 跑通offboard数据生成工具 (details)
  94. fix:smooth_mode connection. (details)
  95. feat: SSEP: Add SceneFrame Replayer. (details)
  96. fix: wbca using history exception. (details)
  97. fix: stitch path data failed. (details)
  98. fix:苏溪进停车的bug (details)
  99. feat:添加绕行障碍物的速度参数 (details)
  100. feat:优化绕行判断 (details)
  101. feat: SSEP: offboard: Add scene frame vis server. (details)
  102. fix: extract path and trajectory in replayer. (details)
  103. fix: extract path and trajectory in replayer. (details)
  104. fix: wbca start_pos bug. (details)
  105. chore: SSEP: update OG polygon extraction algr. (details)
  106. feat:杨浦进堆场优化 (details)
  107. feat: SSEP: Viz server add download button. (details)
  108. feat: SSEP: Add rigid truck general scenario planner. (details)
  109. fix: clear history_pts when wbca opt failed. (details)
  110. fix: replayer wbca debug. (details)
  111. fix: SSEP: 修复SSEP内存泄漏问题 (details)
  112. chore: 保存ssep scene frame 到本地 (details)
  113. fix: SSEP: Fix crashing issues (details)
  114. chore: SSEP web 可视化增加【上一个】【下一个】按钮 (details)
  115. feat: Pnc Cmakelist中增加scene_vis_server(编译和打包) (details)
  116. chore: minor update (details)
  117. fix: wbca debug (details)
  118. feat: SSEP: visualization show trailer contour (details)
  119. feat: OG点挡停重规划 (details)
  120. feat:杨浦进堆场优化 (details)
  121. feat:最近车道匹配的bug (details)
  122. fix: SSEP: 修复car search + optimize相关问题 (details)
  123. fix: active curvature speed limit. (details)
  124. fix: wbca debug in replayer. (details)
  125. fix: kappa_softmax and kappa_rate_softmax (details)
  126. fix: win = 4 for kappa speed limit (details)
  127. chore: SSEP: 改进低贝位进堆场效果 (details)
  128. chore: SSEP: Remove unused offline files. (details)
  129. fix:修复连续普通路口搜索的bug (details)
  130. fix:身后障碍物过滤的bug (details)
  131. fix:replan逻辑的优化 (details)
  132. refacor:搜索的优化 (details)
  133. fix:编译的bug (details)
  134. chore:  SSEP: Improve keb car optimization process (details)
  135. feat: SSEP add scene data augmentation scripts. (details)
  136. feat: 添加git push-notify功能，可以联动钉钉机器人发送推送通知，并调用大模型自动编辑周报 (details)
  137. fix:重复规划的bug (details)
  138. fix:出堆场，误进平滑模式的bug (details)
  139. fix:优化出堆场的搜索 (details)
  140. chore: git push notify config脱敏 (details)
  141. fix:修复replayer内存泄漏的问题 (details)
  142. feat: SSEP: 自卸车进出堆场时忽略起点终点附近的碰撞 (details)
  143. fix: SSEP:  解决太阳纸业路口转弯距离参考线太远的问题 (details)
  144. fix:防护half to float 到 inf的场景 (details)
  145. fix: smooth_mode for bulk_load (details)
  146. feat:翻斗角度过大停车值在bulkload场景下生效 (details)
  147. fix: SSEP: 修复苏溪出停车位时先往前走一段的问题。 (details)
  148. fix: SSEP路径当前段匹配的bug (details)
  149. fix: wbca debug (details)
  150. fix:修复正常跟踪场景使用pjpo的bug (details)
  151. fix:ssep replan崩溃的bug (details)
  152. fix: keep history when wbca failed. (details)
  153. fix: SSEP: 解决苏溪进停车位搜索失败的问题 (details)
  154. fix:完善搜索失败临时停车的功能 (details)
  155. fix:修复崩溃的bug (details)
  156. fix:修复太阳路口搜索失败的bug (details)
  157. fix: SSEP: 1. 修复accurate reversing场景倒车最后三米忽略碰撞未触发的问题。2.提升苏溪进停车位成功率 (details)
  158. chore: SSEP: minor update (details)
  159. chore: SSEP: minor updates (details)
  160. feat:car类型的普通路口搜索考虑边界 (details)
  161. fix: SSEP: 修复优化器中起点曲率没有初始化的问题 (details)
  162. fix:修复可能崩溃的bug (details)
  163. refactor:优化太阳卸料区挡停的重搜索逻辑 (details)
  164. fix: start_pt from last_path. (details)
  165. 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)
  166. fix:连续载入快照崩溃的bug (details)
  167. fix: SSEP: 修复IMV PULLOVER场景最后一段不走直线的问题。 (details)
  168. fix: add curvature over limit temp stop. (details)
  169. fix: curvature_over_limit_stop_coefficient 10.0 (details)
  170. chore: SSEP minor updates (details)
  171. fix: truck start_pt exception. (details)
  172. fix:董家口靠边作业的问题 (details)
  173. feat:wbca求解失败后，使用ssep路径带来的路径跳变问题 (details)
  174. feat:曲率超限停车优化 (details)
  175. fix:调整曲率超限的滤波参数 (details)
  176. fix:曲率超限停车的bug (details)
  177. feat: add CalcKappaCostSigmoid. (details)
  178. fix: SSEP: 集卡进停车位时时候更严格的挂车角度 (details)
  179. feat:travel out 没有一次规划的适配 (details)
  180. fix:travel out 没有一次规划，状态机切换的bug (details)
  181. fix: SSEP: 修正Rigid truck general builder搜索参数，确保搜索器能具有搜出最大曲率路径的能力。 (details)
  182. fix: using ssep speed_limit for deviation. (details)
  183. fix: SSEP: 修复优化器中额外前向碰撞距离计算存在误差的问题，解决前港距离前方障碍物太近的问题。 (details)
  184. fix:解决合并代码需要重新编译的问题 (details)
  185. fix: SSEP: 修复前杠倒车进料堆优化失败的问题。 (details)
  186. fix:修复拼接的bug (details)
  187. fix: wbca reversing bug. (details)
  188. refactor调整切换lock的阈值 (details)
  189. feat:锁站场景不膨胀尺寸 (details)
  190. fix: minimize esdf_map (details)
  191. fix:修复崩溃的bug (details)
  192. fix: dx_norm = path_1_tmp.norm (details)
  193. fix: merge wbca_v2. using soft_min collision cost for truck. (details)
  194. feat: SSEP: 集卡进堆场搜索的碰撞检测使用软约束。保证生成一条碰撞程度最低的路径。 (details)
  195. feat: SSEP: SSEP输入中加入"作业模式"参数（正向作业/反向作业/Undetermined），统一IMV路径搜索流程 (details)
  196. fix: wbca ignores ref_pts out of range. (details)
  197. chore: SSEP: 提升集卡常规场景的规划的成功率，缓解末端路径画龙的问题 (details)
  198. feat: SSEP: Car模型多段倒车场景，途径点角度增加角度限制 (details)
  199. chore: SSEP: Car车型多段倒车参数调整 (details)
  200. fix:修复出停车位ssep路径方向的bug (details)
  201. fix:sweep路径的bug (details)
  202. feat:界面添加障碍物类别的显示 (details)
  203. feat:优化云端障碍物的赋值 (details)
  204. fix: 修复威海car bulkout场景进错的问题 (details)
  205. fix: typo (details)
  206. fix: SSEP: 修复最后一段有碰撞时可能优化失败的问题。 (details)
  207. 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)
  208. feat: SSEP: 可视化增加地图元素显示 (details)
  209. chore: SSEP: minor updates (details)
  210. fix: no_shift region around destination. (details)
  211. fix: deviation speed limit bug. (details)
  212. 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)
  213. Refactor: SSEP: 用aabox替换vector<double>表示search bounds (details)
  214. fix: truck wbca replayer debug. (details)
  215. chore: SSEP: Improve bidirectional search (details)
  216. fix: fix compile errors (details)
  217. fix: using wbca failed_count to deactivate history. (details)
  218. fix: SSEP: 解决集卡常规场景轨迹异常的问题 (details)
  219. fix: cfg_static bug (details)
  220. fix: replayer bug (details)
  221. fix: SSEP: 修复IMV出停车位路径异常的问题 (details)
  222. feat:终点距离的判断使用map distance (details)
  223. fix:imv进停车位双向搜索的bug (details)
  224. fix:切换到idle保持状态的bug (details)
  225. feat:苏溪,西联,董分 双向搜索的bug (details)
  226. chore:添加gitgnore (details)
  227. fix:驾驶走廊图构建的bug (details)
  228. chore:删除多余的log (details)
  229. feat:调整 float to half (details)
  230. fix:修复动态上下面过程中，提前切换到bulk场景的bug (details)
  231. fix: ogm.height/width (details)
  232. feat: SSEP: 初步跑通GPU加速版本的进堆场搜索 (details)
  233. chore: SSEP-GPU: 通过所有测试用例 (details)
  234. chore: SSEP: gpu search 性能优化 (details)
  235. chore: SSEP: 同步ssep的imv进充电桩的更新 (details)
  236. 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)
  237. fix: SSEP: 修复回归测试失败的场景 (details)
  238. fix: SSEP: 解决集卡普通搜索画龙的问题 (details)
  239. fix: clear path_optimization_task esdf his. (details)
  240. feat: SSEP: 增加万能参数接口 (details)
  241. 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)
  242. chore: SSEP: 改进自卸车多段倒车 (details)
  243. feat: 太阳纸业使用pncc_port_related参数配置SSEP场景 (details)
  244. fix: SSEP: 修复集卡普通搜索路口有可能超近道的问题 (details)
  245. fix: smooth logic (details)
  246. fix: SSEP: 解决进堆场画龙 (details)
Commit 88a62ba544877c14ff20e869db1ea2b1e2dc45b7 by wuyanjun110
feat:imv 变道的安全校验参数化

The file was modifieddata/config/cfg_func_sw.hpp
Commit a6950254162be0253743a4747e23fa92c1583850 by wuyanjun110
feat:添加绕行状态机

The file was modifiedsink/ros_sink_ads_hfsm_state.cpp
Commit 3781b45213d660a6ce54d99e7e7c1a012f80f6ef by wuyanjun110
feat:添加变道状态机状态
The file was modifiedsink/ros_sink_ads_hfsm_state.cpp
Commit 81b3364473b2c81f0fe8d64aa77ff8dce74ae80e by wuyanjun110
Revert "feat:imv 变道的安全校验参数化"

This reverts commit 88a62ba544877c14ff20e869db1ea2b1e2dc45b7.
The file was modifieddata/config/cfg_func_sw.hpp
Commit b7bddf1e4a02578d76a1aedd8cddde193887e4ea by 5081703.cr
fix: disable wbca smooth mode for seaside buffer.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 82824991dff93a733bc464edcda9bef36530dcf7 by tangwenqing
fix: 修复董家口imv pull over角度偏差过大的问题

The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
Commit 52cd08939052fe27f92b6138af2c8545fa757991 by wuyanjun110
fix:修复终点前变道的bug

The file was modifieddata/map/reference/center_line.cpp
Commit 58e71beb6ecb7b09ad1f3dcc14ff6a021f9c706d by wuyanjun110
feat:添加参数 直行的junction 是否用路口的边界
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
Commit 84365e090174369e3071e788df4f3a9a5c47f1db by wuyanjun110
fix:road 级别的可行驶范围的bug

The file was modifieddata/map/pnc_map/pnc_map_helper.cpp
Commit c286d96cd0b20fbe7504f5858e245fc2dc264f5a by wuyanjun110
feat:适配董分进堆场边界

The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit d13f020e2a5745bf6b232eef5a9631ea4ccfcbdb by wuyanjun110
fix: routing extending backward for bend.

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 738aaaba5f439f2d4a28b77838a9ea5a683e56e3 by wuyanjun110
fix:可能崩溃的bug
The file was modifieddata/plan/switch_data.cpp
Commit 7f28a0847eac1d83d25da318dd33595b7654d0b2 by wuyanjun110
fix:修复封路变道的bug

The file was modifieddata/map/reference/center_line.cpp
Commit d34c973a3b488e38a50e8fb80883a99a016c0702 by wuyanjun110
fix:引桥前变道的bug

The file was modifieddata/plan/switch_data.cpp
Commit c49619cffafe7c6fa46f5a961cd4d0ca5ac3d2dc by wuyanjun110
fix:变道的bug

The file was modifieddata/map/reference/center_line.cpp
Commit 6c32fe6149effdf03a337fd1709353a36456cce6 by wuyanjun110
fix:修复合并的bug

The file was modifieddata/plan/switch_data.cpp
Commit 069ea6786697010789b21ee0541a48cd1b5b3bb9 by wuyanjun110
fix:修复合并的bug

The file was modifieddata/plan/switch_data.cpp
Commit 6f5c230d06ee1185d110b1bff6dfc7294ccd484e 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 e3fb4e9e3f7da3447a7b8aa2aa26b82f25f3636f by tangwenqing
fix: SSEP: 修复IMV进充电桩方向错误的问题
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit 5d00ecb86c804df8745308b2c294f93c94b525c4 by 5081703.cr
fix: wbca crash issue.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit b7464186bc25420e5156da1c23655e3fe598f8ce by wuyanjun110
fix:修复带有bulk 途经点， opensspce 不搜索的bug
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/scenario/scenario_planner_condition.cpp
Commit 47dd1e17e3b7a1cacfa8af95d3a50e451c387dc1 by wuyanjun110
fix: crash issue.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit e83dce8cb0b0176c291c3111c32a761e20c0be23 by tangwenqing
feat: 增加ssep scenario config，通过参数文件设置场景触发条件及场景参数

The file was addeddata/ssep/ssep_scenario_config.cpp
The file was modifiedtasks/deciders/search_decider/forward_search_decider.cpp
The file was modifieddata/app/fsm/task_command_type.cpp
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/config/cfg_ssep.hpp
The file was modifiedssep/ssep_planner.cc
The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was addeddata/ssep/ssep_scenario_config.hpp
The file was addeddata/ssep/ssep_scenario_config_loader.hpp
The file was modifieddata/ssep/forward_ec.cpp
The file was addeddata/ssep/ssep_scenario_config_loader.cpp
The file was modifieddata/config/cfg_ssep.cpp
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifieddata/ssep/ssep_common.hpp
Commit 96b821ac3c22a53c3e4e6ff9cbf0b7c81640f0ee by tangwenqing
chore: SSEP: 前港进出堆场改进

The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
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/main_test/main_ssep_input.cc
Commit cc1d282761453b73188d303088adbde37b9eaf62 by tangwenqing
chore: SSEP: 改善集卡多段出停车位效果

The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
Commit e2822cab98d532445f28abe87f444e591eb85b06 by tangwenqing
Refactor: SSEP: 整理代码目录结构，分离onboard代码与offboard代码
The file was removedssep/main_test/hdmap_interface/rapidjson/writer.h
The file was removedssep/tools/executable/main_obb.cc
The file was removedssep/tools/obstacle_penalty/exp_test.m
The file was removedssep/influence_map/reference_line_layer.cc
The file was addedssep/offboard/tools/scene_data_generator/generate_scene_data_cli.cc
The file was removedssep/influence_map/sl_projection_map.cc
The file was removedssep/third_party/json.hpp
The file was modifiedssep/coarse_search/evaluator/ref_line_heuristic_computer.h
The file was addedssep/offboard/third_party/matplotlibcpp.h
The file was addedssep/maps/ogm_builder.cc
The file was addedssep/offboard/tools/scene_data_generator/data_structures.h
The file was addedssep/offboard/conf/ssep_imv_xugong.yaml
The file was removedssep/main_test/main_test_tt.cc
The file was addedssep/offboard/tools/executable/main_region_cut_boost.cc
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/clzll.h
The file was addedssep/offboard/main_test/hdmap_interface/common/glog_helper.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/biginteger.h
The file was removedssep/tools/executable/main_clipper.cc
The file was removedssep/main_test/hdmap_interface/rapidjson/stringbuffer.h
The file was removedssep/tools/scene_data_generator/conf/scene_conf.yaml
The file was removedssep/influence_map/dubin_layer.cc
The file was removedssep/main_test/hdmap_interface/common/math/line_segment2d.hpp
The file was addedssep/offboard/tools/scene_data_generator/state_augment_util.h
The file was removedssep/main_test/hdmap_interface/map_elements/junction_info.h
The file was removedssep/ssep_activation_sdk.h
The file was addedssep/offboard/ssep_activation_sdk.h
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_tt.cc
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_imv.h
The file was removedssep/main_test/hdmap_interface/libhdmap_interface_shm.so
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/section.h
The file was addedssep/offboard/tools/executable/third_party/json.hpp
The file was addedssep/offboard/main_test/hdmap_interface/common/math/line_segment2d.hpp
The file was removedssep/main_test/hdmap_interface/rapidjson/schema.h
The file was addedssep/offboard/third_party/optional_lite.hpp
The file was addedssep/offboard/main_test/hdmap_interface/public_data_struct.h
The file was removedssep/conf/ssep/ssep_imv.yaml
The file was removedssep/main_test/main_test_car.cc
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was removedssep/ssep_visualizer.cc
The file was addedssep/offboard/tools/executable/main_translation.cc
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/map_info.h
The file was removedssep/tools/executable/inference_ml_trajectory_cli.cc
The file was addedssep/offboard/tools/executable/main_clipper.cc
The file was removedssep/input/.gitkeep
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/swap.h
The file was removedssep/ssep_activation_sdk.cc
The file was removedssep/main_test/main_ssep_test.cc
The file was addedssep/offboard/tools/executable/main_obb.cc
The file was modifiedssep/coarse_search/geometric_search_visualizer.h
The file was removedssep/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cc
The file was removedssep/tools/imv/imv_kinematic.py
The file was modifiedssep/ssep_heat_net/ssep_heat_net.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/strfunc.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/reader.h
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/filereadstream.h
The file was addedssep/offboard/main_test/main_ssep_test.cc
The file was addedssep/offboard/third_party/matlab_plot_cplusplus.hpp
The file was modifiedCMakeLists.txt
The file was removedssep/main_test/hdmap_interface/map_elements/road_info.h
The file was addedssep/maps/ogm_builder.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/encodedstream.h
The file was removedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.h
The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/writer.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/dtoa.h
The file was removedssep/smoother/cg_smoother.cc
The file was removedssep/conf/ssep_preprocess.yaml
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/fwd.h
The file was removedssep/main_test/hdmap_interface/rapidjson/memorystream.h
The file was removedssep/images/search_smooth_comparison.png
The file was removedssep/main_test/hdmap_interface/public_data_struct.h
The file was removedssep/main_test/hdmap_interface/rapidjson/memorybuffer.h
The file was removedssep/main_test/hdmap_interface/rapidjson/error/error.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/pointer.h
The file was removedssep/cmake/FindMATLAB.cmake
The file was removedssep/influence_map/reference_line_layer.h
The file was modifiedssep/coarse_search/evaluator/trailer_shortest_path_heur_computer.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/regex.h
The file was removedssep/main_test/hdmap_interface/rapidjson/error/en.h
The file was addedssep/coarse_search/evaluator/shortest_path_heur_table.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/encodings.h
The file was removedssep/tools/executable/third_party/matlab_plot_cplusplus.hpp
The file was addedssep/offboard/senior.sh
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/cursorstreamwrapper.h
The file was modifiedssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
The file was removedssep/influence_map/dubin_layer.h
The file was addedssep/offboard/tools/executable/main_obb_vehicle.cc
The file was addedssep/offboard/tools/executable/third_party/optional_lite.hpp
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/road_info.h
The file was removedssep/main_test/hdmap_interface/rapidjson/encodings.h
The file was addedssep/offboard/main_test/main_test_diagonal.cc
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/biginteger.h
The file was removedssep/ssep_type_definition.h
The file was removedssep/main_test/hdmap_interface/rapidjson/cursorstreamwrapper.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/overlap_info.h
The file was modifiedssep/keb_optimizer/cost_features/soft_disk_collision_cost.h
The file was addedssep/offboard/main_test/main_test_park.cc
The file was removedssep/main_test/hdmap_interface/common/math/polygon2d.hpp
The file was removedssep/tools/executable/third_party/matplotlibcpp.h
The file was removedssep/demo/src/main_ssep_activation.cc
The file was removedssep/main_test/hdmap_interface/rapidjson/encodedstream.h
The file was removedssep/main_test/hdmap_interface/map_elements/map_info.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/ieee754.h
The file was addedssep/offboard/start.sh
The file was removedssep/main_test/hdmap_interface/map_elements/object_info.h
The file was removedssep/tools/obstacle_penalty/penalty_func_fit.asv
The file was removedssep/images/enviroment.png
The file was removedssep/main_test/hdmap_interface/rapidjson/filewritestream.h
The file was addedssep/offboard/conf/ssep.yaml
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/diyfp.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/filewritestream.h
The file was addedssep/offboard/main_test/main_test_car.cc
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/stringbuffer.h
The file was removedssep/conf/ssep_imv.yaml
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/itoa.h
The file was addedssep/offboard/main_test/hdmap_interface/hdmap.h
The file was removedssep/tools/executable/main_translation.cc
The file was modifiedhmi/widget/replayer_pnc_mat.cpp
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
The file was addedssep/offboard/conf/ssep/ssep_imv.yaml
The file was removedssep/main_test/hdmap_interface/map_elements/section_info.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/lane_info.h
The file was addedssep/offboard/main_test/hdmap_interface/libhdmap_interface.so
The file was removedssep/main_test/hdmap_interface/hdmap.h
The file was removedssep/influence_map/layer_base.cc
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/msinttypes/inttypes.h
The file was removedssep/tools/scene_data_generator/state_augment_util.h
The file was removedssep/main_test/hdmap_interface/map_elements/road.h
The file was removedssep/main_test/hdmap_interface/rapidjson/ostreamwrapper.h
The file was removedssep/main_test/hdmap_interface/hdmap_impl.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/ieee754.h
The file was removedssep/ogm_map/ogm.h
The file was modifiedssep/coarse_search/topology_analysis/voronoi_graph_builder.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/strfunc.h
The file was addedssep/offboard/conf/ssep_imv.yaml
The file was removedssep/third_party/optional_lite.hpp
The file was addedssep/offboard/main_test/hdmap_interface/common/math/geometry_utils.h
The file was removedssep/main_test/hdmap_interface/rapidjson/fwd.h
The file was removedssep/smoother/cg_smoother.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/section_info.h
The file was removedssep/sdk/ssep_activation_impl.cc
The file was removedssep/tools/scene_data_generator/ogm_builder/ogm_builder.cc
The file was addedssep/offboard/ssep_visualizer.h
The file was addedssep/offboard/tools/scene_data_generator/scene_yaml_reader.h
The file was removedssep/third_party/matlab_plot_cplusplus.hpp
The file was addedssep/maps/sl_projection_map.h
The file was removedssep/tools/executable/liang_barsky_clipper.hpp
The file was removedssep/main_test/hdmap_interface/common/math/box2d.hpp
The file was modifiedssep/keb_optimizer/cost_features/trailer_disk_collision_cost.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/junction_info.h
The file was removedssep/tools/executable/third_party/tabulate.hpp
The file was removedssep/main_test/hdmap_interface/map_elements/lane_info.h
The file was removedssep/main_test/hdmap_interface/map_elements/map.h
The file was removedssep/main_test/hdmap_interface/libhdmap_interface.so
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/stack.h
The file was addedssep/offboard/main_test/hdmap_interface/hdmap_impl.h
The file was removedssep/tools/scene_data_generator/scene_yaml_reader.h
The file was addedssep/offboard/ssep_type_definition.h
The file was removedssep/smoother/fem_pos_deviation_osqp_interface.h
The file was addedssep/offboard/main_test/hdmap_interface/common/math/box2d.hpp
The file was removedssep/tools/executable/main_obb_vehicle.cc
The file was removedssep/smoother/fem_pos_smoother.cc
The file was addedssep/offboard/main_test/hdmap_interface/parser/map_loader.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/error/en.h
The file was modifiedssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.h
The file was removedssep/tools/obstacle_penalty/createFit.m
The file was addedssep/offboard/conf/ssep_tt.yaml
The file was modifiedssep/coarse_search/state_hasher.h
The file was addedssep/offboard/tools/executable/main_region_cut_apollo.cc
The file was removedssep/main_test/hdmap_interface/common/math/math_utils.hpp
The file was addedssep/offboard/ReadMe.md
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/clzll.h
The file was addedssep/offboard/third_party/json.hpp
The file was removedssep/influence_map/layer_base.h
The file was removedssep/main_test/hdmap_interface/rapidjson/prettywriter.h
The file was modifiedssep/keb_optimizer/keb_utils.h
The file was removedssep/input/ssep_2024_02_20_10_19_35_OUTYARD_output_hr_13_oy-rt-bf_0_nml_0_as.binary
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/map.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/lane.h
The file was modifiedssep/coarse_search/topology_analysis/voronoi_graph_visualizer.h
The file was addedssep/offboard/CMakeLists.txt
The file was addedssep/offboard/main_test/main_test_dg.cc
The file was addedssep/offboard/tools/obstacle_penalty/createFit.m
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/object.h
The file was removedssep/third_party/tabulate.hpp
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_tt.h
The file was addedssep/offboard/main_test/hdmap_interface/common/data_types.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/uri.h
The file was removedssep/CMakeLists.txt
The file was addedssep/offboard/install.sh
The file was modifiedhmi/widget/pnc_mat.cpp
The file was removedssep/smoother/safety_corridor_smoother.h
The file was addedssep/offboard/tools/scene_data_generator/utils.h
The file was addedssep/offboard/main_test/main_ssep_input.cc
The file was removedssep/conf/ssep_imv_xugong.yaml
The file was removedssep/install.sh
The file was removedssep/main_test/hdmap_interface/rapidjson/istreamwrapper.h
The file was addedssep/offboard/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.h
The file was modifiedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was addedssep/offboard/tools/executable/main_obb_port.cc
The file was removedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was removedssep/main_test/main_test_zhoushan.cc
The file was removedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.cc
The file was removedssep/conf/ssep_tt.yaml
The file was addedssep/offboard/main_test/hdmap_interface/common/math/linear_interpolation.hpp
The file was removedssep/main_test/hdmap_interface/rapidjson/stream.h
The file was removedssep/main_test/hdmap_interface/rapidjson/rapidjson.h
The file was removedssep/ssep_visualizer.h
The file was addedssep/maps/sl_projection_map.cc
The file was addedssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.h
The file was removedssep/influence_map/obstacle_layer.cc
The file was addedssep/offboard/main_test/hdmap_interface/common/math/polygon2d.hpp
The file was addedssep/offboard/tools/executable/CMakeLists.txt
The file was removedssep/main_test/main_test_dg.cc
The file was removedssep/tools/executable/main_region_cut_boost.cc
The file was addedssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cc
The file was modifieddata/lattice/path_time_graph.cpp
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/object_info.h
The file was addedssep/offboard/tools/obstacle_penalty/penalty_func_fit_normal.m
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.h
The file was removedssep/tools/obstacle_penalty/penalty_func_fit_normal.m
The file was addedssep/offboard/demo/src/main_ssep_activation.cc
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/stream.h
The file was removedssep/main_test/hdmap_interface/rapidjson/msinttypes/stdint.h
The file was addedssep/offboard/main_test/main_test_zhoushan.cc
The file was removedssep/conf/ssep_car.yaml
The file was addedssep/offboard/ssep_activation_sdk.cc
The file was addedssep/offboard/third_party/tabulate.hpp
The file was removedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.h
The file was addedssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cc
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.h
The file was removedssep/main_test/hdmap_interface/map_elements/junction.h
The file was addedssep/offboard/tools/executable/main_obstacle_publisher.cc
The file was removedssep/tools/scene_data_generator/data_structures.h
The file was removedssep/main_test/main_test_diagonal.cc
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_imv.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was addedssep/offboard/tools/obstacle_penalty/exp_test.m
The file was modifiedssep/keb_optimizer/cost_features/disk_collision_cost.h
The file was removedssep/main_test/hdmap_interface/rapidjson/allocators.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/schema.h
The file was addedssep/offboard/tools/obstacle_penalty/penalty_func_fit.asv
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/istreamwrapper.h
The file was removedssep/main_test/hdmap_interface/map_elements/section.h
The file was addedssep/maps/ogm.cc
The file was removedssep/tools/executable/third_party/optional_lite.hpp
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/regex.h
The file was removedssep/start.sh
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/dtoa.h
The file was removedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.h
The file was addedssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.h
The file was modifiedssep/ssep_planner.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/meta.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/prettywriter.h
The file was removedssep/tools/scene_data_generator/generate_scene_data_cli.cc
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/itoa.h
The file was removedssep/main_test/hdmap_interface/parser/map_loader.h
The file was removedssep/tools/executable/main_obb_port.cc
The file was addedssep/offboard/tools/executable/third_party/matlab_plot_cplusplus.hpp
The file was removedssep/main_test/hdmap_interface/map_elements/overlap.h
The file was removedssep/tools/executable/main_obstacle_publisher.cc
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/overlap.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/swap.h
The file was removedssep/main_test/hdmap_interface/rapidjson/msinttypes/inttypes.h
The file was removedssep/tools/obstacle_penalty/penalty_func_fit_seaside.m
The file was removedssep/tools/executable/third_party/json.hpp
The file was removedssep/main_test/main_test_qhd.cc
The file was addedssep/offboard/main_test/hdmap_interface/parser/interface_param_parser.h
The file was addedssep/offboard/tools/imv/imv_kinematic.py
The file was removedssep/smoother/fem_pos_deviation_sqp_osqp_interface.cc
The file was removedssep/influence_map/obstacle_dis_layer.cc
The file was addedssep/offboard/main_test/hdmap_interface/common/math/vec2d.hpp
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_car.h
The file was removedssep/main_test/hdmap_interface/common/math/geometry_utils.h
The file was addedssep/offboard/main_test/hdmap_interface/common/math/math_utils.hpp
The file was removedssep/influence_map/obstacle_layer.h
The file was addedssep/offboard/sdk/ssep_activation_impl.cc
The file was addedssep/offboard/tools/executable/third_party/matplotlibcpp.h
The file was removedssep/smoother/smoother.h
The file was removedssep/conf/ssep.yaml
The file was removedssep/ogm_map/ogm.cc
The file was removedssep/smoother/cg_cost_function.hpp
The file was addedssep/data_structures/path_utils.h
The file was addedssep/offboard/main_test/main_test_qhd.cc
The file was removedssep/main_test/hdmap_interface/rapidjson/filereadstream.h
The file was removedssep/smoother/fem_pos_smoother.h
The file was modifiedssep/coarse_search/evaluator/ref_line_cost_computer.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/strtod.h
The file was addedssep/offboard/main_test/main_ssep.cc
The file was removedssep/demo/src/CMakeLists.txt
The file was removedssep/main_test/hdmap_interface/rapidjson/pointer.h
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_car.cc
The file was addedssep/offboard/tools/obstacle_penalty/penalty_func_fit_seaside.m
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.cc
The file was addedssep/offboard/demo/src/package.xml
The file was removedssep/influence_map/obstacle_dis_layer.h
The file was modifiedssep/ssep_planner.cc
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/pow10.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/stack.h
The file was removedssep/third_party/matplotlibcpp.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was removedssep/senior.sh
The file was modifiedssep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/strtod.h
The file was removedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cc
The file was removedssep/main_test/main_ssep.cc
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/memorybuffer.h
The file was modifiedssep/ssep_heat_net/ssep_heat_net.cc
The file was removedssep/tools/executable/CMakeLists.txt
The file was removedssep/demo/src/package.xml
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/diyfp.h
The file was removedssep/main_test/hdmap_interface/rapidjson/reader.h
The file was removedssep/tools/scene_data_generator/utils.h
The file was modifiedssep/coarse_search/topology_analysis/barrier_detector.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/document.h
The file was removedssep/main_test/hdmap_interface/rapidjson/uri.h
The file was addedssep/maps/ogm.h
The file was removedssep/sdk/ssep_activation_impl.h
The file was addedssep/offboard/tools/executable/third_party/tabulate.hpp
The file was modifiedssep/coarse_search/disk_collision_checker.h
The file was removedssep/images/init_result_comparison.png
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/allocators.h
The file was addedssep/offboard/main_test/main_test_tt.cc
The file was removedssep/tools/executable/main_region_cut_apollo.cc
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/road.h
The file was removedssep/main_test/hdmap_interface/map_elements/overlap_info.h
The file was addedssep/offboard/tools/scene_data_generator/conf/scene_conf.yaml
The file was removedssep/main_test/hdmap_interface/parser/interface_singleton.hpp
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/memorystream.h
The file was removedssep/tools/scene_data_generator/ogm_builder/ogm_builder.h
The file was removedssep/cmake/Findosqp.cmake
The file was addedssep/offboard/ssep_visualizer.cc
The file was addedssep/offboard/demo/src/CMakeLists.txt
The file was removedssep/main_test/hdmap_interface/parser/interface_param_parser.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was addedssep/offboard/main_test/hdmap_interface/libhdmap_interface_shm.so
The file was addedssep/offboard/sdk/ssep_activation_impl.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/msinttypes/stdint.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/ostreamwrapper.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/pow10.h
The file was removedssep/ReadMe.md
The file was removedssep/main_test/hdmap_interface/common/math/vec2d.hpp
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/meta.h
The file was removedssep/main_test/hdmap_interface/common/data_types.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/junction.h
The file was removedssep/main_test/hdmap_interface/rapidjson/document.h
The file was removedssep/smoother/fem_pos_deviation_sqp_osqp_interface.h
The file was modifiedssep/common/utils/plotter.hpp
The file was addedssep/offboard/tools/executable/liang_barsky_clipper.hpp
The file was removedssep/smoother/fem_pos_deviation_osqp_interface.cc
The file was addedssep/offboard/main_test/hdmap_interface/parser/interface_singleton.hpp
The file was modifiedalgorithm/plan/plot_st_graph.cpp
The file was removedssep/main_test/hdmap_interface/common/math/linear_interpolation.hpp
The file was removedssep/main_test/hdmap_interface/common/glog_helper.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/error/error.h
The file was removedssep/main_test/main_test_park.cc
The file was removedssep/main_test/hdmap_interface/map_elements/object.h
The file was addedssep/offboard/tools/executable/inference_ml_trajectory_cli.cc
The file was addedssep/offboard/conf/ssep_car.yaml
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/rapidjson.h
The file was removedssep/main_test/hdmap_interface/map_elements/lane.h
The file was removedssep/influence_map/sl_projection_map.h
The file was removedssep/smoother/safety_corridor_smoother.cc
The file was addedssep/offboard/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.cc
Commit 7ae0972f4d80cd99916cd02d61c01515cd0ff0a8 by tangwenqing
Refactor: SSEP: minor updates

The file was addedssep/data_structures/path.cc
The file was modifiedssep/data_structures/path.h
Commit 6341363bd6f0200d42c967b920d429902d61a925 by tangwenqing
feat: SSEP: 前进/后退时使用不同的碰撞检测策略。增加前进方向的额外碰撞检测。

The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/data_structures/search_boundary.h
The file was modifiedssep/coarse_search/evaluator/collision_cost_computer.h
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/data_structures/pose.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/data_structures/map_element_polyline.hpp
The file was modifiedssep/data_structures/path.h
The file was modifiedssep/data_structures/ssep_output.hpp
The file was modifiedssep/data_structures/ssep_input.hpp
The file was modifiedssep/data_structures/type_definition.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/data_structures/directional_path.h
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
Commit 4a7760bed4eeaeaf47cefb31ab1d7f11e4754b22 by tangwenqing
feat: SSEP: IMV更换新的运动学模型，额外状态量从后轮转向更改为beta

The file was addedssep/keb_optimizer/cost_features/beta_dot_cost.h
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was removedssep/keb_optimizer/cost_features/imv_rear_oversteer_cost.h
The file was modifiedssep/offboard/ssep_visualizer.cc
The file was modifiedssep/keb_optimizer/data_structure.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was removedssep/keb_optimizer/cost_features/imv_center_curvature_constraint.h
The file was removedssep/keb_optimizer/cost_features/imv_center_pinch_cost.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was removedssep/keb_optimizer/cost_features/imv_rear_pinch_cost.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was removedssep/keb_optimizer/cost_features/imv_rear_curvature_cost.h
The file was removedssep/keb_optimizer/cost_features/imv_center_curvature_cost.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
The file was addedssep/keb_optimizer/cost_features/beta_cost.h
The file was modifiedssep/keb_optimizer/cost_features/imv_dynamic_constraint.h
Commit 34d64cccd76a784f90fdb03fcf0e466db9c9a3c9 by tangwenqing
Refactor: SSEP: 整理代码目录结构，分离onboard代码与offboard代码
The file was removedssep/demo/src/CMakeLists.txt
The file was removedssep/main_test/hdmap_interface/map_elements/road_info.h
The file was addedssep/offboard/ssep_activation_sdk.cc
The file was removedssep/tools/executable/main_translation.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedalgorithm/plan/plot_st_graph.cpp
The file was removedssep/smoother/fem_pos_deviation_osqp_interface.cc
The file was removedssep/main_test/hdmap_interface/rapidjson/allocators.h
The file was removedssep/main_test/hdmap_interface/rapidjson/writer.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/diyfp.h
The file was modifiedssep/coarse_search/geometric_search_visualizer.h
The file was addedssep/offboard/demo/src/CMakeLists.txt
The file was removedssep/main_test/main_ssep_input.cc
The file was removedssep/main_test/hdmap_interface/rapidjson/document.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/swap.h
The file was addedssep/offboard/third_party/json.hpp
The file was removedssep/influence_map/layer_base.h
The file was removedssep/main_test/hdmap_interface/map_elements/section.h
The file was addedssep/offboard/tools/executable/main_obb_vehicle.cc
The file was addedssep/offboard/main_test/hdmap_interface/hdmap.h
The file was removedssep/main_test/hdmap_interface/rapidjson/memorystream.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/stringbuffer.h
The file was addedssep/offboard/main_test/main_test_park.cc
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/lane.h
The file was modifiedssep/keb_optimizer/cost_features/trailer_disk_collision_cost.h
The file was addedssep/offboard/conf/ssep_car.yaml
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/error/en.h
The file was removedssep/images/init_result_comparison.png
The file was removedssep/influence_map/obstacle_dis_layer.h
The file was addedssep/offboard/main_test/hdmap_interface/hdmap_impl.h
The file was removedssep/tools/executable/third_party/json.hpp
The file was removedssep/tools/obstacle_penalty/penalty_func_fit_seaside.m
The file was removedssep/conf/ssep_imv.yaml
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/pointer.h
The file was addedssep/offboard/main_test/main_ssep.cc
The file was addedssep/offboard/third_party/optional_lite.hpp
The file was addedssep/offboard/tools/executable/third_party/matplotlibcpp.h
The file was removedssep/tools/executable/third_party/tabulate.hpp
The file was addedssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/regex.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/meta.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/strtod.h
The file was removedssep/main_test/hdmap_interface/parser/map_loader.h
The file was removedssep/main_test/hdmap_interface/common/glog_helper.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/junction.h
The file was addedssep/offboard/tools/obstacle_penalty/createFit.m
The file was removedssep/senior.sh
The file was removedssep/main_test/main_test_qhd.cc
The file was removedssep/tools/executable/third_party/optional_lite.hpp
The file was addedssep/offboard/main_test/hdmap_interface/common/math/geometry_utils.h
The file was addedssep/offboard/main_test/hdmap_interface/parser/interface_param_parser.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/strtod.h
The file was removedssep/influence_map/obstacle_layer.cc
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/msinttypes/stdint.h
The file was removedssep/smoother/fem_pos_deviation_sqp_osqp_interface.cc
The file was removedssep/influence_map/sl_projection_map.cc
The file was removedssep/third_party/optional_lite.hpp
The file was addedssep/offboard/tools/executable/main_translation.cc
The file was removedssep/main_test/hdmap_interface/map_elements/section_info.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/allocators.h
The file was removedssep/ogm_map/ogm.cc
The file was addedssep/offboard/sdk/ssep_activation_impl.cc
The file was addedssep/offboard/tools/executable/liang_barsky_clipper.hpp
The file was removedssep/conf/ssep_car.yaml
The file was addedssep/offboard/main_test/main_test_qhd.cc
The file was removedssep/third_party/json.hpp
The file was modifiedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was removedssep/main_test/hdmap_interface/rapidjson/rapidjson.h
The file was addedssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cc
The file was removedssep/main_test/hdmap_interface/libhdmap_interface.so
The file was addedssep/offboard/main_test/hdmap_interface/common/math/box2d.hpp
The file was addedssep/offboard/CMakeLists.txt
The file was removedssep/main_test/hdmap_interface/rapidjson/schema.h
The file was addedssep/offboard/main_test/main_test_diagonal.cc
The file was modifiedssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.h
The file was removedssep/cmake/Findosqp.cmake
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/road.h
The file was removedssep/main_test/hdmap_interface/rapidjson/error/error.h
The file was addedssep/offboard/third_party/tabulate.hpp
The file was removedssep/smoother/smoother.h
The file was removedssep/main_test/hdmap_interface/common/math/box2d.hpp
The file was addedssep/offboard/conf/ssep/ssep_imv.yaml
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/document.h
The file was removedssep/ssep_activation_sdk.cc
The file was addedssep/offboard/third_party/matlab_plot_cplusplus.hpp
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/strfunc.h
The file was addedssep/offboard/main_test/hdmap_interface/common/math/vec2d.hpp
The file was removedssep/tools/executable/CMakeLists.txt
The file was removedssep/tools/obstacle_penalty/createFit.m
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.cc
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/memorystream.h
The file was removedssep/main_test/hdmap_interface/rapidjson/ostreamwrapper.h
The file was removedssep/main_test/hdmap_interface/common/math/math_utils.hpp
The file was removedssep/tools/obstacle_penalty/penalty_func_fit_normal.m
The file was addedssep/offboard/third_party/matplotlibcpp.h
The file was modifiedhmi/widget/replayer_pnc_mat.cpp
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was removedssep/influence_map/obstacle_dis_layer.cc
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/ieee754.h
The file was removedssep/ssep_type_definition.h
The file was addedssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.h
The file was addedssep/offboard/conf/ssep_imv.yaml
The file was removedssep/main_test/hdmap_interface/map_elements/overlap.h
The file was addedssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cc
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/itoa.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was addedssep/offboard/main_test/hdmap_interface/common/math/linear_interpolation.hpp
The file was removedssep/input/ssep_2024_02_20_10_19_35_OUTYARD_output_hr_13_oy-rt-bf_0_nml_0_as.binary
The file was removedssep/install.sh
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/msinttypes/inttypes.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/memorybuffer.h
The file was removedssep/smoother/cg_smoother.h
The file was removedssep/third_party/matplotlibcpp.h
The file was modifiedssep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.h
The file was modifiedssep/coarse_search/state_hasher.h
The file was addedssep/offboard/main_test/hdmap_interface/common/math/polygon2d.hpp
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/object.h
The file was addedssep/offboard/tools/obstacle_penalty/penalty_func_fit_normal.m
The file was addedssep/maps/ogm_builder.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/encodedstream.h
The file was modifiedssep/ssep_planner.cc
The file was removedssep/main_test/hdmap_interface/common/math/line_segment2d.hpp
The file was removedssep/tools/scene_data_generator/utils.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/object_info.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/fwd.h
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_tt.h
The file was modifiedssep/coarse_search/topology_analysis/voronoi_graph_builder.h
The file was removedssep/tools/executable/inference_ml_trajectory_cli.cc
The file was addedssep/offboard/tools/executable/inference_ml_trajectory_cli.cc
The file was modifiedssep/coarse_search/disk_collision_checker.h
The file was modifiedssep/keb_optimizer/cost_features/disk_collision_cost.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/regex.h
The file was addedssep/maps/ogm.cc
The file was modifiedssep/coarse_search/evaluator/ref_line_cost_computer.h
The file was removedssep/tools/scene_data_generator/ogm_builder/ogm_builder.h
The file was removedssep/main_test/hdmap_interface/common/data_types.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/biginteger.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/stack.h
The file was removedssep/main_test/main_test_zhoushan.cc
The file was modifiedssep/ssep_planner.h
The file was addedssep/offboard/main_test/hdmap_interface/parser/interface_singleton.hpp
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/filereadstream.h
The file was addedssep/offboard/main_test/hdmap_interface/common/data_types.h
The file was removedssep/ReadMe.md
The file was removedssep/main_test/hdmap_interface/map_elements/map_info.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/strfunc.h
The file was removedssep/main_test/hdmap_interface/rapidjson/reader.h
The file was addedssep/offboard/conf/ssep_tt.yaml
The file was addedssep/offboard/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was removedssep/smoother/cg_smoother.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/evaluator/ref_line_heuristic_computer.h
The file was removedssep/main_test/hdmap_interface/rapidjson/msinttypes/stdint.h
The file was removedssep/smoother/fem_pos_smoother.cc
The file was removedssep/main_test/hdmap_interface/rapidjson/cursorstreamwrapper.h
The file was addedssep/offboard/main_test/hdmap_interface/libhdmap_interface.so
The file was addedssep/offboard/tools/executable/CMakeLists.txt
The file was removedssep/start.sh
The file was removedssep/smoother/safety_corridor_smoother.h
The file was removedssep/influence_map/layer_base.cc
The file was removedssep/smoother/cg_cost_function.hpp
The file was removedssep/influence_map/sl_projection_map.h
The file was removedssep/tools/executable/main_region_cut_apollo.cc
The file was addedssep/offboard/main_test/main_test_car.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was addedssep/offboard/main_test/main_test_tt.cc
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_imv.cc
The file was removedssep/demo/src/main_ssep_activation.cc
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/dtoa.h
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was removedssep/tools/imv/imv_kinematic.py
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The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/uri.h
The file was removedssep/tools/scene_data_generator/scene_yaml_reader.h
The file was removedssep/main_test/hdmap_interface/parser/interface_param_parser.h
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The file was removedssep/sdk/ssep_activation_impl.cc
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/section.h
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The file was addedssep/offboard/tools/executable/main_region_cut_apollo.cc
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/overlap_info.h
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The file was removedssep/main_test/hdmap_interface/map_elements/junction_info.h
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The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/error/error.h
The file was removedssep/influence_map/dubin_layer.cc
The file was addedssep/offboard/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.h
The file was removedssep/CMakeLists.txt
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
The file was addedssep/offboard/tools/scene_data_generator/state_augment_util.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/lane_info.h
The file was modifiedssep/ssep_heat_net/ssep_heat_net.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was removedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was addedssep/offboard/conf/ssep.yaml
The file was removedssep/demo/src/package.xml
The file was addedssep/offboard/ssep_activation_sdk.h
The file was removedssep/tools/executable/main_obb.cc
The file was removedssep/tools/obstacle_penalty/penalty_func_fit.asv
The file was removedssep/main_test/hdmap_interface/common/math/linear_interpolation.hpp
The file was addedssep/offboard/demo/src/main_ssep_activation.cc
The file was removedssep/tools/scene_data_generator/generate_scene_data_cli.cc
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/overlap.h
The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.h
The file was removedssep/tools/executable/third_party/matplotlibcpp.h
The file was removedssep/smoother/fem_pos_deviation_sqp_osqp_interface.h
The file was removedssep/main_test/main_ssep.cc
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The file was addedssep/maps/sl_projection_map.cc
The file was removedssep/influence_map/obstacle_layer.h
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The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/reader.h
The file was removedssep/main_test/hdmap_interface/rapidjson/stream.h
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The file was addedssep/offboard/ReadMe.md
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/stack.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/filewritestream.h
The file was addedssep/offboard/tools/executable/main_obb_port.cc
The file was removedssep/main_test/hdmap_interface/map_elements/junction.h
The file was addedssep/offboard/ssep_type_definition.h
The file was removedssep/main_test/hdmap_interface/rapidjson/filewritestream.h
The file was removedssep/smoother/safety_corridor_smoother.cc
The file was modifiedssep/coarse_search/evaluator/trailer_shortest_path_heur_computer.h
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The file was addedssep/offboard/tools/scene_data_generator/generate_scene_data_cli.cc
The file was removedssep/main_test/hdmap_interface/rapidjson/prettywriter.h
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The file was removedssep/tools/executable/main_clipper.cc
The file was removedssep/main_test/hdmap_interface/common/math/geometry_utils.h
The file was addedssep/offboard/ssep_visualizer.cc
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The file was removedssep/tools/executable/main_obb_port.cc
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/map.h
The file was addedssep/offboard/tools/executable/main_region_cut_boost.cc
The file was modifiedssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
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The file was removedssep/main_test/hdmap_interface/rapidjson/internal/pow10.h
The file was removedssep/tools/scene_data_generator/state_augment_util.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/biginteger.h
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_imv.h
The file was removedssep/main_test/hdmap_interface/libhdmap_interface_shm.so
The file was addedssep/offboard/main_test/hdmap_interface/public_data_struct.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/meta.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/cursorstreamwrapper.h
The file was addedssep/offboard/main_test/main_test_dg.cc
The file was addedssep/offboard/tools/scene_data_generator/scene_yaml_reader.h
The file was addedssep/coarse_search/evaluator/shortest_path_heur_table.h
The file was removedssep/main_test/hdmap_interface/map_elements/object_info.h
The file was removedssep/conf/ssep/ssep_imv.yaml
The file was removedssep/main_test/hdmap_interface/rapidjson/istreamwrapper.h
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The file was addedssep/offboard/tools/executable/main_clipper.cc
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/pow10.h
The file was addedssep/offboard/main_test/main_ssep_input.cc
The file was removedssep/main_test/hdmap_interface/rapidjson/encodings.h
The file was removedssep/third_party/matlab_plot_cplusplus.hpp
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/road_info.h
The file was addedssep/offboard/main_test/hdmap_interface/common/glog_helper.h
The file was removedssep/ssep_visualizer.cc
The file was removedssep/main_test/hdmap_interface/common/math/vec2d.hpp
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/itoa.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/ostreamwrapper.h
The file was removedssep/influence_map/reference_line_layer.cc
The file was removedssep/influence_map/dubin_layer.h
The file was addedssep/offboard/tools/executable/third_party/optional_lite.hpp
The file was addedssep/offboard/sdk/ssep_activation_impl.h
The file was removedssep/tools/obstacle_penalty/exp_test.m
The file was addedssep/offboard/demo/src/package.xml
The file was removedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.h
The file was removedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cc
The file was modifiedssep/coarse_search/topology_analysis/voronoi_graph_visualizer.h
The file was removedssep/main_test/hdmap_interface/map_elements/lane.h
The file was removedssep/tools/executable/main_obb_vehicle.cc
The file was addedssep/offboard/tools/obstacle_penalty/penalty_func_fit.asv
The file was modifiedssep/ssep_heat_net/ssep_heat_net.cc
The file was removedssep/tools/scene_data_generator/ogm_builder/ogm_builder.cc
The file was modifiedssep/coarse_search/topology_analysis/barrier_detector.h
The file was removedssep/main_test/hdmap_interface/map_elements/overlap_info.h
The file was removedssep/influence_map/reference_line_layer.h
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The file was removedssep/images/search_smooth_comparison.png
The file was removedssep/conf/ssep_tt.yaml
The file was modifiedssep/keb_optimizer/cost_features/soft_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/keb_utils.h
The file was removedssep/main_test/main_test_dg.cc
The file was addedssep/maps/sl_projection_map.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/rapidjson.h
The file was addedssep/offboard/tools/scene_data_generator/utils.h
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The file was removedssep/main_test/hdmap_interface/hdmap.h
The file was removedssep/main_test/hdmap_interface/rapidjson/uri.h
The file was removedssep/tools/scene_data_generator/conf/scene_conf.yaml
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The file was removedssep/conf/ssep_preprocess.yaml
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/internal/clzll.h
The file was removedssep/smoother/fem_pos_deviation_osqp_interface.h
The file was removedssep/main_test/main_ssep_test.cc
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/junction_info.h
The file was removedssep/main_test/hdmap_interface/rapidjson/pointer.h
The file was addedssep/offboard/main_test/main_ssep_test.cc
The file was removedssep/main_test/hdmap_interface/rapidjson/encodedstream.h
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The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_car.cc
The file was addedssep/offboard/main_test/hdmap_interface/common/math/line_segment2d.hpp
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/diyfp.h
The file was addedssep/offboard/tools/obstacle_penalty/exp_test.m
The file was addedssep/offboard/tools/executable/third_party/matlab_plot_cplusplus.hpp
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/stream.h
The file was removedssep/ssep_activation_sdk.h
The file was removedssep/main_test/hdmap_interface/map_elements/map.h
The file was removedssep/tools/executable/main_region_cut_boost.cc
The file was addedssep/maps/ogm.h
The file was addedssep/offboard/tools/executable/third_party/json.hpp
The file was removedssep/main_test/hdmap_interface/map_elements/road.h
The file was removedssep/main_test/main_test_diagonal.cc
The file was removedssep/tools/executable/main_obstacle_publisher.cc
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/clzll.h
The file was modifiedssep/common/utils/plotter.hpp
The file was removedssep/main_test/hdmap_interface/rapidjson/msinttypes/inttypes.h
The file was addedssep/offboard/main_test/main_test_zhoushan.cc
The file was addedssep/offboard/start.sh
The file was addedssep/offboard/tools/obstacle_penalty/penalty_func_fit_seaside.m
The file was removedssep/tools/executable/liang_barsky_clipper.hpp
The file was removedssep/tools/executable/third_party/matlab_plot_cplusplus.hpp
The file was addedssep/offboard/ssep_visualizer.h
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/dtoa.h
The file was addedssep/offboard/tools/executable/third_party/tabulate.hpp
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/schema.h
The file was removedssep/main_test/hdmap_interface/map_elements/lane_info.h
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/section_info.h
The file was removedssep/main_test/hdmap_interface/common/math/polygon2d.hpp
The file was addedssep/offboard/main_test/hdmap_interface/map_elements/map_info.h
The file was removedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.h
The file was removedssep/images/enviroment.png
The file was addedssep/offboard/tools/scene_data_generator/data_structures.h
The file was addedssep/offboard/tools/executable/main_obstacle_publisher.cc
The file was addedssep/offboard/tools/executable/main_obb.cc
The file was addedssep/maps/ogm_builder.cc
The file was addedssep/offboard/senior.sh
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/istreamwrapper.h
The file was modifiedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
The file was removedssep/tools/scene_data_generator/data_structures.h
The file was removedssep/conf/ssep.yaml
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_car.h
The file was removedssep/main_test/hdmap_interface/hdmap_impl.h
The file was removedssep/main_test/hdmap_interface/rapidjson/memorybuffer.h
The file was modifiedhmi/widget/pnc_mat.cpp
The file was removedssep/main_test/hdmap_interface/rapidjson/internal/swap.h
The file was removedssep/main_test/hdmap_interface/map_elements/object.h
The file was removedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.cc
The file was addedssep/offboard/main_test/hdmap_interface/common/math/math_utils.hpp
The file was addedssep/offboard/tools/imv/imv_kinematic.py
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/encodings.h
The file was addedssep/offboard/main_test/hdmap_interface/rapidjson/prettywriter.h
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_tt.cc
Commit 12b0e620588a7ab3db97527f713595bcb508538f by tangwenqing
Refactor: SSEP: minor updates

The file was modifiedssep/data_structures/path.h
The file was addedssep/data_structures/path.cc
Commit 6e36aedad88b5865ef7af82b5c04642337dc8320 by tangwenqing
feat: SSEP: 前进/后退时使用不同的碰撞检测策略。增加前进方向的额外碰撞检测。
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/data_structures/directional_path.h
The file was modifiedssep/data_structures/ssep_output.hpp
The file was modifiedssep/data_structures/search_boundary.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/coarse_search/evaluator/collision_cost_computer.h
The file was modifiedssep/data_structures/pose.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/data_structures/ssep_input.hpp
The file was modifiedssep/data_structures/path.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/data_structures/map_element_polyline.hpp
The file was modifiedssep/data_structures/type_definition.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/coarse_search/evaluator/evaluator.h
Commit a0d264a66ed7d34e46c09b451ba582a5a0c69c94 by tangwenqing
feat: SSEP: IMV更换新的运动学模型，额外状态量从后轮转向更改为beta

The file was removedssep/keb_optimizer/cost_features/imv_rear_pinch_cost.h
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/keb_optimizer/cost_features/imv_dynamic_constraint.h
The file was removedssep/keb_optimizer/cost_features/imv_center_curvature_cost.h
The file was modifiedssep/keb_optimizer/data_structure.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
The file was removedssep/keb_optimizer/cost_features/imv_rear_curvature_cost.h
The file was removedssep/keb_optimizer/cost_features/imv_rear_oversteer_cost.h
The file was modifiedssep/offboard/ssep_visualizer.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was addedssep/keb_optimizer/cost_features/beta_dot_cost.h
The file was removedssep/keb_optimizer/cost_features/imv_center_curvature_constraint.h
The file was addedssep/keb_optimizer/cost_features/beta_cost.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was removedssep/keb_optimizer/cost_features/imv_center_pinch_cost.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
Commit d0fadc87730538548683cc2966d1c6bcc216b1e1 by 5081703.cr
fix: wbca smooth_mode path opt.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
Commit fc36a15194d428385393b0a1400b59a6bd831fda by tangwenqing
feat: 增加ssep-heatnet-2.0训练场景生成器

The file was addedssep/offboard/generate_scene_data/trajectory_provider/search_based_trajectory_provider.cc
The file was removedssep/offboard/tools/scene_data_generator/data_structures.h
The file was removedssep/offboard/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.cc
The file was addedssep/offboard/ssep_planner_wrapper.h
The file was removedssep/offboard/tools/scene_data_generator/conf/scene_conf.yaml
The file was addedssep/offboard/generate_scene_data/data_structures.h
The file was addedssep/offboard/generate_scene_data/protos/geometry.proto
The file was addedssep/offboard/generate_scene_data/conf/scene_conf.yaml
The file was removedssep/offboard/tools/scene_data_generator/utils.h
The file was addedssep/offboard/generate_scene_data/utils.h
The file was addedssep/offboard/ssep_planner_wrapper.cc
The file was addedssep/offboard/generate_scene_data/CMakeLists.txt
The file was modifiedssep/maps/ogm.cc
The file was addedssep/offboard/generate_scene_data/trajectory_provider/search_based_trajectory_provider.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/evaluator/curvature_cost_computer.h
The file was addedssep/offboard/generate_scene_data/state_augment_util.h
The file was modifiedssep/offboard/CMakeLists.txt
The file was addedssep/offboard/ssep_input_provider.cc
The file was addedssep/offboard/ssep_input_provider.h
The file was removedssep/offboard/tools/scene_data_generator/scene_yaml_reader.h
The file was modifiedssep/maps/ogm.h
The file was addedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was removedssep/offboard/tools/scene_data_generator/state_augment_util.h
The file was addedssep/offboard/generate_scene_data/protos/path.proto
The file was removedssep/offboard/tools/scene_data_generator/generate_scene_data_cli.cc
The file was removedssep/offboard/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.h
The file was addedssep/offboard/generate_scene_data/protos/scene.proto
The file was modifiedssep/ssep_planner.h
Commit f4e6eeab76603fcafa435ec4d10fb7b6d51cc1e4 by tangwenqing
refactor: 将ssep的依赖改为sub_directory的形式，添加proto数据结构

The file was addedssep/CMakeLists.txt
The file was modifiedssep/data_structures/polyline.cc
The file was addedssep/protos/path.proto
The file was removedssep/offboard/generate_scene_data/protos/path.proto
The file was modifiedssep/data_structures/polyline.h
The file was addedssep/offboard/generate_scene_data/obstacle_polygon_extractor.h
The file was removedssep/offboard/generate_scene_data/protos/geometry.proto
The file was modifiedCMakeLists.txt
The file was modifiedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was addedssep/offboard/generate_scene_data/obstacle_polygon_extractor.cc
The file was addedssep/protos/geometry.proto
Commit 09dd79fe99c36b853d09d2682024347bc85b061e by tangwenqing
feat: SSEP增加IMV进堆场场景

The file was addedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/offboard/CMakeLists.txt
The file was addedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was addedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
Commit 2d87be158756a6bbced71e8e620cae86dfa1d273 by tangwenqing
feat: 增加ssep-heatnet-2.0训练场景生成器
The file was modifiedssep/offboard/CMakeLists.txt
The file was addedssep/offboard/ssep_input_provider.cc
The file was removedssep/offboard/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.h
The file was modifiedssep/ssep_planner.cc
The file was addedssep/offboard/ssep_planner_wrapper.cc
The file was addedssep/offboard/generate_scene_data/data_structures.h
The file was removedssep/offboard/tools/scene_data_generator/data_structures.h
The file was addedssep/offboard/generate_scene_data/utils.h
The file was addedssep/offboard/generate_scene_data/state_augment_util.h
The file was removedssep/offboard/tools/scene_data_generator/utils.h
The file was addedssep/offboard/generate_scene_data/conf/scene_conf.yaml
The file was addedssep/offboard/ssep_input_provider.h
The file was removedssep/offboard/tools/scene_data_generator/generate_scene_data_cli.cc
The file was removedssep/offboard/tools/scene_data_generator/conf/scene_conf.yaml
The file was addedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was modifiedssep/maps/ogm.h
The file was addedssep/offboard/generate_scene_data/protos/geometry.proto
The file was addedssep/offboard/ssep_planner_wrapper.h
The file was modifiedssep/coarse_search/evaluator/curvature_cost_computer.h
The file was addedssep/offboard/generate_scene_data/trajectory_provider/search_based_trajectory_provider.cc
The file was addedssep/offboard/generate_scene_data/protos/scene.proto
The file was modifiedssep/ssep_planner.h
The file was addedssep/offboard/generate_scene_data/trajectory_provider/search_based_trajectory_provider.h
The file was removedssep/offboard/tools/scene_data_generator/scene_yaml_reader.h
The file was modifiedssep/maps/ogm.cc
The file was removedssep/offboard/tools/scene_data_generator/state_augment_util.h
The file was removedssep/offboard/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.cc
The file was addedssep/offboard/generate_scene_data/protos/path.proto
The file was addedssep/offboard/generate_scene_data/CMakeLists.txt
Commit 3f0dc285c62627cc4e97987d149fdf3b933870b5 by tangwenqing
refactor: 将ssep的依赖改为sub_directory的形式，添加proto数据结构

The file was addedssep/CMakeLists.txt
The file was addedssep/offboard/generate_scene_data/obstacle_polygon_extractor.h
The file was removedssep/offboard/generate_scene_data/protos/geometry.proto
The file was modifiedssep/data_structures/polyline.h
The file was modifiedCMakeLists.txt
The file was modifiedssep/data_structures/polyline.cc
The file was addedssep/protos/geometry.proto
The file was modifiedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was addedssep/protos/path.proto
The file was addedssep/offboard/generate_scene_data/obstacle_polygon_extractor.cc
The file was removedssep/offboard/generate_scene_data/protos/path.proto
Commit 6d8fef9e38e100908e1c7171fb4985a9d826a9a8 by tangwenqing
feat: SSEP增加IMV进堆场场景
The file was modifiedssep/offboard/CMakeLists.txt
The file was addedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was addedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.h
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was addedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
Commit 21a0af3d66ac87da4dc368fb67239fdecf1482c0 by tangwenqing
chore: SSEP: 调试IMV路径

The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/coarse_search/legacy_searcher_adaptor.h
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/scenarios/imv_general_planner.h
Commit dcd791fb65e0c212a659866bc865ed1dbb929349 by tangwenqing
chore: SSEP: 调试IMV路径

The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/coarse_search/legacy_searcher_adaptor.h
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifieddata/ssep/ssep_ec.cpp
Commit ab11b4a40f4bab56714cc113091122842c75ca38 by tangwenqing
chore: Add proto converters.

The file was modifiedssep/offboard/CMakeLists.txt
The file was modifiedssep/protos/path.proto
The file was modifiedssep/data_structures/path.h
The file was modifiedssep/data_structures/path.cc
The file was modifiedssep/data_structures/polyline.h
The file was modifiedCMakeLists.txt
The file was modifiedssep/data_structures/polyline.cc
The file was modifiedssep/protos/geometry.proto
Commit b7d46a53ed7dfc59017559b8d8500c1040fd8ca7 by tangwenqing
refactor: 去除SSEP中不再用到的参数与相关处理。

The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_car.h
The file was modifieddata/ssep/reverse_ec.hpp
The file was modifiedssep/data_structures/ssep_input.hpp
The file was modifiedssep/ssep_planner.cc
The file was modifieddata/ssep/normal_junction_ec.cpp
The file was modifieddata/ssep/seaside_junction_ec.cpp
The file was modifiedssep/param_loader/yaml_loader.cc
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/config/cfg_ssep.cpp
The file was modifieddata/ssep/ssep_util.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/maps/ogm_builder.h
The file was modifiedhmi/draw/draw_ssep.cpp
The file was modifieddata/ssep/ssep_activation.hpp
The file was modifieddata/ssep/reverse_ec.cpp
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/offboard/main_test/main_ssep_input.cc
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_car.cc
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_tt.cc
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/ssep/ssep_util.hpp
The file was modifieddata/ssep/ex_lane_change_ec.cpp
The file was modifieddata/ssep/bridge_junction_ec.cpp
The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_imv.cc
The file was modifiedssep/maps/ogm_builder.cc
The file was modifiedssep/param_loader/param.h
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit 09b5db88ef67201a1558e30e8d6b16840d5e2299 by wuyanjun110
fix:太阳纸业 出库， ssep路径匹配的bug

The file was modifiedtasks/deciders/lat_decider/path_direction_decider.cpp
Commit c085a6c4c4aeeb58856f07723a75607d6fd1578d by tangwenqing
fix: SSEP 修复proto版本不兼容的问题

The file was modifiedssep/protos/geometry.proto
The file was modifiedssep/offboard/generate_scene_data/protos/scene.proto
The file was modifiedssep/protos/path.proto
Commit a901c32ec5f6d217ff45aff3e69df04c93ea28d5 by tangwenqing
fix: SSEP 修复proto版本不兼容的问题

The file was modifiedssep/protos/geometry.proto
The file was modifiedssep/offboard/generate_scene_data/protos/scene.proto
The file was modifiedssep/protos/path.proto
Commit fdf7f852c0106c6a3b58f718e9b004178f1895d5 by wuyanjun110
fix:修复ttc预测的bug

The file was modifieddata/plan/predict_path.cpp
The file was modifiedhmi/draw/draw_pose_predict.cpp
The file was modifiedalgorithm/vehicle_model/kinematic_bicycle_model.cpp
Commit a3617580835c6e4a93d437ed914fa63c5a9c37ee by wuyanjun110
Revert "feat:暂时屏蔽container size 变量"

This reverts commit 39185fee5b5f13e40dbab72d65d0ed72c169107e.
The file was modifieddata/app/app_data.cpp
Commit 1460dad8f30ac58ef79ded9771914f43c54fdc00 by tangwenqing
chore: SSEP: 改进多段路径 - 短路径去除的逻辑

The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was modifiedssep/data_structures/directional_path.h
The file was modifiedssep/data_structures/path.cc
The file was modifiedssep/data_structures/directional_path.cc
The file was modifiedssep/data_structures/path.h
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/data_structures/ssep_output.hpp
Commit 0739709559720286660e8bdb05063be1799b229e by 5081703.cr
fix: reversing car bulk scenario.

The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
Commit 587391b431f0144b50e404fd07bb72f8356f8461 by wuyanjun110
fix:修复程序运行的bug

The file was modifiedssep/CMakeLists.txt
Commit eec9c972b05ae26f7ce8b0e4c600a5e8603f7068 by tangwenqing
refactor: update cmakelist

The file was modifiedCMakeLists.txt
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
Commit 41ccb16f66de254cd3517e72840d53f32f590efa by 5081703.cr
fix: reversing crash.

The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
Commit 1889b02696df313fa483f4df25a9c5f69ad30c79 by 5081703.cr
feat: convert cloud_obstacles to cloud points.

The file was modifiedplan/prepare/prepare_ogm.hpp
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit 8a307a64fe2763be6e85162bf5b6bc09a4d5ec2e by tangwenqing
chore: 改进出堆场搜索，调整offboard部分代码
The file was addedssep/offboard/hdmap_interface/rapidjson/schema.h
The file was addedssep/offboard/hdmap_interface/common/data_types.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/section.h
The file was addedssep/offboard/hdmap_interface/rapidjson/filewritestream.h
The file was addedssep/offboard/hdmap_interface/rapidjson/stringbuffer.h
The file was addedssep/offboard/hdmap_interface/parser/map_loader.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/diyfp.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/stringbuffer.h
The file was addedssep/offboard/hdmap_interface/rapidjson/msinttypes/inttypes.h
The file was removedssep/offboard/main_test/hdmap_interface/hdmap_impl.h
The file was addedssep/offboard/hdmap_interface/parser/interface_singleton.hpp
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/rapidjson.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/itoa.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/pointer.h
The file was removedssep/offboard/main_test/hdmap_interface/parser/interface_param_parser.h
The file was addedssep/offboard/hdmap_interface/common/glog_helper.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/itoa.h
The file was addedssep/offboard/hdmap_interface/rapidjson/prettywriter.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/biginteger.h
The file was modifiedssep/offboard/ssep_planner_wrapper.h
The file was addedssep/offboard/hdmap_interface/common/math/linear_interpolation.hpp
The file was addedssep/offboard/hdmap_interface/rapidjson/pointer.h
The file was addedssep/offboard/scene_replay/replay_ssep_input_cli.cc
The file was addedssep/offboard/hdmap_interface/map_elements/object_info.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/stack.h
The file was modifiedssep/offboard/ssep_visualizer.cc
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/prettywriter.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/swap.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/fwd.h
The file was removedssep/offboard/main_test/hdmap_interface/common/data_types.h
The file was addedssep/offboard/hdmap_interface/rapidjson/encodedstream.h
The file was addedssep/offboard/hdmap_interface/rapidjson/encodings.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/ieee754.h
The file was modifiedssep/offboard/generate_scene_data/obstacle_polygon_extractor.h
The file was removedssep/offboard/main_test/hdmap_interface/common/math/box2d.hpp
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was addedssep/offboard/hdmap_interface/rapidjson/reader.h
The file was modifiedssep/coarse_search/conditions/along_lane_condition.h
The file was addedssep/offboard/hdmap_interface/hdmap_impl.h
The file was addedssep/offboard/hdmap_interface/map_elements/road_info.h
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was addedssep/offboard/hdmap_interface/common/math/polygon2d.hpp
The file was addedssep/offboard/hdmap_interface/map_elements/junction.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/lane.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/map.h
The file was removedssep/offboard/main_test/hdmap_interface/hdmap.h
The file was addedssep/offboard/hdmap_interface/common/math/vec2d.hpp
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/strfunc.h
The file was removedssep/offboard/main_test/hdmap_interface/parser/map_loader.h
The file was addedssep/offboard/hdmap_interface/common/math/geometry_utils.h
The file was addedssep/offboard/hdmap_interface/map_elements/overlap_info.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/filewritestream.h
The file was addedssep/offboard/hdmap_interface/map_elements/map_info.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/ieee754.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/regex.h
The file was addedssep/offboard/hdmap_interface/map_elements/lane.h
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was removedssep/offboard/main_test/hdmap_interface/common/math/math_utils.hpp
The file was addedssep/offboard/hdmap_interface/rapidjson/memorystream.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/msinttypes/inttypes.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/memorystream.h
The file was addedssep/offboard/hdmap_interface/rapidjson/document.h
The file was removedssep/offboard/main_test/hdmap_interface/common/math/polygon2d.hpp
The file was removedssep/offboard/main_test/hdmap_interface/public_data_struct.h
The file was addedssep/offboard/hdmap_interface/map_elements/overlap.h
The file was addedssep/offboard/scene_replay/CMakeLists.txt
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/road.h
The file was addedssep/offboard/hdmap_interface/map_elements/section_info.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/error/error.h
The file was addedssep/offboard/hdmap_interface/rapidjson/stream.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/dtoa.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/encodings.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/stream.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/istreamwrapper.h
The file was addedssep/offboard/hdmap_interface/map_elements/object.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/junction.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/overlap_info.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/strtod.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/map_info.h
The file was addedssep/offboard/hdmap_interface/rapidjson/msinttypes/stdint.h
The file was removedssep/offboard/main_test/hdmap_interface/common/math/line_segment2d.hpp
The file was removedssep/offboard/main_test/hdmap_interface/libhdmap_interface.so
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/encodedstream.h
The file was addedssep/offboard/hdmap_interface/rapidjson/fwd.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/allocators.h
The file was modifiedssep/offboard/ssep_visualizer.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/pow10.h
The file was addedssep/offboard/hdmap_interface/map_elements/section.h
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/document.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was addedssep/offboard/hdmap_interface/map_elements/junction_info.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/error/en.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/msinttypes/stdint.h
The file was addedssep/protos/scene.proto
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/ostreamwrapper.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/reader.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/writer.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/regex.h
The file was removedssep/offboard/main_test/hdmap_interface/common/glog_helper.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/meta.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/swap.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/uri.h
The file was addedssep/scenarios/planner_utils.cc
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/filereadstream.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/object_info.h
The file was addedssep/offboard/hdmap_interface/rapidjson/error/error.h
The file was addedssep/offboard/hdmap_interface/public_data_struct.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/pow10.h
The file was addedssep/offboard/hdmap_interface/map_elements/map.h
The file was addedssep/offboard/hdmap_interface/rapidjson/memorybuffer.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/road_info.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/cursorstreamwrapper.h
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/diyfp.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/stack.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/junction_info.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/strtod.h
The file was modifiedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was addedssep/offboard/hdmap_interface/libhdmap_interface.so
The file was addedssep/offboard/hdmap_interface/parser/interface_param_parser.h
The file was removedssep/offboard/main_test/hdmap_interface/common/math/linear_interpolation.hpp
The file was addedssep/offboard/hdmap_interface/rapidjson/allocators.h
The file was addedssep/offboard/hdmap_interface/rapidjson/error/en.h
The file was addedssep/offboard/hdmap_interface/rapidjson/rapidjson.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/schema.h
The file was addedssep/offboard/hdmap_interface/hdmap.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/object.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/section_info.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/overlap.h
The file was addedssep/offboard/hdmap_interface/common/math/line_segment2d.hpp
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/strfunc.h
The file was removedssep/offboard/main_test/hdmap_interface/common/math/vec2d.hpp
The file was addedssep/offboard/hdmap_interface/rapidjson/internal/clzll.h
The file was addedssep/offboard/hdmap_interface/map_elements/lane_info.h
The file was removedssep/offboard/generate_scene_data/protos/scene.proto
The file was addedssep/offboard/hdmap_interface/rapidjson/cursorstreamwrapper.h
The file was removedssep/offboard/main_test/hdmap_interface/map_elements/lane_info.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/biginteger.h
The file was modifiedssep/CMakeLists.txt
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/memorybuffer.h
The file was modifiedssep/offboard/generate_scene_data/CMakeLists.txt
The file was removedssep/offboard/main_test/hdmap_interface/libhdmap_interface_shm.so
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/clzll.h
The file was addedssep/offboard/hdmap_interface/common/math/box2d.hpp
The file was addedssep/offboard/hdmap_interface/rapidjson/ostreamwrapper.h
The file was addedssep/offboard/hdmap_interface/rapidjson/filereadstream.h
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/dtoa.h
The file was addedssep/offboard/hdmap_interface/rapidjson/uri.h
The file was addedssep/offboard/hdmap_interface/rapidjson/writer.h
The file was addedssep/offboard/hdmap_interface/rapidjson/istreamwrapper.h
The file was addedssep/offboard/hdmap_interface/libhdmap_interface_shm.so
The file was addedssep/offboard/hdmap_interface/map_elements/road.h
The file was removedssep/offboard/main_test/hdmap_interface/common/math/geometry_utils.h
The file was removedssep/offboard/main_test/hdmap_interface/parser/interface_singleton.hpp
The file was addedssep/scenarios/planner_utils.h
The file was addedssep/offboard/hdmap_interface/common/math/math_utils.hpp
The file was removedssep/offboard/main_test/hdmap_interface/rapidjson/internal/meta.h
Commit 0196b7d55751661b434ffd02e66c428756418d21 by tangwenqing
chore: 改进友谊关多段倒车路径形状

The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/offboard/ssep_input_provider.cc
Commit 73ba9eb3ea01c3ecb1f733b48be0b0d18b3c526d by tangwenqing
fix: SSEP: proto去除optional关键字

The file was modifieddata/plan/ssep_data.cpp
The file was modifiedssep/protos/scene.proto
Commit 5563be7741c3e258e70799faa932f2f4e6596bb3 by 5081703.cr
fix: motion_fsm to_normal bug.

The file was modifieddata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp
Commit 4d0bb553a1f262d32c060b54c440602a396af343 by tangwenqing
feat: SSEP: 完成ssep相关的proto定义。

The file was modifiedssep/protos/scene.proto
The file was addedssep/protos/map_element.proto
The file was modifieddata/plan/ssep_data.hpp
The file was addedssep/protos/object.proto
The file was modifiedssep/protos/geometry.proto
The file was modifiedssep/protos/path.proto
The file was modifiedssep/CMakeLists.txt
The file was modifieddata/ssep/forward_ec.cpp
The file was addedssep/protos/params.proto
The file was modifieddata/ssep/forward_ec.hpp
The file was addedssep/protos/ssep_scenario_type.proto
Commit b5e1fcf682a37641e855aad606e45900f23af207 by tangwenqing
fix: fix building issue

The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/plan/ssep_data.hpp
The file was modifieddata/ssep/ssep_ec.hpp
Commit 8b25d72c0b8580de808cdd4b2288fb9ab7eb5584 by tangwenqing
fix: 修复imv优化器斜行代价太小的问题

The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/maps/ogm.h
The file was modifiedssep/maps/ogm.cc
The file was modifiedssep/param_loader/param.h
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedssep/offboard/generate_scene_data/obstacle_polygon_extractor.cc
Commit fe79f04a178dc104ef47b0c7982d90456d5da2dc by wuyanjun110
fix: 修复imv优化器斜行代价太小的问题

The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/maps/ogm.h
The file was modifiedssep/param_loader/param.h
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedssep/offboard/generate_scene_data/obstacle_polygon_extractor.cc
The file was modifiedssep/maps/ogm.cc
Commit ad6ce86814302e4e6d0769134de820ba50f489b0 by wuyanjun110
Revert "fix: 修复imv优化器斜行代价太小的问题"

This reverts commit fe79f04a178dc104ef47b0c7982d90456d5da2dc.
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedssep/param_loader/param.h
The file was modifiedssep/maps/ogm.cc
The file was modifiedssep/maps/ogm.h
The file was modifiedssep/offboard/generate_scene_data/obstacle_polygon_extractor.cc
Commit 18dd6b332a9504cc4969e5ecff261f16b536cc79 by wuyanjun110
fix:修复imv优化器斜行代价太小的问题

The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
Commit ea741cf40281c03fab8e7a1ab312a8abcdbeb248 by 5081703.cr
fix: first_frame smooth mode except in_yard

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit dd5fd681aae51116a9520425bf8354ad3c195617 by wuyanjun110
refactor:优化进苏溪停车位的搜索

The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 9740bf0d913ffc59a3aa7d72814d7b186b8b6205 by 5081703.cr
fix: clear route in smooth mode when large deviation.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit ef70b93f146073c7ba3c3c69fbe4fd97ba2dd177 by 5081703.cr
fix: clear route in smooth mode when large deviation.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit c24c1e0ae23a88963514c92f79cb56e73d7b8994 by tangwenqing
chore: SSEP: 实现SceneFrame的构建

The file was addedssep/common/utils/obstacle_polygon_extractor.h
The file was modifiedssep/data_structures/path.h
The file was addedssep/common/object_manager.cc
The file was modifiedssep/common/math/aabox2d.cc
The file was removedssep/offboard/generate_scene_data/obstacle_polygon_extractor.cc
The file was modifiedssep/offboard/generate_scene_data/CMakeLists.txt
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was removedssep/data_structures/map_element_polyline.hpp
The file was addedssep/data_structures/map_element_polyline.h
The file was modifiedssep/data_structures/ssep_input.hpp
The file was addedssep/data_structures/ssep_input.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/topology_analysis/candidate_goals_generator.h
The file was addedssep/common/object_manager.h
The file was addedssep/common/utils/proto_converters.hpp
The file was modifiedssep/coarse_search/topology_analysis/bulk_yard_reasoner.h
The file was modifiedssep/maps/ogm.cc
The file was addedssep/data_structures/map_element_polyline.cc
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
The file was removedssep/offboard/generate_scene_data/obstacle_polygon_extractor.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was addedssep/common/utils/obstacle_polygon_extractor.cc
The file was modifiedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was modifiedssep/coarse_search/conditions/inside_yard_condition.h
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was addedssep/data_structures/object.h
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
The file was modifiedssep/common/math/aabox2d.h
The file was modifiedssep/protos/scene.proto
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/maps/ogm.h
The file was modifiedssep/protos/geometry.proto
Commit 5664a16cb1ef60c133d8324d0472d96b1f8109b5 by 5081703.cr
fix: wbca smoth_mode route interval

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 4c2234d4bc9febdf9576e4cd8bdcbf59611f4ae5 by wuyanjun110
feat:适配梁山港

The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/config/cfg_region.hpp
The file was modifieddata/config/cfg_region.cpp
Commit 1c4ee37b876de9762d752b4a01d0ea8143e9f725 by wuyanjun110
factor:添加搜索途径点的绘制

The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedhmi/draw/draw_map.cpp
Commit e1ed6c866dbc4d1354f50f122d6138193543fd27 by tangwenqing
feat: SSEP: 1. 增加集卡进停车位场景。2. 集卡出停车位场景倒车时增加额外后向检测。

The file was modifiedssep/coarse_search/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/offboard/ssep_input_provider.h
The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
The file was modifiedssep/ssep_planner.cc
The file was modifieddata/ssep/forward_ec.cpp
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/offboard/scene_replay/replay_ssep_input_cli.cc
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.h
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/offboard/ssep_input_provider.cc
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/coarse_search/evaluator/trailer_collision_cost_computer.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_general_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was addedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/coarse_search/multi_stage_hybrid_astar_search_engine.h
The file was modifiedssep/protos/ssep_scenario_type.proto
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit f6fe4b920847b0ca9468af0e3b3bbef48f2e6ae6 by tangwenqing
chore: ssep: yangpu enter yard

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 5f9f6a8c5418090c6c5ae4ad004c9a6cd87de69a by tangwenqing
chore: SSEP: 改进杨浦进堆场路径

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
Commit 23f63b480da14edc9f172246f8ba8d63047b2cd3 by 5081703.cr
feat: add KappaRateCost.

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.hpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedalgorithm/wbca/path_optimization/car_path_optimization.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
Commit 8caa6ef83a3ee518a3662fa918db2d83f8094bc1 by 5081703.cr
fix: add use_func_stationary_steering_activation

The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/config/cfg_func_sw.cpp
Commit 9f6b2f85171a9b42427e304c4d59e1485dfc34ea by tangwenqing
chore: SSEP: yangpu进堆场路径调试

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/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_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/keb_optimizer/keb_problem.cc
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/scenarios/legacy_planner.h
Commit 99aae8fc414bc26092774f480bdb9abdffe9e765 by wuyanjun110
fix:宽度补偿的bug
The file was modifiedsink/ros_sink_pnc_status.cpp
The file was modifieddata/config/cfg_static.cpp
Commit b5928ec7e9bd62b896f96b8c27ff60461df3fa7b by wuyanjun110
refactor:优化序列化的显示

The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifiedhmi/widget/diagnose.cpp
The file was modifieddata/app/reaction/app_reaction.hpp
The file was modifieddata/vehicle/vehicle_state.hpp
Commit c867b744c704809e43590516fbbea1f0999e342a by wuyanjun110
refactor:调整末端的限速

The file was modifieddata/constrain/speed_hard_constrain.cpp
Commit 57e9eea24717f86249c2aa0070d17cc2eb8c0a0a by 5081703.cr
fix: smooth path opt.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/plan/start_point_data.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit bba600a1c384e64ab37e01139408290bac7ba3eb by wuyanjun110
fix:参考线拼接的问题

The file was modifiedtasks/other_tasks/stitch_path_to_reference_line.cpp
The file was modifieddata/map/reference/reference_segment.cpp
Commit 679699d6e2624aec436d5e51add95c3fdabaadce by wuyanjun110
feat:ssep的优化

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/offboard/scene_replay/CMakeLists.txt
Commit 78b0a4e33f8374a4c6e5decb9ca0b9d534daa1ce by wuyanjun110
feat:杨浦进堆场口搜索约束的优化

The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit aea57547b55447a2c909ef3ada293799868c7195 by wuyanjun110
fix:参考线拼接的问题

The file was modifieddata/map/reference/reference_segment.cpp
The file was modifiedtasks/other_tasks/stitch_path_to_reference_line.cpp
Commit 3791763c8530050119196c4217c6c1a208a0b8f5 by wuyanjun110
feat:对准指令校验的阈值参数化

The file was modifieddata/app/cmd/cmd_align.cpp
Commit c3c61f30f30b9b51b1bcd38353b29ced4fafd3e8 by wuyanjun110
feat:优化counter的绘制

The file was modifiedhmi/draw/draw_path.cpp
Commit fae2e1aea2430367e771061a0f487b22ea060456 by wuyanjun110
feat:ssep的优化
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/keb_optimizer/keb_problem.cc
Commit cdfa0f85fa6b1a87a9a1c691a8fba7c2a467bff6 by wuyanjun110
feat:杨浦进堆场口搜索约束的优化

The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit a2bba411236ff04c445a82688dbec5f5fd0c52d1 by wuyanjun110
feat:wcba的优化

The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit ffa060a6e14e96f3ef232bfb9393a929c4d60478 by tangwenqing
feat: SSEP: 跑通offboard数据生成工具

The file was modifiedssep/data_structures/polyline.cc
The file was removedssep/offboard/generate_scene_data/conf/scene_conf.yaml
The file was modifiedssep/maps/ogm.cc
The file was modifiedssep/common/utils/obstacle_polygon_extractor.h
The file was modifiedssep/common/object_manager.cc
The file was addedssep/common/utils/scene_frame_visualization.h
The file was modifiedssep/common/object_manager.h
The file was modifiedssep/data_structures/polyline.h
The file was modifiedssep/data_structures/ssep_input.cc
The file was modifiedssep/data_structures/ssep_input.hpp
The file was modifiedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was modifiedssep/common/utils/obstacle_polygon_extractor.cc
The file was addedssep/common/utils/proto_io.h
The file was modifiedssep/data_structures/object.h
Commit 90bae44baaec01ccae17bd75fa8e928bf460c960 by 5081703.cr
fix:smooth_mode connection.

The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 0b0c388561fa90e7d0a927c0f18aaf5c416952a8 by tangwenqing
feat: SSEP: Add SceneFrame Replayer.

The file was modifiedssep/param_loader/param.h
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/maps/ogm_builder.cc
The file was modifiedssep/scenarios/imv_general_planner.h
The file was addedssep/offboard/scene_replay/replay_scene_frame_cli.cc
The file was modifiedssep/ssep_planner.cc
The file was addedssep/offboard/scene_frame_provider.cc
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/offboard/scene_replay/CMakeLists.txt
The file was modifiedssep/data_structures/path.h
The file was modifiedssep/ssep_planner.h
The file was addedssep/common/utils/scene_frame_visualization.cc
The file was modifiedssep/common/utils/proto_converters.hpp
The file was modifiedssep/protos/scene.proto
The file was addedssep/offboard/scene_frame_provider.h
The file was modifiedssep/common/utils/scene_frame_visualization.h
The file was modifiedssep/offboard/ssep_planner_wrapper.h
The file was modifiedssep/common/utils/proto_io.h
The file was modifiedssep/data_structures/path.cc
The file was modifiedssep/maps/ogm_builder.h
Commit 4e02907cc5bfddf8a751c72769f81fb71747191c by 5081703.cr
fix: wbca using history exception.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit a246a018d91f6abac6e164f87d8e9da6c6cd75f1 by 5081703.cr
fix: stitch path data failed.

The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
Commit 8aac9d0b216d5d8fb8506eefe6e173586a199f4d by wuyanjun110
fix:苏溪进停车的bug

The file was modifiedhmi/draw/draw_ssep.cpp
The file was modifiedalgorithm/vehicle_model/kinematic_bicycle_model.hpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedalgorithm/vehicle_model/kinematic_bicycle_model.cpp
Commit c02e3c4b4bb30af85e4760d2c160f628d84ded33 by wuyanjun110
feat:添加绕行障碍物的速度参数

The file was modifieddata/obstacle/obstacle_decider_attr.cpp
The file was modifieddata/config/cfg_lat_decide.hpp
The file was modifieddata/config/cfg_lat_decide.cpp
Commit ef9209a9ea7559e7d8037b389ecfd8b0cf89f83e by wuyanjun110
feat:优化绕行判断

The file was modifieddata/obstacle/obstacle_decider_attr.cpp
Commit 77986b785650dde8717c21d26fefbc372340813b by tangwenqing
feat: SSEP: offboard: Add scene frame vis server.

The file was addedssep/offboard/servers/crow/middlewares/cookie_parser.h
The file was addedssep/offboard/servers/crow/returnable.h
The file was addedssep/offboard/servers/crow/mustache.h
The file was addedssep/offboard/servers/crow/socket_acceptors.h
The file was addedssep/offboard/servers/crow/mime_types.h
The file was addedssep/offboard/servers/CMakeLists.txt
The file was addedssep/offboard/servers/crow/http_server.h
The file was addedssep/offboard/servers/crow/version.h
The file was addedssep/offboard/servers/crow/settings.h
The file was addedssep/offboard/servers/crow/websocket.h
The file was addedssep/offboard/servers/crow/exceptions.h
The file was addedssep/offboard/servers/crow/socket_adaptors.h
The file was addedssep/offboard/servers/scene_vis_html_template.h
The file was addedssep/offboard/servers/crow/middleware.h
The file was addedssep/offboard/servers/scene_vis_html_template.cc
The file was addedssep/offboard/servers/crow/http_parser_merged.h
The file was addedssep/offboard/servers/crow/http_connection.h
The file was addedssep/offboard/servers/crow/parser.h
The file was modifiedssep/CMakeLists.txt
The file was addedssep/offboard/servers/crow/task_timer.h
The file was addedssep/offboard/servers/crow/middleware_context.h
The file was addedssep/offboard/servers/crow/utility.h
The file was addedssep/offboard/servers/crow/http_response.h
The file was addedssep/offboard/servers/crow/multipart_view.h
The file was addedssep/offboard/servers/crow/routing.h
The file was addedssep/offboard/servers/crow/json.h
The file was addedssep/offboard/servers/crow/common.h
The file was addedssep/offboard/servers/crow/TinySHA1.hpp
The file was addedssep/offboard/servers/crow/query_string.h
The file was addedssep/offboard/servers/crow/multipart.h
The file was addedssep/offboard/servers/crow/middlewares/utf-8.h
The file was addedssep/offboard/servers/crow/logging.h
The file was addedssep/offboard/servers/scene_vis_server.cc
The file was addedssep/offboard/servers/crow/compression.h
The file was addedssep/offboard/servers/crow/http_request.h
The file was addedssep/offboard/servers/crow/ci_map.h
The file was addedssep/offboard/servers/crow/middlewares/cors.h
The file was addedssep/offboard/servers/crow.h
The file was addedssep/offboard/servers/crow/app.h
The file was addedssep/offboard/servers/crow/middlewares/session.h
Commit 21848465c07d036b88fccbf78c6c9df5526bca38 by 5081703.cr
fix: extract path and trajectory in replayer.

The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
Commit 0e9f2b6bd58dc0c27cb17ca4181a8cdc7c1956fa by 5081703.cr
fix: extract path and trajectory in replayer.

The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
Commit 77abbad3d5dc0a0cc78b878295e91bf56f4af513 by 5081703.cr
fix: wbca start_pos bug.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 393dbad559f894e299f9b7201e507682657d990d by tangwenqing
chore: SSEP: update OG polygon extraction algr.

The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifiedssep/data_structures/path.cc
Commit 1a0927e94de5cc5ded8226debc9f00463fc461e3 by wuyanjun110
feat:杨浦进堆场优化
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.hpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
Commit 0cdb2dc3bec41ed7200d2161f4df3dbaac37a61c by tangwenqing
feat: SSEP: Viz server add download button.

The file was modifiedssep/offboard/servers/scene_vis_html_template.cc
The file was modifiedssep/offboard/servers/scene_vis_server.cc
Commit 901d7f793823d44c2d04a56c664a226acf7dccb2 by tangwenqing
feat: SSEP: Add rigid truck general scenario planner.

The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedssep/scenarios/stitching_replanner.h
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was addedssep/scenarios/truck_general_planner.h
The file was modifiedssep/scenarios/truck_u_turn_planner.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/scenarios/legacy_planner.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
Commit cb8cab9c9d1015b3bfc08c347b6093783a23bd99 by 5081703.cr
fix: clear history_pts when wbca opt failed.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 1974812a4b09c6067fb1130cb70b2578764da810 by 5081703.cr
fix: replayer wbca debug.

The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit e2376cff05d8cf483bf3c7c398829e239ab68ff2 by tangwenqing
fix: SSEP: 修复SSEP内存泄漏问题

The file was modifiedssep/coarse_search/evaluator/cost_feature_computer.h
The file was modifiedssep/coarse_search/evaluator/heuristic_feature_computer.h
The file was modifiedssep/coarse_search/motion_primitive_sampler/motion_primitive_sampler.h
The file was modifiedssep/offboard/generate_scene_data/CMakeLists.txt
The file was modifiedssep/coarse_search/conditions/search_condition_interface.h
The file was modifiedssep/coarse_search/search_engine_interface.h
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.cc
The file was modifiedssep/offboard/ssep_planner_wrapper.h
The file was modifiedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
Commit f52ba2ef1fb5346eec142290ac4398d58ce79fcb by tangwenqing
chore: 保存ssep scene frame 到本地

The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.h
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifieddata/ssep/ssep_activation.hpp
Commit 7dc8a003ba5d2e4ab15970147d5e8b2094fea5d2 by tangwenqing
fix: SSEP: Fix crashing issues

The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
Commit c69714450e69cbcd131885615d8231e63d5397ee by tangwenqing
chore: SSEP web 可视化增加【上一个】【下一个】按钮

The file was modifiedssep/offboard/servers/scene_vis_html_template.cc
The file was modifiedssep/offboard/servers/scene_vis_server.cc
The file was modifiedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
Commit 46435604fde44c426485e7d93ad3df04ac126948 by tangwenqing
feat: Pnc Cmakelist中增加scene_vis_server(编译和打包)

The file was modifiedssep/offboard/servers/scene_vis_server.cc
The file was modifiedCMakeLists.txt
Commit c3d6743944820dd1fa0cc800742e0d5c2be544c5 by tangwenqing
chore: minor update

The file was modifiedssep/offboard/servers/scene_vis_server.cc
Commit 472010096107bb3e3a3675a11adcf4bdfdfa0b9c by 5081703.cr
fix: wbca debug

The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit 675f481ef462bf6f9173a488e2ec17f356e17869 by tangwenqing
feat: SSEP: visualization show trailer contour

The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/common/utils/scene_frame_visualization.cc
The file was modifiedssep/offboard/servers/scene_vis_html_template.cc
Commit 51bb3c33540d362c1f6f8c6f957fc12d6b37c2ff by tangwenqing
feat: OG点挡停重规划

The file was modifiedtasks/deciders/other_decider/replan_decider.hpp
The file was modifieddata/decide/decide_reaction.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit 16bf9f7fe7e9a2a79536097a7b00aeced82e22ef by wuyanjun110
feat:杨浦进堆场优化

The file was modifiedscenarios/scenario_interface.hpp
The file was modifieddata/boundary/road_boundary.hpp
The file was modifiedscenarios/scenario.cpp
The file was modifiedhmi/draw/draw_path_boundary.hpp
The file was modifiedtasks/deciders/lat_decider/path_bounds_decider.cpp
The file was modifieddata/plan/guide_line_base.cpp
The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifieddata/plan/guide_line.cpp
The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/plan/guide_line_base.hpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifiedhmi/draw/draw_path_boundary.cpp
Commit 9cd3a8dd3a5dbe950895e50a7cfb5fc8a3ae057d by wuyanjun110
feat:最近车道匹配的bug

The file was modifieddata/map/reference/reference_road_section.cpp
Commit 6d9811fec49e2c949719c1c0b71537a3afe9a012 by tangwenqing
fix: SSEP: 修复car search + optimize相关问题

The file was modifiedssep/data_structures/polyline.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was modifiedssep/scenarios/planner_utils.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/data_structures/map_element_polyline.cc
The file was modifiedssep/data_structures/map_element_polyline.h
The file was modifiedssep/data_structures/polyline.cc
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
Commit 7f290155bdb140fa1624ecbf603de3580ef7d4f4 by 5081703.cr
fix: active curvature speed limit.

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit ddb43002871d24041e8189943f6b08725f3bd436 by 5081703.cr
fix: wbca debug in replayer.

The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit 9776ea9c14130026cc8d3826c0acba00ade11d3d by 5081703.cr
fix: kappa_softmax and kappa_rate_softmax

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.hpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit 8f88e0d857eb01b955dc5783b7af4c9dcd2f5680 by 5081703.cr
fix: win = 4 for kappa speed limit

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 4528c3efdb7b7dd7cbf041df6b079965cbb91c0e by tangwenqing
chore: SSEP: 改进低贝位进堆场效果

The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was addedssep/keb_optimizer/cost_features/soft_trailer_disk_collision_cost.h
The file was modifiedssep/offboard/ssep_input_provider.cc
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 modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
Commit 67c5536ea4b8ecc2783fee6f04801e9fe54bb568 by tangwenqing
chore: SSEP: Remove unused offline files.

The file was removedssep/offboard/generate_scene_data/data_structures.h
The file was removedssep/offboard/generate_scene_data/utils.h
The file was removedssep/offboard/generate_scene_data/trajectory_provider/search_based_trajectory_provider.cc
The file was removedssep/offboard/generate_scene_data/state_augment_util.h
The file was removedssep/offboard/generate_scene_data/trajectory_provider/search_based_trajectory_provider.h
Commit b10720a08427bb000d2576bfd3ab0f314f536e90 by wuyanjun110
fix:修复连续普通路口搜索的bug
The file was modifieddata/scenario/scenario_manager.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/decide/decide_reaction.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/scenario/scenario_manager.hpp
Commit 5be095107f0cdfe70efef60b738602b4d3f04d97 by wuyanjun110
fix:身后障碍物过滤的bug

The file was modifieddata/obstacle/ogm.hpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifieddata/config/cfg_env_const.cpp
Commit 77b55ece453551fb79e7191ed4b2ed16a842c61b by wuyanjun110
fix:replan逻辑的优化
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit 5b01e8a5427151e7e8f78e9259be130b3533712c by wuyanjun110
refacor:搜索的优化

The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/maps/ogm_builder.h
The file was modifieddata/ssep/forward_ec.hpp
The file was modifieddata/ssep/normal_junction_ec.cpp
The file was modifieddata/obstacle/obstacle.hpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/ssep/ssep_ec.cpp
Commit f01be4fe8e5cd29ed7e8ebaeb4a4a8cd2f0abc7d by wuyanjun110
fix:编译的bug

The file was modifieddata/ssep/ssep_activation.cpp
Commit 5e5442bf1f8dd2ac3de2f4d336d847b450dc180d by tangwenqing
chore:  SSEP: Improve keb car optimization process

The file was modifiedssep/data_structures/path.cc
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/data_structures/path.h
Commit 398972de257a136937f1cdcbe9d27dd874aafda6 by tangwenqing
feat: SSEP add scene data augmentation scripts.

The file was addedssep/offboard/generate_scene_data/resample_scene_paths_cli.cc
The file was addedssep/offboard/generate_scene_data/trim_scene_paths_cli.cc
The file was modifiedssep/offboard/generate_scene_data/CMakeLists.txt
Commit c5ec059a40128c5ebc4e9e9bd7ebd9c091f823b5 by tangwenqing
feat: 添加git push-notify功能，可以联动钉钉机器人发送推送通知，并调用大模型自动编辑周报

The file was addeddingtalk_notify_config.json
The file was addedGIT_PUSH_NOTIFY_README.md
The file was addedgit_push_with_notify.sh
The file was addeddingtalk_notify.py
Commit cbc8ec5c4d9cc09ae3b66ff7a092d40e51859412 by wuyanjun110
fix:重复规划的bug

The file was modifieddata/decide/decide_reaction.cpp
The file was modifieddata/decide/decide_reaction.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit 231805897b1ac3919a39c4574adaaaef84e87e68 by wuyanjun110
fix:出堆场，误进平滑模式的bug

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 3fd692c61f7e6e4819728ad8d1796c85bb1a48ad by wuyanjun110
fix:优化出堆场的搜索

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/ssep_planner.cc
Commit b83f53bc1af49b0ab48a2ac8bad499378cb28ce4 by tangwenqing
chore: git push notify config脱敏
The file was removeddingtalk_notify_config.json
The file was modified.gitignore
The file was addeddingtalk_notify_config_example.json
Commit 684a0cfe925b1a9ad2d2f6eaf1a6c0e56926afd4 by wuyanjun110
fix:修复replayer内存泄漏的问题

The file was modifiedreplayer/main.cpp
Commit dcf463d91c95bac43a392620025407dab430a91a by tangwenqing
feat: SSEP: 自卸车进出堆场时忽略起点终点附近的碰撞

The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was addedssep/data_structures/range.h
The file was modifiedssep/offboard/scene_frame_provider.cc
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/coarse_search/search_graph.h
The file was modifiedssep/coarse_search/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/maps/ogm_builder.cc
The file was modifiedssep/coarse_search/evaluator/collision_cost_computer.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/coarse_search/motion_primitive.h
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/evaluator/trailer_collision_cost_computer.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
Commit d55b405a33d8327773ced43547553021ac1fcf4d by tangwenqing
fix: SSEP:  解决太阳纸业路口转弯距离参考线太远的问题

The file was modifiedssep/scenarios/truck_general_planner.h
Commit 2896a9016ab589ca6cfc634f92743e89d3c30768 by wuyanjun110
fix:防护half to float 到 inf的场景

The file was modifiedmath/util/vec_2d.cpp
The file was modifiedmath/util/math_utils.cc
The file was modifiedmath/util/math_utils.h
The file was modifieddata/common/point.cpp
Commit 24b6f3f043057424f7f360b558666e51feda4912 by 5081703.cr
fix: smooth_mode for bulk_load

The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifiedtasks/deciders/lat_decider/wbca_path_boundary_decider.cpp
The file was modifieddata/boundary/road_boundary.cpp
Commit 659d2f18a0f20bb48ed019343106a16ebbf89240 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 3f2d0f9e82bed5c22b15cfffd4e07646880af8e3 by tangwenqing
fix: SSEP: 修复苏溪出停车位时先往前走一段的问题。

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
Commit f4848bdc4b44c7ba76bd4a53e765d80b8b2fa6a6 by wuyanjun110
fix: SSEP路径当前段匹配的bug

The file was modifieddata/plan/ssep_data.cpp
Commit eef8c7f5d131720b27e7968cb465c86942318c00 by 5081703.cr
fix: wbca debug

The file was modifiedalgorithm/wbca/occupancy_grid_map/data_render.hpp
The file was modifiedalgorithm/wbca/occupancy_grid_map/data_render.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit e9b2003611915baddbc07faba87249a728053be1 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 a2280fbda04c00660fb164010a98d11170518d9b by wuyanjun110
fix:ssep replan崩溃的bug

The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit 6ab8c4a5ece5a97023fa9a54e5c96d85f96ce8aa by 5081703.cr
fix: keep history when wbca failed.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit e1fe2a07e0db74892ba0be64b5a4f9a8abde9931 by tangwenqing
fix: SSEP: 解决苏溪进停车位搜索失败的问题

The file was modifiedssep/offboard/generate_scene_data/CMakeLists.txt
The file was addedssep/offboard/generate_scene_data/transform_to_body_frame_cli.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
Commit b60e5edd5c9e5e787270b2730add4e5e536cea96 by wuyanjun110
fix:完善搜索失败临时停车的功能

The file was modifieddata/config/cfg_long_plan.cpp
The file was modifiedhmi/widget/distance.cpp
The file was modifieddata/app/fsm/stop_reason.cpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/constrain/disable_stop_range.cpp
The file was modifiedplan/prepare/prepare_status.cpp
Commit 60722bedb0bfe876115ab368323bfe425bc0ed18 by wuyanjun110
fix:修复崩溃的bug

The file was modifieddata/constrain/block_data.cpp
Commit d4f5d00556593f1966db336ac44f7fb2137db11d by wuyanjun110
fix:修复太阳路口搜索失败的bug

The file was modifiedssep/ssep_planner.cc
Commit 6d8b01b90a73e83c5d63dc153ef5c7171781ec23 by tangwenqing
fix: SSEP: 1. 修复accurate reversing场景倒车最后三米忽略碰撞未触发的问题。2.提升苏溪进停车位成功率

The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
The file was modifiedssep/offboard/scene_frame_provider.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit c9a462d299b107c5dc45f46d0722aa40ee5d6ea0 by tangwenqing
chore: SSEP: minor update

The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
Commit b4f7c119b49d613073d9d3b375ca6b588186a6ff by tangwenqing
chore: SSEP: minor updates

The file was modifiedssep/scenarios/legacy_planner.h
The file was modifieddingtalk_notify.py
Commit 44151439a0e53cc667b17e07254129dbde278706 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 61a5434182f70c1dfa39f7d13cd3f1a41abc94ae by tangwenqing
fix: SSEP: 修复优化器中起点曲率没有初始化的问题

The file was modifiedssep/keb_optimizer/data_structure.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/maps/ogm.cc
Commit 3618fa7db514a6bc6eb98a54a3a3c8b7d7b5963d by wuyanjun110
fix:修复可能崩溃的bug

The file was modifieddata/map/envelop/map_envelops.cpp
Commit f127eeb730dda2de1945eb08c3ed59c44414776e by wuyanjun110
refactor:优化太阳卸料区挡停的重搜索逻辑

The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedssep/ssep_planner.cc
Commit a1e87467a1da5bc638192f250825135cdaa70087 by 5081703.cr
fix: start_pt from last_path.

The file was modifieddata/plan/start_point_data.cpp
Commit 338a769cbefaa2e74bc5d68bd4a38dbf2113ba3c by tangwenqing
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 modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was addedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
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/trim_scene_paths_cli.cc
The file was modifiedssep/offboard/generate_scene_data/transform_to_body_frame_cli.cc
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/offboard/scene_frame_provider.cc
Commit 2fa77475c73f757e92ca48b6d2c4f689e7376fdc by wuyanjun110
fix:连续载入快照崩溃的bug

The file was modifiedcommon/util/hdmap_wrapper.cpp
The file was modifiedreplayer/logic.cpp
The file was modifiedreplayer/replayer_data_process/load_snap_data.cpp
Commit 6d14adbd2676b9f700514425d7b866434ef14a37 by tangwenqing
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/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/scenarios/truck_general_planner.h
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/legacy_planner.h
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit ac5fec5eea7a6a9c3520ba21ae2028944e7452bf by 5081703.cr
fix: add curvature over limit temp stop.

The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/constrain/block_data.hpp
The file was modifieddata/constrain/disable_stop_range.cpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/constrain/disable_stop_range.hpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/constrain/temporary_stop_data.cpp
Commit 4a6df680159317e1c86c6b862322ee527d587dd1 by 5081703.cr
fix: curvature_over_limit_stop_coefficient 10.0

The file was modifieddata/config/cfg_safe_const.cpp
Commit 6f9d548a5a62a2c5dbbb473030c494fa41068025 by tangwenqing
chore: SSEP minor updates

The file was modifiedssep/common/utils/scene_frame_visualization.cc
The file was modifieddata/ssep/ssep_activation.cpp
Commit e44350fef4a97e9401ba111fe8f1724a0f67adc6 by 5081703.cr
fix: truck start_pt exception.

The file was modifieddata/plan/start_point_data.cpp
Commit c8f1bbf9716afdacb9b3cd0748ed279c3e163e75 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 020e0a83e2c76c9a584702ba9d3b745906d9ee74 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 76de2323c82763fdcbf6900399338d7b1b57918e by wuyanjun110
feat:曲率超限停车优化

The file was modifieddata/constrain/block_data.cpp
The file was modifiedhmi/widget/distance.cpp
Commit 491e5cdfcf5b781a314a2af34c5d16281c770781 by wuyanjun110
fix:调整曲率超限的滤波参数

The file was modifieddata/constrain/block_data.cpp
Commit 6515c57d59de9c9707105252942d22ed57da8796 by wuyanjun110
fix:曲率超限停车的bug

The file was modifieddata/constrain/block_data.cpp
Commit 3ec02093369f59536c96444dc56f85a199a177c3 by 5081703.cr
feat: add CalcKappaCostSigmoid.

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.hpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit 2ca8c001689f3a35984187de05139b029c6d403a by tangwenqing
fix: SSEP: 集卡进停车位时时候更严格的挂车角度

The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
The file was modifiedssep/data_structures/map_element_polyline.cc
The file was modifiedssep/offboard/generate_scene_data/transform_to_body_frame_cli.cc
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
Commit 380a90acdb674c672070c41c2a087bc073a91bf5 by wuyanjun110
feat:travel out 没有一次规划的适配

The file was modifiedtasks/other_tasks/create_reference_line.cpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/app/fsm/task_fsm/task_travel/task_travel_fsm.cpp
The file was modifieddata/plan/guide_line.cpp
Commit f1f39985c7264f69556adc16422a74a2ace4819d 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 e8a521b796411bce06e7845a12f3d25ba4131d12 by tangwenqing
fix: SSEP: 修正Rigid truck general builder搜索参数，确保搜索器能具有搜出最大曲率路径的能力。

The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
Commit 5b5d630f69b1c95a3930102b2c514dc606c08945 by 5081703.cr
fix: using ssep speed_limit for deviation.

The file was modifiedplan/prepare/prepare_status.cpp
Commit 2a10cc33142c59327c146a1440b4038eade1eb30 by tangwenqing
fix: SSEP: 修复优化器中额外前向碰撞距离计算存在误差的问题，解决前港距离前方障碍物太近的问题。

The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
Commit 86232c3bad191b66a196af34c219074e20e141fc by 5081703.cr
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 660eedd899aaee86c94f019dcbad3cbcc78cc860 by tangwenqing
fix: SSEP: 修复前杠倒车进料堆优化失败的问题。

The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
Commit 238e46cb1d29effee165726bafd5180b0ba8d0ed by 5081703.cr
fix:修复拼接的bug

The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/plan/start_point_data.cpp
The file was modifieddata/plan/path_direction_data.cpp
Commit ce1f133cbc198256362e293b470d0155c9c6ee9d by 5081703.cr
fix: wbca reversing bug.

The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit 624bf556a93cf138bb8a5c9f349a4f6eb19131a5 by wuyanjun110
refactor调整切换lock的阈值

The file was modifieddata/config/cfg_safe_const.cpp
Commit 6a70b86fc6f3acbe2006fdde64d0c3762a4c10d8 by wuyanjun110
feat:锁站场景不膨胀尺寸

The file was modifiedalgorithm/plan/ego_expanding.cpp
The file was modifiedhmi/draw/draw_constrain.cpp
Commit a84d66ec49368c268e2f31310f8970a01041447e by 5081703.cr
fix: minimize esdf_map

The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedsink/ros_sink_plan_debug.cpp
The file was modifiedalgorithm/wbca/occupancy_grid_map/data_render.cpp
Commit 0780e0351e0a19eaf0f567247d6223db032e5f04 by wuyanjun110
fix:修复崩溃的bug

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit 4cf096ac8adc8aa7a90088714dae8da4c1875f46 by 5081703.cr
fix: dx_norm = path_1_tmp.norm

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit 3e4dc285c3f92a8bf37472dbb8966c9b22656d05 by 5081703.cr
fix: merge wbca_v2. using soft_min collision cost for truck.

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedalgorithm/wbca/path_optimization/truck_path_optimization.hpp
The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.hpp
The file was modifiedalgorithm/wbca/path_optimization/truck_path_optimization.cpp
The file was modifiedalgorithm/wbca/wbca_manager.hpp
The file was modifieddata/wbca/wbca_data.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.hpp
Commit 4d2867fdbeaef8b50be33bd358b2b171d49686b3 by tangwenqing
feat: SSEP: 集卡进堆场搜索的碰撞检测使用软约束。保证生成一条碰撞程度最低的路径。

The file was modifiedssep/coarse_search/evaluator/collision_cost_computer.h
The file was modifiedssep/coarse_search/evaluator/cost_feature_computer.h
The file was addedssep/coarse_search/evaluator/collision_constraint_type.h
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was modifiedssep/coarse_search/evaluator/trailer_collision_cost_computer.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit f53030a5ae83cab7ae5cbedbf88eaa8ca2b42d2b by tangwenqing
feat: SSEP: SSEP输入中加入"作业模式"参数（正向作业/反向作业/Undetermined），统一IMV路径搜索流程

The file was modifiedssep/data_structures/ssep_input.cc
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/data_structures/ssep_input.hpp
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was addedssep/data_structures/operation_mode.hpp
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/protos/scene.proto
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
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_general_planner.h
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/ssep_planner.cc
Commit 92cd7fbed1c667aee820c6e4e6a4d3b49ad8316d by 5081703.cr
fix: wbca ignores ref_pts out of range.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/wbca/grid_map/esdf_map.hpp
The file was modifieddata/wbca/grid_map/esdf_map.cpp
Commit f546b267e4e9660516d4ed47f2a1bda76afa52c9 by tangwenqing
chore: SSEP: 提升集卡常规场景的规划的成功率，缓解末端路径画龙的问题

The file was modifiedssep/coarse_search/evaluator/trailer_collision_cost_computer.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/keb_optimizer/cost_features/state_constraint.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit 1767b681baa5a6e2f9e0eb8960a03adf70f50097 by tangwenqing
feat: SSEP: Car模型多段倒车场景，途径点角度增加角度限制

The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 67eca496cd33a1fb02ae55d339b9ccf72b0aafd7 by tangwenqing
chore: SSEP: Car车型多段倒车参数调整

The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
Commit cae158b3fb5fff3be9563caaae55148935200e16 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 fee0a142cee2e9bc58d155f103526654d5ee36c9 by wuyanjun110
fix:sweep路径的bug

The file was modifieddata/boundary/road_boundary.cpp
Commit 5fa2b4b9292d9c8736745bdca98065bebb9ef644 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 55efcfe69492843785f1cfb463f495e01a9c9cff 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 0fe33d19af8430c9535e2a0fc53b1923f66e3aa4 by tangwenqing
fix: 修复威海car bulkout场景进错的问题

The file was modifieddata/ssep/ssep_ec.cpp
Commit 1ad796cb7325c6f833a94d40ad1420aee052323e by tangwenqing
fix: typo

The file was modifieddata/ssep/ssep_ec.cpp
Commit febb4db7323ea923978ec02c813302fdffafbb79 by tangwenqing
fix: SSEP: 修复最后一段有碰撞时可能优化失败的问题。

The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was addedssep/scenarios/truck_accurate_reversing_planner.cc
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 addedssep/common/utils/path_utils.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/common/utils/proto_io.h
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/CMakeLists.txt
The file was addedssep/common/utils/path_utils.h
The file was addedssep/test/CMakeLists.txt
The file was modifiedssep/offboard/scene_replay/replay_ssep_input_cli.cc
The file was addedssep/test/ssep_planner_test.cc
The file was modifiedssep/offboard/scene_frame_provider.cc
The file was modifiedssep/offboard/ssep_planner_wrapper.h
The file was modifiedssep/offboard/scene_replay/replay_scene_frame_cli.cc
Commit 68e5c670dc8f4b8852611d6dfea9745a4bcb4468 by tangwenqing
feat: SSEP: 可视化增加地图元素显示

The file was modifiedssep/test/ssep_planner_test.cc
The file was modifiedssep/common/utils/scene_frame_visualization.cc
The file was modifiedssep/offboard/servers/scene_vis_html_template.cc
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/boundary/road_boundary.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
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/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/maps/sl_projection_map.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/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/coarse_search/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/preprocessed_curves/trajectories_reader.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/coarse_search/preprocessed_curves/tt_curve_manager.cc
The file was modifiedssep/test/ssep_planner_test.cc
The file was modifiedssep/maps/sl_projection_map.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.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_bidirectional_searcher_builder.cc
The file was modifiedssep/data_structures/ssep_input.hpp
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was modifiedssep/maps/sl_projection_map.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/coarse_search/evaluator/ref_line_cost_computer.h
The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.h
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
The file was modifiedssep/data_structures/search_boundary.h
The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
The file was modifiedssep/maps/sl_projection_map.cc
The file was modifiedssep/offboard/main_test/main_test_park.cc
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/offboard/ssep_visualizer.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/legacy_planner.h
The file was modifiedssep/coarse_search/evaluator/ref_line_heuristic_computer.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/scenarios/truck_u_turn_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
The file was modifiedssep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_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/truck_reference_following_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
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/coarse_search/legacy_searcher_adaptor.h
The file was modifiedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was modifiedssep/ssep_planner.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/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/offboard/ssep_visualizer.h
Commit de7a29c1045959bc03c018a2ec95723a1533f3e6 by 5081703.cr
fix: truck wbca replayer debug.

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

The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/state_hasher.h
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/test/ssep_planner_test.cc
The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.cc
Commit af737dee0680b4bc1a1a604c8c6551bd24e25ee8 by tangwenqing
fix: fix compile errors

The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/common/math/aabox2d.h
The file was modifiedssep/common/math/aabox2d.cc
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/imv_wbca_manager.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifiedhmi/widget/diagnose.cpp
The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedalgorithm/wbca/wbca_manager.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_pullover_planner.h
The file was modifiedssep/scenarios/imv_enter_station_planner.h
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.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
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/plan/ssep_data.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/ssep/ssep_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 modifieddata/obstacle/ogm.hpp
The file was modifieddata/boundary/driving_corridor.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
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 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 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/heur_table_loader.cc
The file was addedssep/gpu/heur_table_loader.cu
The file was addedssep/test/gpu_collision_test.cc
The file was addedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.h
The file was addedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.cc
The file was addedssep/coarse_search/gpu_batch_expander.h
The file was addedssep/test/gpu_heuristic_test.cc
The file was addedssep/test/gpu_heuristic_test_kernel.cu
The file was addedssep/gpu/heuristics/heuristic_computer.cuh
The file was addedssep/gpu/device_utils.cuh
The file was modifiedssep/test/CMakeLists.txt
The file was addedssep/test/gpu_sampler_test_kernel.cu
The file was addedssep/gpu/batch_expander_bridge.h
The file was addedssep/gpu/device_map_data.h
The file was addedssep/gpu/memory_pool.cu
The file was addedssep/test/gpu_collision_test_kernel.cu
The file was addedssep/gpu/samplers/multi_curvature_sampler.cuh
The file was addedssep/coarse_search/gpu_batch_expander.cc
The file was addedssep/gpu/cost/path_length_cost.cuh
The file was addedssep/gpu/memory_pool.h
The file was addedssep/gpu/heur_table_loader.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was addedssep/test/gpu_heuristic_test_kernel.cuh
The file was addedssep/test/gpu_collision_test_kernel.cuh
The file was addedssep/gpu/kernels/batch_expand_kernel.cu
The file was addedssep/gpu/kernels/batch_expand_kernel.h
The file was addedssep/test/gpu_sampler_test_kernel.cuh
The file was addedssep/gpu/batch_expander_bridge.cu
The file was modifiedssep/CMakeLists.txt
The file was addedssep/gpu/device_map_data.cu
The file was addedssep/gpu/device_types.h
The file was addedssep/test/gpu_data_convert_test.cc
The file was addedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was addedssep/gpu/samplers/sampler_params.h
The file was addedssep/test/gpu_cost_test.cc
The file was addedssep/gpu/device_map_data.cuh
The file was addedssep/test/gpu_sampler_test.cc
The file was addedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.h
The file was addedssep/gpu/collision/collision_checker.cuh
Commit 4c7f0eea0f20d2774a07379f9c04cc1777d498e6 by tangwenqing
chore: SSEP-GPU: 通过所有测试用例

The file was modifiedssep/offboard/scene_replay/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/test/ssep_planner_test.cc
The file was modifiedssep/gpu/heuristics/heuristic_computer.cuh
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 addedssep/gpu/cost/ref_line_cost.cuh
The file was modifiedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/motion_primitive.h
The file was modifiedssep/common/utils/scene_frame_visualization.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.cc
The file was addedssep/test/gpu_ref_line_cost_test.cc
The file was modifiedssep/gpu/heuristics/heuristic_computer.cuh
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/gpu/samplers/multi_curvature_sampler.cuh
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/test/CMakeLists.txt
The file was modifiedssep/gpu/kernels/batch_expand_kernel.cu
The file was modifiedssep/gpu/device_types.h
The file was modifiedssep/gpu/device_map_data.cu
The file was modifiedssep/gpu/device_map_data.h
The file was addedssep/gpu/cost/curvature_cost.cuh
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/maps/sl_projection_map.h
The file was modifiedssep/coarse_search/disk_collision_checker.h
The file was addedssep/coarse_search/batched_priority_queue.h
The file was modifiedssep/coarse_search/state_hasher.h
The file was addedssep/test/gpu_ref_line_cost_test_kernel.cu
The file was addedssep/test/gpu_ref_line_cost_test_kernel.cuh
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/offboard/scene_frame_provider.cc
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 1104a98f0c4fdf7218dac43989265d7292420779 by tangwenqing
fix: SSEP: 解决集卡普通搜索画龙的问题

The file was modifiedssep/keb_optimizer/cost_features/state_constraint.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
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.h
The file was modifiedssep/data_structures/ssep_input.hpp
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/data_structures/ssep_input.cc
The file was modifiedssep/protos/scene.proto
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/ssep_planner.cc
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/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 734b8645572f46693901e90cb6e34d6a40e8cc2c by tangwenqing
chore: SSEP: 改进自卸车多段倒车

The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
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 modifieddata/ssep/forward_ec.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedtasks/deciders/search_decider/normal_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/into_yard_junction_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/ex_lane_change_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/seaside_junction_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/bridge_junction_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/reverse_search_decider.cpp
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 72bfbb733ca41b31b2d4311d2d6de8f8ebacf496 by 5081703.cr
fix: smooth logic

The file was modifieddata/boundary/road_boundary.cpp
The file was modifiedalgorithm/wbca/wbca_manager.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