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Changes

Summary

  1. fix: disable dynamic and steering speed constraints (details)
  2. fix: add min_velocity_coefficient_for_velocity_cost. (details)
  3. fix: crash issue. (details)
  4. fix: SSEP: 修复集卡进堆场轨迹绕圈问题 (details)
  5. feat: ogm聚类时使用多边形代替原来的线段障碍物 (details)
  6. chore: SSEP: (details)
  7. feat: 进出堆场场景中，如果存在云端remote guide line的话，进入参考线跟随搜索模式。 (details)
  8. chore: SSEP: imv optimizer参数调试 (details)
Commit 262ba25a61e529ba682a868668332b982d754d4c by 5081703.cr
fix: disable dynamic and steering speed constraints

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 25ea413341d494cc2bd5f20fce8ca02f978988ae by 5081703.cr
fix: add min_velocity_coefficient_for_velocity_cost.

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
Commit 5775d0434930bd933538056f6dd6c1cdba439788 by 5081703.cr
fix: crash issue.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 9dc7c3033ea57ea993db2b9f4f2e0df3106283a5 by tangwenqing
fix: SSEP: 修复集卡进堆场轨迹绕圈问题

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit d071b98f930438c12ee4e25d181887f7f5c2936a by tangwenqing
feat: ogm聚类时使用多边形代替原来的线段障碍物

The file was modifieddata/obstacle/ogm.hpp
The file was modifieddata/ssep/ssep_util.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/ssep/reverse_ec.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/ssep/ssep_util.hpp
The file was modifiedsink/ros_sink_og_line_segments.cpp
Commit 3abb45ee4435e1dc8c7838595f583f8dac201eb6 by tangwenqing
chore: SSEP: 

1. 拆分普通guide line与云端remote guide line。
2. 最后一段路径为倒车路径时，将终点后方区域设置为禁行区域。
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/coarse_search/data_structure/directional_path.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/common/def/ssep_input.hpp
The file was modifiedssep/ssep_planner.h
Commit e8942e3fc90f02b82aa9e2345c47b4e54aa1a270 by tangwenqing
feat: 进出堆场场景中，如果存在云端remote guide line的话，进入参考线跟随搜索模式。

The file was modifieddata/app/reaction/app_reaction.hpp
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifieddata/ssep/ssep_ec.cpp
Commit deb6c6f53d137384d8ba57b939cf535e4737034e by tangwenqing
chore: SSEP: imv optimizer参数调试

The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/ssep_planner.cc