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Summary

  1. feat:在pnc_debug中增加observer_debug (details)
Commit 925cd122c6b96226531630b153beaf9075cd4681 by wuyanjun110
feat:在pnc_debug中增加observer_debug
The file was modifiedpnc_debug_msgs/CMakeLists.txt
The file was modifiedpnc_debug_msgs/msg/CtrlDebug.msg
The file was addedpnc_debug_msgs/msg/ObserverDebug.msg

Summary

  1. feat:修复出堆场口 提前进入动态搜索的bug (details)
  2. feat:反向进T场，搜索失败 (details)
  3. fix:pjpo标志位赋值的bug (details)
  4. feat:出堆场口 约束调整 (details)
  5. feat:open space 区域 赋值 no straight (details)
  6. feat:opensapace 搜索晚的问题 (details)
  7. fix:修复可能的崩溃bug (details)
  8. fix:调整限速的问题 (details)
  9. fix:修复可能的崩溃bug (details)
  10. feat:西连停车位，添加约束 (details)
  11. Revert "fix:修复可能的崩溃bug" (details)
  12. feat:指令变道后， 仍然可以进行靠近终点变道 (details)
  13. fix:修复停车位方向切换的问题 (details)
  14. feat:进充电桩搜索失败的bug (details)
  15. fix:修复参考拼接的bug (details)
  16. fix:苏溪进出堆场搜索失败的bug (details)
  17. feat:删除打印日志 (details)
  18. feat:扩多个lane的region，只获取一段的bug (details)
  19. fix:修复引导线拼接的bug (details)
  20. feat:调整停车位开始变道的距离 (details)
  21. feat:变道安全和变道临停， 因障碍物晃，导致冲突的问题， 添加buffer (details)
  22. fix:关路禁停的bug (details)
  23. fix:引桥 途径点 没有清除的bug (details)
  24. 仿真中跑通进出充电桩 (details)
  25. fix:修复速度大于40km/h时.减速曲线的bug (details)
  26. fix: 修复了轨迹平滑时，边界约束为0时，轨迹位置仍会改变的bug (details)
  27. fix:修复在平滑状态下， 限速的bug (details)
  28. fix:修复ssep搜索时，聚类og点使用的bug (details)
  29. chore: 适配HD-Map改动-一个堆场对应多个堆场口 (details)
  30. fix: 修复方向切换时延长失效的问题，增大对tunnel constraint的前向响应距离 (details)
  31. fix:修复搜索失败的bug (details)
  32. refctor:优化对准逻辑 (details)
  33. fix:优化对准的逻辑 (details)
  34. feat:添加变道状态机状态 (details)
  35. feat:变道延迟时间参数化 (details)
  36. fix:修复变道过程中，当前车道突变的bug (details)
  37. feat:进出堆场约束的调整 (details)
  38. fix:苏溪 修复 集卡进单车道堆高机场搜索失败的bug (details)
  39. merge latest ssep (details)
  40. fix: 解决imv出充电桩离障碍物过近的问题 (details)
  41. fix: start velocity limitation. (details)
  42. fix:velocity profile optimization. (details)
  43. fix: high speed wbca bug. (details)
  44. fix: residual = 40.0 (details)
  45. fix: 解决imv出充电桩离障碍物过近的问题 (details)
  46. fix: 回退老版本的tt_hybrid_astar逻辑，提高杨浦搜索成功率 (details)
  47. feat: 新搜索框架添加gui 可视化功能 (details)
  48. feat: 新搜索框架添加gui 可视化功能 (details)
  49. fix: 修复ssep搜索轨迹tractor-trailer拖车角度错误的问题 (details)
  50. fix: 修复ssep搜索轨迹tractor-trailer拖车角度错误的问题 (details)
  51. feat: ssep: tt 搜索中，使用guide line匹配终点 (details)
  52. feat: ssep: tt 搜索中，使用guide line匹配终点 (details)
  53. fix: using pnc upper speed limit for wbca. (details)
  54. fix: wbca start vel bug. (details)
  55. fix: using his when esdf=null. (details)
  56. fix: obstacle_decider bug. (details)
  57. fix:修复对准标志位请求不复位的bug (details)
  58. fix: obstacle_decider bug. (details)
  59. fix:修复对准标志位请求不复位的bug (details)
  60. fix:修复对准标志位请求不复位的bug (details)
  61. feat:openspace场景调用老的ssep算法 (details)
  62. feat:openspace场景调用老的ssep算法 (details)
  63. feat:打开红绿灯路口停车功能 (details)
  64. feat:调整红绿灯停车的逻辑 (details)
  65. feat:wcba限速添加参数 (details)
  66. feat:imv 变道的安全校验参数化 (details)
  67. feat:优化红绿灯停车 (details)
  68. fix:合并的bug (details)
  69. feat:调整缩小安全距离的参数 (details)
  70. fix:调整红绿灯停车的刹车值 (details)
  71. fix:修复uturn路径误过滤的bug (details)
  72. fix:误进入倒车控制器的bug (details)
  73. feat:车车道出堆场不添加双黄线约束 (details)
  74. feat: 加入双向搜索，太阳纸业支持car倒车入库。 (details)
  75. chore: ssep多段倒车入库根据测试结果调整搜索逻辑 (details)
  76. fix: ssep加保护逻辑，不考虑距离过远的途经点 (details)
  77. chore: ssep-car多段倒车入库减小双向搜索时两段路径连接处跳变 (details)
  78. chore: ssep-car 多段倒车入库，提升倒车二次搜索成功率 (details)
  79. chore: ssep-car-多段倒车入库提升成功率 (details)
  80. feat: ssep-拖车进出堆场时，使用双向搜索作为fallback searcher。 (details)
  81. feat: merge latest ssep - 跑通双向搜索fallback进堆场 (details)
  82. fix: 修复ssep路径终点离设定终点过远的问题 (details)
  83. fix: 修复ssep路径终点离设定终点过远的问题 (details)
  84. feat:吊距防护相关的优化 (details)
  85. feat: ssep-离线障碍物配置框架 (details)
  86. fix: correct imv crab mode conditions. (details)
  87. feat: 加入双向搜索，太阳纸业支持car倒车入库。 (details)
  88. chore: ssep多段倒车入库根据测试结果调整搜索逻辑 (details)
  89. fix: ssep加保护逻辑，不考虑距离过远的途经点 (details)
  90. chore: ssep-car多段倒车入库减小双向搜索时两段路径连接处跳变 (details)
  91. chore: ssep-car 多段倒车入库，提升倒车二次搜索成功率 (details)
  92. chore: ssep-car-多段倒车入库提升成功率 (details)
  93. feat: ssep-拖车进出堆场时，使用双向搜索作为fallback searcher。 (details)
  94. fix: Remove file (details)
  95. chore: ssep-car多段倒车 提升二次搜索成功率 (details)
  96. fix: 修复ssep路径终点离设定终点过远的问题 (details)
  97. feat: 增加候选起点策略 (details)
  98. feat: 增加候选起点策略 (details)
  99. feat:适配 感知105类型 (details)
  100. feat:倒车入库后，前向步进的问题 (details)
  101. feat:完善变道触发的条件 (details)
  102. fix:  stationary steering logic. (details)
  103. fix:变道场景切换的bug (details)
  104. fix:路径方向切换时，终点距离计算的bug (details)
  105. fix:修复路径拼接的bug (details)
  106. feat:优化ssep的参数载入 (details)
  107. fix:重复进行四阶段的bug (details)
  108. feat:吊距临停阈值和2nd 切换 lock 阈值一致 (details)
  109. feat:3阶段过程中，假如吊具着箱，不进行4阶段对准 (details)
  110. chore: SSEP: Decrease tractor-trailer bi-direction search time limit. (details)
  111. feat:变道是否考虑身边的障碍物默认值修改成true (details)
  112. feat:修改ssep碰撞检测阈值 (details)
  113. chore: SSEP: 自卸车普通搜索终点车道匹配只允许匹配给定终点以后的位置 (details)
  114. feat:修改开始对准的阈值 (details)
  115. fix:修复bulk 状态下， 不自动对准的bug (details)
  116. fix:修复更新目标车道使用历史数据的bug (details)
  117. fix:龙须点处理的bug (details)
  118. fix:出堆场搜索的真实障碍物添加的bug (details)
  119. feat:适配路边作业场景 (details)
  120. feat: SSEP: 1. IMV增加pullover场景处理终点偏移。2. 添加keb optimizer (details)
  121. fix: 修复掉头场景的终止条件判断不能正确匹配车道的问题 (details)
  122. fix:修复方向切换的bug (details)
  123. feat: SSEP: 进堆场场景使用双向搜索+keb_optimizer (details)
  124. chore: SSEP: 自卸车普通搜索终点车道匹配只允许匹配给定终点以后的位置 (details)
  125. feat: 进堆场使用双向搜索+keb优化 (details)
  126. chore: keb-optimizer增加曲率约束校验 (details)
  127. fix: 修复起点终点过远时反向搜索失效的问题 (details)
  128. fix: reversing debug. (details)
  129. chore: SSEP: import tensorrt into ssep (details)
  130. feat:合并的bug (details)
  131. fix:修复og lines 使用的bug (details)
  132. fix:方向切换的bug (details)
  133. feat:添加强制前向搜索的标志位 (details)
  134. fix:修复地图包略当前段计算的bug (details)
  135. refactor:优化adjust 切换lock的条件 (details)
  136. fix:修复lock 不切换adjust的bug (details)
  137. chore: ssep: 将Map envelop 转为 constraint，容许轻微违反约束-不超过0.5m (details)
  138. feat: 1. 前港 lock 和 adjust 来回切换的bug  2. 太阳 接受新任务， 状态机切换的bug (details)
  139. feat:储存的消息中添加车辆当前位置 (details)
  140. feat:park lock 下不重新搜索 (details)
Commit 4794e273530cab00748ad40aae44e4c5a6c2a301 by wuyanjun110
feat:修复出堆场口 提前进入动态搜索的bug

The file was modifieddata/scenario/scenario_region_condition.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 5b4e67347a8dee91ee69901d847d55492e33b108 by wuyanjun110
feat:反向进T场，搜索失败

The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit d6f3007d959b7af542dce75ee9610bbd01d0dd5b by wuyanjun110
fix:pjpo标志位赋值的bug

The file was modifiedscenarios/scenario.cpp
Commit 9c54233e0559b78c627081ad91d38329b9050466 by wuyanjun110
feat:出堆场口 约束调整

The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit ec1b1fb1eabd765648b332bc5c640d9fa4fbe79d by wuyanjun110
feat:open space 区域 赋值 no straight

The file was modifiedplan/prepare/prepare_status.cpp
Commit 32b35caefc9f499ec50931e2624f6aacdab2fcc4 by wuyanjun110
feat:opensapace 搜索晚的问题

The file was modifieddata/scenario/scenario_region_condition.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 0ff8b339b1ed0b08436f80df43fdc11c8a0d13e8 by wuyanjun110
fix:修复可能的崩溃bug

The file was modifiedscripts/ssep_tool/__pycache__/ssep.cpython-38.pyc
The file was modifiedCMakeLists.txt
Commit 4ed5a2108f535f8f4ea4c41d490a69aeedf9ba33 by wuyanjun110
fix:调整限速的问题

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 402253d845c994c3168d46d5e8d2e4082484596c by wuyanjun110
fix:修复可能的崩溃bug

The file was modifiedtasks/other_tasks/stitch_path_to_reference_line.cpp
Commit 15479b43c45571e5db6da60553d11b8aaf0613c3 by wuyanjun110
feat:西连停车位，添加约束

The file was modifieddata/config/cfg_ssep.cpp
Commit cdfee867db219ddbe230950bb3464fd3f83dccc0 by wuyanjun110
Revert "fix:修复可能的崩溃bug"

This reverts commit 0ff8b339b1ed0b08436f80df43fdc11c8a0d13e8.
The file was modifiedCMakeLists.txt
The file was modifiedscripts/ssep_tool/__pycache__/ssep.cpython-38.pyc
Commit 3b416a9419a8b5dd851d4d7105c8a249613532c9 by wuyanjun110
feat:指令变道后， 仍然可以进行靠近终点变道

The file was modifieddata/plan/switch_data.cpp
Commit 8e0bbc5014707f66bc8062735141a7200d934a28 by wuyanjun110
fix:修复停车位方向切换的问题

The file was modifieddata/other/flow_control.hpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/app/fsm/task_fsm/task_travel/task_travel_fsm.cpp
The file was modifieddata/vehicle/vehicle_destination.cpp
The file was modifieddata/scenario/scenario_planner_condition.cpp
Commit 6e6b97eeeb6484dd8198c2040ef0699e9834c1f1 by wuyanjun110
feat:进充电桩搜索失败的bug

The file was modifieddata/config/cfg_ssep.cpp
Commit 92ffb92586a2c4d71bfbb715cd0157487fefc934 by wuyanjun110
fix:修复参考拼接的bug

The file was modifiedtasks/other_tasks/stitch_path_to_reference_line.cpp
Commit 17bd9a64e2f1db79d1792695b3e4ae9d451bb5bb by wuyanjun110
fix:苏溪进出堆场搜索失败的bug

The file was modifieddata/ssep/out_yard_junction_ec.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit ac2614e66ee8affed8397810892481e5babde607 by wuyanjun110
feat:删除打印日志

The file was modifiedtasks/other_tasks/stitch_path_to_reference_line.cpp
Commit d12ef557e93c001f6045f4dae77e0fe6baadd8ab by wuyanjun110
feat:扩多个lane的region，只获取一段的bug

The file was modifieddata/map/pnc_map/pnc_map_path.cpp
Commit bf858adef6f519e908edf4b6507e86fa37bb3975 by wuyanjun110
fix:修复引导线拼接的bug

The file was modifieddata/plan/guide_line.cpp
Commit 5fc9192423fccceb4457cefa0942edf5bb69accc by wuyanjun110
feat:调整停车位开始变道的距离

The file was modifieddata/config/cfg_env_const.cpp
Commit c537884abde9268a0cdb5c8e8fa57537899cc68a by wuyanjun110
feat:变道安全和变道临停， 因障碍物晃，导致冲突的问题， 添加buffer

The file was modifieddata/plan/switch_data.cpp
Commit ace473511171f282a13769aca1a71b663e9555aa by wuyanjun110
fix:关路禁停的bug

The file was modifieddata/constrain/block_data.cpp
Commit 4edb10c4e942b3b94b8939ab821c82fcd0b52a67 by wuyanjun110
fix:引桥 途径点 没有清除的bug

The file was modifieddata/app/reaction/app_reaction.cpp
Commit e5e34c1bf06ba8533229922aee586a49572607e5 by tangwenqing
仿真中跑通进出充电桩
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit eaab0579d39379d638cdc64ae9ec78fcfa64ca99 by wuyanjun110
fix:修复速度大于40km/h时.减速曲线的bug

The file was modifieddata/plan/start_point_data.cpp
The file was modifieddata/constrain/long_target.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/config/cfg_long_plan.hpp
Commit ff2f1a190f655a03d28720eea2e4f8b40eb294d8 by tangwenqing
fix: 修复了轨迹平滑时，边界约束为0时，轨迹位置仍会改变的bug

The file was modifiedssep/smoother/safety_corridor_smoother.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/general_hybrid_astar_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/general_hybrid_astar_searcher_builder.h
Commit 3ea4e24ffbbe14446efe38c0e7c859e85e877f46 by wuyanjun110
fix:修复在平滑状态下， 限速的bug

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit a5f2b93a98420a1faeb99e39c63e87a3fa17c0d5 by wuyanjun110
fix:修复ssep搜索时，聚类og点使用的bug

The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifieddata/ssep/ssep_ec.cpp
Commit 698c19b283cc1791e2ad3e4cb2ad38b114c1e574 by tangwenqing
chore: 适配HD-Map改动-一个堆场对应多个堆场口

The file was modifiedssep/common/utils/map_element_utils.hpp
The file was addedssep/ssep_heat_net/ssep_heat_net.h
The file was modifiedssep/main_test/main_ssep_input.cc
The file was addedssep/ssep_heat_net/inference_ml_trajectory_cli.cc
The file was modifieddata/ssep/ssep_ec.cpp
The file was addedssep/ssep_heat_net/standarization_params.h
The file was addedssep/ssep_heat_net/ssep_heat_net.cc
Commit 064d2328976821cc551f04be981e326941c30b54 by tangwenqing
fix: 修复方向切换时延长失效的问题，增大对tunnel constraint的前向响应距离

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
Commit 637bcb3a4d6338d67668b38c729b42d4953e675c by wuyanjun110
fix:修复搜索失败的bug

The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 24717aefab0e40e88eba9cc9a443f628d50a7bea by wuyanjun110
refctor:优化对准逻辑

The file was modifieddata/vehicle/vehicle_destination.cpp
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
The file was modifieddata/app/cmd/cmd_align.cpp
The file was modifiedplan/prepare/prepare_status.cpp
Commit d237d88bf056df82956de38cd36a41644b0fb362 by wuyanjun110
fix:优化对准的逻辑

The file was modifieddata/app/cmd/cmd_align.cpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
The file was modifiedplan/prepare/prepare_status.cpp
Commit 8dbaf1a364a4fef14b0dadc347126d38d1e20e72 by wuyanjun110
feat:添加变道状态机状态

The file was modifiedsink/ros_sink_ads_hfsm_state.cpp
Commit 0ac3b949ee3d5e6b6c1b89752e1eefc8097e4080 by wuyanjun110
feat:变道延迟时间参数化

The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/plan/switch_data.cpp
Commit 3ac7a00fd4d7aa9ad6bae7ef0b69e68f3fb63b55 by wuyanjun110
fix:修复变道过程中，当前车道突变的bug

The file was modifieddata/plan/switch_data.cpp
Commit f84a8f89a64e6a6825d7ff3d21dc46e917e77a48 by wuyanjun110
feat:进出堆场约束的调整

The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit a33f34957e0b6909d8f083e6ed549b8bb51197fc by wuyanjun110
fix:苏溪 修复 集卡进单车道堆高机场搜索失败的bug

The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 309c6bb716723306519d34161aed000a417358ed by tangwenqing
merge latest ssep
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was addedssep/coarse_search/geometric_searcher/conditions/trailer_relative_angle_condition.h
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/geometric_search_visualizer.cc
The file was modifiedssep/tools/scene_data_generator/ogm_builder/ogm_builder.cc
The file was modifiedssep/tools/scene_data_generator/generate_scene_data_cli.cc
The file was modifiedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.h
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/ssep_heat_net/inference_ml_trajectory_cli.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/ref_line_cost_computer.h
The file was modifiedssep/ogm_map/ogm.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/ogm_map/ogm.h
The file was addedssep/tools/scene_data_generator/state_augment_util.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_collision_cost_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/ref_line_heuristic_computer.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/composed_motion_primitive_sampler.h
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifiedssep/common/def/ssep_input.hpp
The file was modifiedssep/ssep_heat_net/ssep_heat_net.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/bulk_yard_reasoner.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/ilqr_motion_primitive_sampler.cc
Commit 234692cbd21448d78712df1df1038c105f3c8941 by tangwenqing
fix: 解决imv出充电桩离障碍物过近的问题

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/CMakeLists.txt
Commit 03caa081fbe6fb1b12926668e747a97852d2d3e2 by 5081703.cr
fix: start velocity limitation.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 76a2ee2379f427b09084fa5696d820f2763022e2 by 5081703.cr
fix:velocity profile optimization.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
The file was modifiedalgorithm/wbca/linear_velocity_generator.hpp
Commit 7fee9e4e4f954954a6c39892f1ac64c5091769e5 by 5081703.cr
fix: high speed wbca bug.

The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
The file was modifiedalgorithm/wbca/linear_velocity_generator.hpp
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 828dc8cfe9ac785e29b6851a425f7139fa0426fa by 5081703.cr
fix: residual = 40.0
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit b8669b615eaa1eba6cef89dce1c6a22208af4bae by tangwenqing
fix: 解决imv出充电桩离障碍物过近的问题

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/CMakeLists.txt
Commit b9a071f48d16d79de636d2f69d30f91e5c88f393 by tangwenqing
fix: 回退老版本的tt_hybrid_astar逻辑，提高杨浦搜索成功率

The file was modifiedssep/coarse_search/hybrid_a_star_tt.cc
Commit 8326a4640abf8503484f904fdaadd2788d413c97 by tangwenqing
feat: 新搜索框架添加gui 可视化功能

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
Commit aecb4ce494184c15a085fb601b336a0fa4ef534a by tangwenqing
feat: 新搜索框架添加gui 可视化功能

The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit 265a3a0db34f2c5614355cc2eae078745104180f by tangwenqing
fix: 修复ssep搜索轨迹tractor-trailer拖车角度错误的问题
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/data_structure/polyline.cc
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/main_test/main_ssep_input.cc
Commit 67a07fd307b71e5d8f6935382eceac51a2ecaf0a by tangwenqing
fix: 修复ssep搜索轨迹tractor-trailer拖车角度错误的问题
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/data_structure/polyline.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifieddata/ssep/ssep_activation.cpp
Commit 968494451d407a4793b5f2135a144dd3c2b7a75f by tangwenqing
feat: ssep: tt 搜索中，使用guide line匹配终点

The file was modifiedssep/coarse_search/data_structure/polyline.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.h
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.cc
The file was modifiedssep/coarse_search/data_structure/polyline.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
Commit c4b86f6c94cad909b16a0905a77fb0bd8c7121f0 by tangwenqing
feat: ssep: tt 搜索中，使用guide line匹配终点

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.h
The file was modifiedssep/coarse_search/data_structure/polyline.cc
The file was modifiedssep/coarse_search/data_structure/polyline.h
Commit eba6389af9f0e7acf3891b94acde638437960078 by 5081703.cr
fix: using pnc upper speed limit for wbca.

The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
Commit ac46b4f3bc6844c63fa5e27f3a3550db36ea4d49 by 5081703.cr
fix: wbca start vel bug.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit b98ae2a1a9f840c70d1d37a1d2a4dfc9682c90ef by 5081703.cr
fix: using his when esdf=null.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit a187e76ce21139b7cc2de165df05c822b053d4dc by 5081703.cr
fix: obstacle_decider bug.

The file was modifieddata/obstacle/obstacle_decider_attr.cpp
Commit 178b4f17112cdf0209ba6b5adef5853bbdebc214 by wuyanjun110
fix:修复对准标志位请求不复位的bug

The file was modifieddata/app/cmd/cmd_align.cpp
Commit 846c0c71b191ac09917ac707ed9804e24e11d8b9 by wuyanjun110
fix: obstacle_decider bug.

The file was modifieddata/obstacle/obstacle_decider_attr.cpp
Commit 82b2556450ca2b21ddb81be5722df2f6f7c3cc7e by wuyanjun110
fix:修复对准标志位请求不复位的bug

The file was modifieddata/app/cmd/cmd_align.cpp
Commit 43001e65cb0c3b2e6849791122dd137e88112f2c by wuyanjun110
fix:修复对准标志位请求不复位的bug

The file was modifieddata/app/cmd/cmd_align.cpp
Commit e6187c8e09cf6e89f13072e32fa0e79350d0ea39 by wuyanjun110
feat:openspace场景调用老的ssep算法

The file was modifieddata/ssep/ssep_ec.cpp
Commit 42923f47a26b0fc741ed18d6f92b7d10cbab8385 by wuyanjun110
feat:openspace场景调用老的ssep算法

The file was modifieddata/ssep/ssep_ec.cpp
Commit 8aec2c3858c759bb9d1c411ebde05d0ed5213c68 by wuyanjun110
feat:打开红绿灯路口停车功能

The file was modifieddata/constrain/pnc_junction.cpp
Commit bfd7897845ca38b67691492d3217f946f7465662 by wuyanjun110
feat:调整红绿灯停车的逻辑

The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/plan/guide_line_base.hpp
The file was modifieddata/constrain/block_data.cpp
Commit 0f2c0ea0212547678989a52223119a37ebfb9673 by wuyanjun110
feat:wcba限速添加参数

The file was modifieddata/lattice/trajectory_evaluator.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/config/cfg_func_sw.cpp
Commit fd133a2ceaeaed828be1292074d049e59ae3bf5d by wuyanjun110
feat:imv 变道的安全校验参数化

The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/plan/switch_data.cpp
Commit 749219bf13ce569e8153aa95290e7075da093313 by wuyanjun110
feat:优化红绿灯停车

The file was modifieddata/constrain/block_data.cpp
The file was modifiedhmi/draw/draw_map.cpp
Commit 9b89e68efdd9d8e80e9e7df05210bbc03ad5080f by wuyanjun110
fix:合并的bug

The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/ssep/ssep_ec.hpp
Commit 2282c6f06407cbfb5d8ef37f429013e6637ef2d4 by wuyanjun110
feat:调整缩小安全距离的参数

The file was modifieddata/config/cfg_long_plan.cpp
Commit 816aa6ae80895b523be4fc8b8c9b068811de86fd by wuyanjun110
fix:调整红绿灯停车的刹车值

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit b2b70f9198dad03a15aaffa4a3b4242e5f4cd679 by wuyanjun110
fix:修复uturn路径误过滤的bug

The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
Commit eb9b0b9376be930fe48d85d4cad38ecb2561b023 by wuyanjun110
fix:误进入倒车控制器的bug

The file was modifieddata/scenario/scenario_planner_condition.cpp
Commit d572cf0b77b8589b0bf4d94fd9a704698955b173 by wuyanjun110
feat:车车道出堆场不添加双黄线约束

The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit ca055c19aecb27807f17f08bb5e8b3c569cc7db5 by tangwenqing
feat: 加入双向搜索，太阳纸业支持car倒车入库。
The file was modifiedssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.cc
The file was addedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/reverse_primitive_decorator.h
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
The file was addedssep/coarse_search/geometric_searcher/search_engine_interface.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifieddata/ssep/forward_ec.cpp
The file was addedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/ref_line_cost_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/indexed_priority_queue.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive.h
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.h
The file was modifiedssep/influence_map/sl_projection_map.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/ref_line_heuristic_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
The file was modifiedssep/coarse_search/geometric_searcher/state_hasher.h
Commit f301a3cf03e19a4825cca76cc5c4557b7dfac3ac by tangwenqing
chore: ssep多段倒车入库根据测试结果调整搜索逻辑

The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 951fdc1c0709f1ac53ff0afaf09801ba983c6472 by tangwenqing
fix: ssep加保护逻辑，不考虑距离过远的途经点

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 4b0158e309e8862795414acd20d1d7de75297bf4 by tangwenqing
chore: ssep-car多段倒车入库减小双向搜索时两段路径连接处跳变
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.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/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.h
Commit 5c1f04b3205737b6acf86cbd11fdfede3e75b1f6 by tangwenqing
chore: ssep-car 多段倒车入库，提升倒车二次搜索成功率

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 24f34b53c7ba189f0865c30f9a1efe18496a70a2 by tangwenqing
chore: ssep-car-多段倒车入库提升成功率

The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
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/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
Commit bb73e0dd27d05fe8433eb4f30d01dc82f8522dde by tangwenqing
feat: ssep-拖车进出堆场时，使用双向搜索作为fallback searcher。

The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.cc
The file was addedssep/coarse_search/geometric_searcher/search_engine_interface.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifieddata/config/cfg_ssep.cpp
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifieddata/config/cfg_ssep.hpp
Commit 598f72e651ae32b71634c8a887a73f2cd8fad8ce by tangwenqing
feat: merge latest ssep - 跑通双向搜索fallback进堆场

The file was removedssep/coarse_search/geometric_searcher/search_engine_interface.cc
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/config/cfg_ssep.cpp
The file was modifieddata/config/cfg_ssep.hpp
Commit df80915070f734509f3cffc9f3063018bdf350f1 by tangwenqing
fix: 修复ssep路径终点离设定终点过远的问题

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
Commit 86264b238528b6a4504d767ca416caa5eebe0a97 by tangwenqing
fix: 修复ssep路径终点离设定终点过远的问题

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
Commit d7b81077fcc05698a8198155381bfca0e31ab3a4 by wuyanjun110
feat:吊距防护相关的优化

The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/vehicle/spreader_protect.cpp
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
The file was modifiedhmi/widget/diagnose.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 8b3ac1f45236d58e541cf7c92a89897905e87774 by tangwenqing
feat: ssep-离线障碍物配置框架

The file was addeddata/ssep/offline_obstacles_loader.cpp
The file was modifiedhmi/draw/draw_map.cpp
The file was addeddata/ssep/offline_obstacles_loader.hpp
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifieddata/ssep/ssep_ec.cpp
Commit ed148558f9af93bcad5e692511ef10bf126032ee by 5081703.cr
fix: correct imv crab mode conditions.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 47b3336c43545750f24f41ea08ef054689c901e3 by tangwenqing
feat: 加入双向搜索，太阳纸业支持car倒车入库。

The file was modifiedssep/coarse_search/geometric_searcher/indexed_priority_queue.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/ssep_planner.cc
The file was addedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was addedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/influence_map/sl_projection_map.cc
The file was addedssep/coarse_search/geometric_searcher/search_engine_interface.h
The file was modifiedssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/geometric_searcher/state_hasher.h
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/reverse_primitive_decorator.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/ref_line_heuristic_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/ref_line_cost_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
The file was modifiedssep/common/def/ssep_scenario_type.hpp
Commit 4fea7122b6fca58b5853de3a50038219b4218494 by tangwenqing
chore: ssep多段倒车入库根据测试结果调整搜索逻辑

The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
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.h
Commit bf4817cd030a9d2fbf2d4a99115c5471214a462b by tangwenqing
fix: ssep加保护逻辑，不考虑距离过远的途经点

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 0ea10f6af73fa4d6c00dacddbb5927749286815c by tangwenqing
chore: ssep-car多段倒车入库减小双向搜索时两段路径连接处跳变
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/common/def/ssep_scenario_type.hpp
Commit fbe5772a016c9a05e4ca06c20241d05c29ce410a by tangwenqing
chore: ssep-car 多段倒车入库，提升倒车二次搜索成功率

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit bbdf23141cb6fe372604a3d828dadb19c516bd2e by tangwenqing
chore: ssep-car-多段倒车入库提升成功率

The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit f0cf14baa220494a030c678755853ecb45ec8c4a by tangwenqing
feat: ssep-拖车进出堆场时，使用双向搜索作为fallback searcher。

The file was modifieddata/config/cfg_ssep.hpp
The file was addedssep/coarse_search/geometric_searcher/search_engine_interface.cc
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifieddata/config/cfg_ssep.cpp
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 8e6a3aba3c677d6a9bcaaf94cd05d6d2d9179789 by tangwenqing
fix: Remove file

The file was removedssep/coarse_search/geometric_searcher/search_engine_interface.cc
Commit f3ddeb8ccb4b7f291771c0a50bae73a523c93d83 by tangwenqing
chore: ssep-car多段倒车 提升二次搜索成功率

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 20fb944b1778b74adf6216d8c153d83bd03e7916 by tangwenqing
fix: 修复ssep路径终点离设定终点过远的问题

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
Commit 0f6ee489db3235ccfc5be9d3822817494a575531 by tangwenqing
feat: 增加候选起点策略

The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit fe38afd7bf5564757d5f1585462aeae3be77a156 by tangwenqing
feat: 增加候选起点策略

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/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
Commit a9be8f6d57c9ae6da6e23b516351bacb7fa3c482 by wuyanjun110
feat:适配 感知105类型

The file was modifieddata/boundary/driving_corridor.cpp
The file was modifiedhmi/draw/draw_perception.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit ca8e06a804e7ac2a0e173a3969aef356cd50db73 by wuyanjun110
feat:倒车入库后，前向步进的问题

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
Commit 20523207a788022cabfc2228ca13dc135f364ad3 by wuyanjun110
feat:完善变道触发的条件

The file was modifieddata/scenario/scenario_planner_condition.cpp
The file was modifieddata/scenario/scenario_planner_bt.cpp
Commit 077df7c141fcbcce4ca82aaa4ad0b4ba7ac66014 by 5081703.cr
fix:  stationary steering logic.

The file was modifiedplan/prepare/prepare_status.cpp
The file was modifiedplan/prepare/prepare_status.hpp
The file was modifiedsink/ros_sink_ctrl_reference.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp
The file was modifieddata/vehicle/vehicle_status.hpp
Commit 58853a3124a1f0da34cff15e29425e4148b0568c by wuyanjun110
fix:变道场景切换的bug

The file was modifieddata/scenario/scenario_planner_bt.cpp
Commit 8c32145970fcbac68f5a0bdeca313a6e814c62e9 by wuyanjun110
fix:路径方向切换时，终点距离计算的bug

The file was modifieddata/vehicle/vehicle_destination.cpp
Commit 27661234d2f87ad22957e6111cbd9c10c7c0f6e7 by wuyanjun110
fix:修复路径拼接的bug

The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
Commit f251ea239a0ca5da87da8260be610038920686ea by wuyanjun110
feat:优化ssep的参数载入

The file was modifieddata/config/cfg_ssep.cpp
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/config/cfg_ssep.hpp
Commit aa07466414472066f2d2c33aac3eacb91257ac99 by wuyanjun110
fix:重复进行四阶段的bug

The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
Commit 140a14d9cfbd9ee13f2acb3b2480f6bfc3a0073f by wuyanjun110
feat:吊距临停阈值和2nd 切换 lock 阈值一致

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 68c8461c7bdede9cb467c7d30ba82c1947e0d95a by wuyanjun110
feat:3阶段过程中，假如吊具着箱，不进行4阶段对准

The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
Commit bcc547ae15273cc37436c152f69359fa1f0310d1 by tangwenqing
chore: SSEP: Decrease tractor-trailer bi-direction search time limit.
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 222cea7941255fd6e10413089be63f21cfa04d13 by wuyanjun110
feat:变道是否考虑身边的障碍物默认值修改成true

The file was modifieddata/config/cfg_func_sw.cpp
Commit 44e45ebb95dcb780a76e4e751bb8347de5cc7201 by wuyanjun110
feat:修改ssep碰撞检测阈值

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit f2165ed7b3e2d55f5b58701c0861a93baf896e92 by tangwenqing
chore: SSEP: 自卸车普通搜索终点车道匹配只允许匹配给定终点以后的位置

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
Commit 3ff331ae3ec1e9adf577b51c41cce8daf27edc7f by wuyanjun110
feat:修改开始对准的阈值

The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp
The file was modifieddata/config/cfg_env_const.hpp
Commit b3bf1cb674000faabc6184808e4ede6213fbbb15 by wuyanjun110
fix:修复bulk 状态下， 不自动对准的bug

The file was modifieddata/plan/path_direction_data.cpp
Commit 3925c7b0422f97df56b65747f525d2c03558cbd6 by wuyanjun110
fix:修复更新目标车道使用历史数据的bug

The file was modifieddata/map/reference/center_line.cpp
Commit c3bcb68d80ddd7c83be481820ad7d84ffa56dffa by wuyanjun110
fix:龙须点处理的bug

The file was modifiedplan/prepare/prepare_ogm.cpp
Commit 7c0bf187d15fc854adc5c4bab2809a2f9e9e055e by wuyanjun110
fix:出堆场搜索的真实障碍物添加的bug

The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit 501c30dbf29417182b5425bd28ec0e2ff4bb07c2 by wuyanjun110
feat:适配路边作业场景

The file was modifieddata/app/reaction/app_reaction.cpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifieddata/config/cfg_env_const.cpp
Commit cdd90696b7338dfa3c9cff1d0ad9b25a526b574e by tangwenqing
feat: SSEP: 1. IMV增加pullover场景处理终点偏移。2. 添加keb optimizer

The file was addedssep/keb_optimizer/keb_problem.cc
The file was addedssep/keb_optimizer/cost_features/jet_access.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/CMakeLists.txt
The file was addedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was addedssep/keb_optimizer/cost_features/trailer_disk_collision_cost.h
The file was modifiedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cc
The file was modifiedssep/influence_map/sl_projection_map.cc
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cc
The file was modifiedssep/influence_map/sl_projection_map.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedCMakeLists.txt
The file was addedssep/keb_optimizer/cost_features/disk_collision_cost.h
The file was addedssep/keb_optimizer/cost_features/pinch_cost.h
The file was addedssep/keb_optimizer/data_structure.h
The file was addedssep/keb_optimizer/cost_features/kinematic_constraint.h
The file was addedssep/keb_optimizer/keb_problem.h
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was addedssep/keb_optimizer/cost_features/dynamic_constraint.h
The file was addedssep/keb_optimizer/cost_features/path_length_cost.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was modifieddata/ssep/offline_obstacles_loader.cpp
Commit f211a2c6bd4030f2e780e68aaa38602653de4027 by tangwenqing
fix: 修复掉头场景的终止条件判断不能正确匹配车道的问题

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/common/utils/map_element_utils.hpp
Commit 0214abd92f2a3bdcbe8a9faa9d1994d3df0fe5e3 by wuyanjun110
fix:修复方向切换的bug

The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
The file was modifieddata/plan/path_direction_data.cpp
Commit 4ee7c73e83beee0f9408b5fa9975b2445ab652ff by tangwenqing
feat: SSEP: 进堆场场景使用双向搜索+keb_optimizer

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was addedssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
The file was addedssep/keb_optimizer/cost_features/state_constraint.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/ssep_planner.cc
The file was addedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
Commit 11e52b4481efa2a6cd5d5370a4bd7cd1f1c46aca by tangwenqing
chore: SSEP: 自卸车普通搜索终点车道匹配只允许匹配给定终点以后的位置

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
Commit 1da82c0f8995d7c5ff6d3a2b18228a12e025d51c by tangwenqing
feat: 进堆场使用双向搜索+keb优化

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was addedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/influence_map/sl_projection_map.h
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
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/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/influence_map/sl_projection_map.cc
The file was addedssep/keb_optimizer/cost_features/dynamic_constraint.h
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.h
The file was addedssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
The file was addedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cc
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.cc
The file was addedssep/keb_optimizer/cost_features/state_constraint.h
The file was addedssep/keb_optimizer/cost_features/trailer_disk_collision_cost.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was addedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was addedssep/keb_optimizer/cost_features/pinch_cost.h
The file was addedssep/keb_optimizer/cost_features/kinematic_constraint.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was addedssep/keb_optimizer/cost_features/path_length_cost.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.h
The file was addedssep/keb_optimizer/cost_features/jet_access.h
The file was addedssep/keb_optimizer/data_structure.h
The file was modifiedCMakeLists.txt
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/CMakeLists.txt
The file was addedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was addedssep/keb_optimizer/cost_features/disk_collision_cost.h
Commit 4bdb765f48bb4e7e9dc76b69f803d072b9ea7123 by tangwenqing
chore: keb-optimizer增加曲率约束校验

The file was modifiedssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit 62bc6832fbe022bdc96141855d2730ad3dd3b763 by tangwenqing
fix: 修复起点终点过远时反向搜索失效的问题

The file was modifiedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit 37595ddb5f1c788c3e740adca682c3b0246c88d1 by 5081703.cr
fix: reversing debug.

The file was modifieddata/other/flow_control.cpp
The file was modifieddata/vehicle/vehicle_destination.cpp
The file was modifieddata/plan/path_direction_data.cpp
Commit 4fef6eecc55fffb041b170539bfc280b652b3abd by tangwenqing
chore: SSEP: import tensorrt into ssep
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/conf/ssep_preprocess.yaml
The file was modifiedssep/CMakeLists.txt
The file was modified.gitignore
Commit d52908afb90de5ed0249c55821b016bcfa2f8477 by wuyanjun110
feat:合并的bug

The file was modifieddata/config/cfg_func_sw.hpp
Commit 4c06717f8cde0bdbba0cbce971721ff03c5e0ea0 by wuyanjun110
fix:修复og lines 使用的bug

The file was modifieddata/ssep/reverse_ec.cpp
The file was modifieddata/ssep/forward_ec.cpp
Commit 7f5c65bf3ce0f61dd41195bec2742af49fed3760 by wuyanjun110
fix:方向切换的bug

The file was modifieddata/plan/path_direction_data.cpp
Commit cbbaac08cbaa3637c9fc7f13a6127d9162419900 by wuyanjun110
feat:添加强制前向搜索的标志位

The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/other/flow_control.cpp
Commit 78777a9732149aeb3fcebade883c23abf02b91b9 by wuyanjun110
fix:修复地图包略当前段计算的bug

The file was modifieddata/other/flow_control.cpp
The file was modifieddata/map/envelop/map_envelop.cpp
The file was modifieddata/map/reference/reference_segment.cpp
The file was modifieddata/map/envelop/map_envelops.cpp
The file was modifieddata/map/envelop/map_envelop.hpp
Commit f7380e978e1da4264c4a782c7f2cc550b5984d62 by wuyanjun110
refactor:优化adjust 切换lock的条件

The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit dfe3e34e3cd5611df4e9a320149b5526898b4d5e by wuyanjun110
fix:修复lock 不切换adjust的bug

The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit fddb6e960340783b39e5a639fd9e8dca120e9e13 by tangwenqing
chore: ssep: 将Map envelop 转为 constraint，容许轻微违反约束-不超过0.5m

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/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/ssep_planner.cc
Commit 66335ecb5dae58a64b0d4eb20ad15ebb64c25687 by wuyanjun110
feat: 1. 前港 lock 和 adjust 来回切换的bug  2. 太阳 接受新任务， 状态机切换的bug

The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.cpp
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.hpp
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/task_park_state.hpp
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.hpp
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/park_base_fsm_transition.hpp
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/park_transition.cpp
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/park_transition.hpp
Commit e22c8b4b384d30ad6103a22ff62b580e4cd0b5ff by wuyanjun110
feat:储存的消息中添加车辆当前位置

The file was modifiedsource/ros_source_ads_target.hpp
The file was modifiedsource/ros_source_ads_target.cpp
Commit 042a65f42f8dff146b8fe18510774d1137b5c2ab by wuyanjun110
feat:park lock 下不重新搜索

The file was modifiedtasks/deciders/search_decider/forward_search_decider.cpp

Summary

  1. feat_out: 删除映射点在弯道上的lane (details)
  2. "feat_out: 途经点类型增加动态搜索起点和动态搜索终点类型，动态搜索范围内不进行路径规划" (details)
Commit f8e9213ffc563eab1c8724e3a80ceab90f0d87a4 by zhaozitong
feat_out: 删除映射点在弯道上的lane
The file was modifiedinterface/hdmap_internal.cc
Commit bb3fc32f94915f72fb483f567d240e17c4e5bafc by caoxue
"feat_out: 途经点类型增加动态搜索起点和动态搜索终点类型，动态搜索范围内不进行路径规划"
The file was modifiedrouting/common/routing_elements.h
The file was modifiedrouting/routing.cc

Summary

  1. feat_out: 获取范围内映射点 (details)
  2. feat_out: 类型错误修复 (details)
  3. feat_out: 处理逻辑错误 (details)
  4. feat_out: 优化函数 (details)
  5. feat_out: 处理返回值错误bug (details)
  6. feat_out: 处理CalculateClosestPointIndex range参数错误场景 (details)
Commit 6197f66809322670242a5b260fb6240e24de2690 by zhaozitong
feat_out: 获取范围内映射点
The file was modifiedinclude/hdmap_interface/map_elements/lane_info.h
The file was modifiedinterface/map_elements/lane_info.cc
Commit 2d8807abb06b719dfb4c348052d574bc29dea40a by zhaozitong
feat_out: 类型错误修复
The file was modifiedinclude/hdmap_interface/map_elements/lane_info.h
The file was modifiedinterface/map_elements/lane_info.cc
Commit ab3eaeb0965566d02d8d4e20986d1f48ef94900d by zhaozitong
feat_out: 处理逻辑错误
The file was modifiedinclude/hdmap_interface/map_elements/lane_info.h
The file was modifiedinterface/map_elements/lane_info.cc
Commit a9a49ce26ece2061e84530bee3d95619c0d0f36a by zhaozitong
feat_out: 优化函数
The file was modifiedinterface/map_elements/lane_info.cc
Commit cd9f784c475865b516fdcee88e9f77de5286f503 by zhaozitong
feat_out: 处理返回值错误bug
The file was modifiedinterface/map_elements/lane_info.cc
Commit a2c08c27b3a861c77a39343d039c9f136be28da2 by zhaozitong
feat_out: 处理CalculateClosestPointIndex range参数错误场景
The file was modifiedinterface/map_elements/lane_info.cc