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Changes

Summary

  1. feat: SSEP: keb optimizer优化多段路径。car模型适配keb optimizer。 (details)
  2. feat: ssep_data中保存重规划原因 (details)
  3. fix: SSEP: 修复car+optimizer中代码的bug (details)
  4. feat: SSEP: 增加IMV-either-facing-goal搜索功能（可以头朝前也可以尾朝前） (details)
  5. feat: SSEP: 增加集卡多段倒车场景 (details)
  6. fix: wbca bd expanding. (details)
Commit af06d40a9c93410b70af80c0a7a567fdcdc9e2bf by tangwenqing
feat: SSEP: keb optimizer优化多段路径。car模型适配keb optimizer。

The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was addedssep/keb_optimizer/cost_features/curvature_cost.h
The file was modifiedssep/ssep_heat_net/inference_ml_trajectory_cli.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/keb_optimizer/cost_features/truck_kinematic_constraint.h
The file was addedssep/keb_optimizer/cost_features/soft_disk_collision_cost.h
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/keb_optimizer/cost_features/tractor_trailer_kinematic_constraint.h
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/keb_optimizer/data_structure.h
Commit 4b484fe1c68b82f2cec136f8ff46093fc81216d0 by tangwenqing
feat: ssep_data中保存重规划原因

The file was modifieddata/decide/decide_reaction.hpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/plan/ssep_data.hpp
The file was modifiedtasks/deciders/search_decider/forward_search_decider.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit cefa5a09de39a144c872149d480be9276a6a4058 by tangwenqing
fix: SSEP: 修复car+optimizer中代码的bug

The file was modifiedssep/keb_optimizer/cost_features/curvature_cost.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit d0500b751819bfe5c281dfbc993ab848ea89d1ca by tangwenqing
feat: SSEP: 增加IMV-either-facing-goal搜索功能（可以头朝前也可以尾朝前）

The file was modifiedssep/ssep_planner.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/ssep_planner.cc
The file was addedssep/coarse_search/geometric_searcher/conditions/path_direction_condition.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/conditions/along_lane_condition.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
Commit a193839bd84db355132d1d6a326861fe47276f7b by tangwenqing
feat: SSEP: 增加集卡多段倒车场景

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/common/def/ssep_scenario_type.hpp
Commit b87283f764a230ae850ebacb69489c7210a44636 by 5081703.cr
fix: wbca bd expanding.

The file was modifiedalgorithm/wbca/occupancy_grid_map/data_render.cpp