[Jenkins]Jenkins

Changes

Summary

  1. Update jiaxing-dongfangtegang-submodule.jenkinsfile (details)
Commit 95e911617d356ba11971f7eb73efc504e5ca54ee by weilikang
Update jiaxing-dongfangtegang-submodule.jenkinsfile
The file was modifiedparams/jiaxing-dongfangtegang-submodule.jenkinsfile

Summary

  1. fix: SSEP: 跨运车: 1.搜索禁止匹配参考线.  2.末端直线忽略碰撞 (details)
  2. feat: SSEP: 增加运动学约束warm up功能。在优化初期减小运动学约束的代价，并增加逐步衰减的平滑、避障代价。让优化器在优化初期更关注轨迹形态，后期更关注运动学约束。 (details)
  3. chore: SSEP: 跨运车自转逻辑改进 (details)
  4. feat: 增加对堆场直接进入的判断逻辑，并优化相关功能 (details)
  5. 引入横向规划器选择器与任务条件机制，重构规划器相关逻辑，完善配置与任务调度 (details)
  6. 重构任务选择器与横向规划器选择逻辑，新增窄空间检测功能 (details)
  7. feat: 优化目标点计算逻辑，使用当前车辆目的地与最大预瞄距离的最小值 (details)
  8. feat: SSEP: 支持上下码头面同时进堆场 (details)
  9. feat: 调整运动学可行性检查的最大归一化位置和朝向误差 (details)
  10. fix: SSEP: 修复集卡多段倒车搜索失败的问题 (details)
  11. feat: 添加不可以区域Z层处理逻辑，优化地图绘制功能 (details)
  12. feat: 添加bulk in 堆场前临时停车功能 (details)
  13. fix: SSEP: 修复跨运车普通搜索掉头代价太大导致出原地转圈轨迹的问题。 (details)
  14. chore: Keb: 根据前杠窄弯/窄通道数据调整自卸车的优化参数和流程 (details)
  15. feat: clang18 编译优化 (details)
  16. fix:崩溃防护，guide line 有效，但speedlimits为空 (details)
  17. fix: Keb: 修复终点附近轨迹会有碰撞的问题 (details)
  18. fix: SSEP: fix crashing issue (details)
  19. chore: Keb-sim: 适配终点选取逻辑 (details)
  20. feat:动态上下码头面 直接进堆场场景的优化 (details)
  21. feat:添加云端轨迹 挂转角的赋值 (details)
  22. fix:堆场前停车，停车原因赋值错误的bug (details)
  23. fix:进堆场前停车，motion状态机错误的bug (details)
Commit 21a1df2d731e984cb4d3fd10e4b367b5433adc37 by tangwenqing
fix: SSEP: 跨运车: 1.搜索禁止匹配参考线.  2.末端直线忽略碰撞

The file was modifiedssep/scenarios/straddle_carrier_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
Commit d18a7474fa7354e2aa5f5fbf9d696bbc071de17d by tangwenqing
feat: SSEP: 增加运动学约束warm up功能。在优化初期减小运动学约束的代价，并增加逐步衰减的平滑、避障代价。让优化器在优化初期更关注轨迹形态，后期更关注运动学约束。

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

The file was modifiedssep/scenarios/straddle_carrier_pick_vehicle_planner.h
Commit 7168dbfa30ffd93062b1608f08d636e57a33d4dd by wuyanjun110
feat: 增加对堆场直接进入的判断逻辑，并优化相关功能
The file was modifieddata/ssep/base_stop_line_filter.cpp
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/vehicle/lock_station_data.cpp
The file was modifieddata/ssep/base_stop_line_filter.hpp
The file was modifieddata/ssep/open_space_ec.hpp
Commit f5eba086e38f878a9c59460cd274ccfac0bbba6e by wuyanjun110
引入横向规划器选择器与任务条件机制，重构规划器相关逻辑，完善配置与任务调度
The file was modifiedscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cpp
The file was modifiedscenarios/scenario_interface.hpp
The file was modifiedscenarios/scenario.cpp
The file was modifieddata/config/cfg_stage.cpp
The file was modifieddata/config/cfg_stage.hpp
The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
The file was addedscenarios/task_condition_evaluator.hpp
The file was addedscenarios/task_condition_evaluator.cpp
The file was modifiedscenarios/stage.hpp
The file was modifiedscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cpp
The file was modifiedconfig/config_truck/scenario.yaml
The file was modifiedhmi/draw/draw_path_boundary.cpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp
The file was modifiedscenarios/stage.cpp
The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
Commit a2fe19adfd84af23f521e6790146fca98c816aaa by wuyanjun110
重构任务选择器与横向规划器选择逻辑，新增窄空间检测功能
The file was modifiedscenarios/task_condition_evaluator.hpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifiedscenarios/task_condition_evaluator.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifiedhmi/widget/diagnose.cpp
The file was modifiedscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
The file was modifieddata/config/cfg_stage.hpp
The file was modifieddata/config/cfg_stage.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifiedscenarios/stage.hpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.hpp
The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
The file was modifiedscenarios/stage.cpp
Commit 31e09a791978ac342db474d9da6246ce4678fe46 by wuyanjun110
feat: 优化目标点计算逻辑，使用当前车辆目的地与最大预瞄距离的最小值
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
Commit 6e58a963e9a696edda1a1fbc57114f301c2d47fc by tangwenqing
feat: SSEP: 支持上下码头面同时进堆场

The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 5c66484117e480a1bf37b534af153741f5102910 by wuyanjun110
feat: 调整运动学可行性检查的最大归一化位置和朝向误差
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
Commit 0dbf3b3c0dd814f60915d79a4e08490a137974c4 by tangwenqing
fix: SSEP: 修复集卡多段倒车搜索失败的问题

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 01953a89de69f4ce40476214765121973d3f0c6f by wuyanjun110
feat: 添加不可以区域Z层处理逻辑，优化地图绘制功能
The file was modifiedhmi/draw/draw_map.cpp
The file was modifieddata/ssep/field_junction_ec.cpp
Commit 5c305ed4092e332ef41c2415f0d0c90174ff8ba4 by wuyanjun110
feat: 添加bulk in 堆场前临时停车功能
The file was modifieddata/constrain/disable_stop_range.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/constrain/disable_stop_range.cpp
Commit b256d63212ae082f14354d1d39518463c61aa4d9 by tangwenqing
fix: SSEP: 修复跨运车普通搜索掉头代价太大导致出原地转圈轨迹的问题。

The file was modifiedssep/scenarios/straddle_carrier_general_planner.h
The file was modifiedssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
Commit 4bf5c8270da914d3b1f5904f5e1bb979afa6cc7b by tangwenqing
chore: Keb: 根据前杠窄弯/窄通道数据调整自卸车的优化参数和流程

The file was modifiedoffboard/keb_path_opt_cli/keb_path_opt_cli.cc
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedtasks/plan/keb_utils_core.cpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
Commit 1b988671fa14d46390c7e72167264eb91bb59f15 by wuyanjun110
feat: clang18 编译优化
The file was modifiedCMakeLists.txt
The file was modifieddata/common/trajectory.hpp
The file was modifieddata/map/reference/reference_segment.hpp
The file was modifiedcommon/util/hdmap_namespace.hpp
The file was modifieddata/common/path_point.hpp
The file was modifieddata/common/trajectory_point.hpp
The file was modifieddata/dp_poly_path/comparable_cost.hpp
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifieddata/obstacle/block.hpp
Commit dca6c98db33487af01a20e3a8e337741b290e6b0 by wuyanjun110
fix:崩溃防护，guide line 有效，但speedlimits为空
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 48d96b1fa2212d2e673a86427ae8c99c58fb86da by tangwenqing
fix: Keb: 修复终点附近轨迹会有碰撞的问题

The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
Commit bba0f9b0d7636cfd099bed1f7d5a6fd0eaad06f5 by tangwenqing
fix: SSEP: fix crashing issue

The file was modifiedssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
Commit 0703acd58c84b4ace9abf4350bd6604c0e1b1cb7 by tangwenqing
chore: Keb-sim: 适配终点选取逻辑

The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
Commit 7877eff32392d61b24edcfd041e1ccc07f59101e by wuyanjun110
feat:动态上下码头面 直接进堆场场景的优化
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifiedscenarios/task_condition_evaluator.cpp
The file was modifieddata/ssep/open_space_ec.cpp
Commit d62544f9ee0f56a94a4c24195b03574a26b77cf1 by wuyanjun110
feat:添加云端轨迹 挂转角的赋值
The file was modifiedsink/ros_sink_cloud_trajectory.cpp
Commit f4c924bed3396eccd1d67360cab3d176a0167190 by wuyanjun110
fix:堆场前停车，停车原因赋值错误的bug
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 20fe40a09dfcc324d0d105ec3b5feb1f89049902 by wuyanjun110
fix:进堆场前停车，motion状态机错误的bug

The file was modifieddata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp