Changes

Summary

1. fix: plan from cur_pt when ssep search succeed. (details)
2. fix: wbca boundary bug. (details)
3. fix: crash issue. (details)
4. fix: esdf_map=nullptr (details)
5. fix: lon_decision, using prediction for v > 8km/h (details)
6. fix: lon_decision optimization. (details)
7. fix: using guide_line in truck wbca smooth mode (details)
8. fix: disable crab mode for ssep_path. (details)
9. fix: max_obstacle_vel_for_ignoring_obstacle_pred (details)
10. fix: echo stop position. (details)
11. fix: add decision_period = 12 (details)
12. fix: crash issue. (details)
13. fix: start_pt kappa cal error. (details)
14. fix: ignore expired wbca_data_ (details)
15. fix: road_bd problem. (details)
16. fix: static truck. (details)

Commit e4525332c6aefa0305c62e08a81cfb2a115d1603 by 5081703.cr fix: plan from cur_pt when ssep search succeed.
	data/plan/start_point_data.cpp
Commit 755833bd19eb819a21bf56b17db1f2ea592d11c4 by 5081703.cr fix: wbca boundary bug.
	algorithm/wbca/occupancy_grid_map/data_render.cpp
Commit 2a82b175edd18d1fb5cfb4aef9df72a7a9bd8bd3 by 5081703.cr fix: crash issue.
	data/plan/start_point_data.cpp
Commit 4dbb7629f37bcc9071c0bf2e4a5e7d603aba6daa by 5081703.cr fix: esdf_map=nullptr
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/wbca_manager.hpp
	algorithm/wbca/wbca_manager.cpp
Commit 0508851aaf1938e3341edb44d900c1a01148b4eb by 5081703.cr fix: lon_decision, using prediction for v > 8km/h
	data/semantic/semantic_description.cpp
Commit 3e921208cbfa659717d3284b155c8e8adcd93ade by 5081703.cr fix: lon_decision optimization.
	algorithm/decision/simulator/forward_simulation.cpp
	algorithm/decision/semantic_set_transformation_2.hpp
	algorithm/decision/simulator/forward_simulation.hpp
	data/semantic/semantic.cpp
	algorithm/decision/semantic_set_transformation_2.cpp
Commit 8d5e7af900401d5cce1a488cefaa4025cdf98c69 by 5081703.cr fix: using guide_line in truck wbca smooth mode
	algorithm/wbca/path_optimization/path_optimization.cpp
	data/boundary/road_boundary.cpp
	algorithm/wbca/imv_wbca_manager.cpp
	algorithm/wbca/wbca_manager.cpp
Commit d3d5b3bdb20a4040d1a86cda5b479e3460583d5a by 5081703.cr fix: disable crab mode for ssep_path.
	tasks/plan/path_optimization_task.cpp
Commit dd78018db6eebfe2d25a7fa3ab812125fd20a6ca by 5081703.cr fix: max_obstacle_vel_for_ignoring_obstacle_pred
	data/config/cfg_decision.cpp
	data/semantic/semantic_description.cpp
	data/config/cfg_decision.hpp
Commit c2d76a7e8242f8f5834fb26d09819ed9c2d60ab2 by 5081703.cr fix: echo stop position.
	data/app/fsm/motion_fsm/motion_fsm.cpp
	data/app/fsm/motion_fsm/motion_fsm.hpp
Commit 6cc8cc6b979f08c639b26911a97d3f3f7f034386 by 5081703.cr fix: add decision_period = 12
	data/config/cfg_decision.cpp
	node/logic.cpp
	data/config/cfg_decision.hpp
Commit 4f695c8ef8252faedd10c01e010a3599dd95e0d7 by 5081703.cr fix: crash issue.
	algorithm/wbca/occupancy_grid_map/data_render.cpp
Commit 34560a8cb504f4152be512b280b0645181e33195 by 5081703.cr fix: start_pt kappa cal error.
	data/plan/start_point_data.cpp
Commit 6101aac5a351903339607c80b84ddc29860d5e50 by 5081703.cr fix: ignore expired wbca_data_
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	tasks/plan/path_optimization_task.cpp
Commit f0b8fa29eab592ae24d65a5505910decb9b27ca5 by 5081703.cr fix: road_bd problem.
	data/boundary/road_boundary.cpp
Commit 9d3521ef64cc690d277ee290968de7800a61c3be by 5081703.cr fix: static truck.
	data/semantic/vehicle.cpp
	algorithm/decision/semantic_set_transformation_2.cpp