[Jenkins]Jenkins

Changes

Summary

  1. fix: wbca debug msg. (details)
  2. fix: end_velocity for wbca calc exception. (details)
  3. fix: velocity profile exception. (details)
  4. feat: SSEP: keb optimizer优化多段路径。car模型适配keb optimizer。 (details)
  5. feat: ssep_data中保存重规划原因 (details)
  6. fix: SSEP: 修复car+optimizer中代码的bug (details)
  7. feat: SSEP: 增加IMV-either-facing-goal搜索功能（可以头朝前也可以尾朝前） (details)
  8. feat: SSEP: 增加集卡多段倒车场景 (details)
  9. fix: wbca bd expanding. (details)
  10. fix: SSEP: Resolve crashing issue. (details)
  11. fix: choosing WBCA start_pt at guide_line in SMOOTH MODE (details)
  12. fix: cherry pick bug. (details)
  13. fix: using history_pts for lattice velocity reference. (details)
  14. feat: clear align times when align2nd to align1st. (details)
  15. feat: SSEP: 增加引导线跟随模式搜索 (details)
  16. fix: SSEP: 修复引导线跟随搜索的一些bug (details)
  17. chore: SSEP: 新增DirectionalPath数据结构，简化对reference line的处理 (details)
  18. fix: lon_decision for car. (details)
Commit 855d2b1c96f7de60850239d21a32a6f98e61f30f by 5081703.cr
fix: wbca debug msg.

The file was modifiedsink/ros_sink_plan_debug.cpp
Commit cdecea5362b67b0f41903e5516d1daeeefe47fca by 5081703.cr
fix: end_velocity for wbca calc exception.

The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
Commit 1ae8cc1f873e2595332aed90540bd7f6b7fe5867 by 5081703.cr
fix: velocity profile exception.

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

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

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/cost_features/curvature_cost.h
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/ssep_planner.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
The file was addedssep/coarse_search/geometric_searcher/conditions/path_direction_condition.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/geometric_searcher/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
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
Commit a4f849972654c0837f58e4ea61e4e7b260435529 by tangwenqing
fix: SSEP: Resolve crashing issue.

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit 4fddbc2e48f620ddc01bd2a93ca4270e3317064d by 5081703.cr
fix: choosing WBCA start_pt at guide_line in SMOOTH MODE
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifiedtasks/plan/path_optimization_task.hpp
The file was modifieddata/wbca/wbca_data.hpp
Commit 747de0d3628ec63161d434f2af123eeb6456d853 by 5081703.cr
fix: cherry pick bug.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 529766b72c33a698ebb04242a5f04b4b21411065 by 5081703.cr
fix: using history_pts for lattice velocity reference.

The file was modifieddata/lattice/trajectory_evaluator.cpp
Commit 7dde7bf484e626563740dd2d75d4fabe7af72a64 by 5081703.cr
feat: clear align times when align2nd to align1st.

The file was modifiedplan/prepare/prepare_status.hpp
The file was modifiedplan/prepare/prepare_status.cpp
Commit 2e38dea16234d3f3854755fd5d8fda9981f26949 by tangwenqing
feat: SSEP: 增加引导线跟随模式搜索

The file was addedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.h
The file was modifiedssep/conf/ssep_preprocess.yaml
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/main_test/main_ssep_input.cc
Commit 4d0eb985470379176f7871594b20f2a948ae6687 by tangwenqing
fix: SSEP: 修复引导线跟随搜索的一些bug

The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit b561d0438921523925628dcf5fcb163914948128 by tangwenqing
chore: SSEP: 新增DirectionalPath数据结构，简化对reference line的处理

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.cc
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.h
The file was addedssep/coarse_search/data_structure/directional_path.cc
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.cc
The file was addedssep/coarse_search/data_structure/directional_path.h
Commit 7f534ad6da4d49dbe561043f7cf00f4aa8f2f54f by 5081703.cr
fix: lon_decision for car.

The file was modifiedalgorithm/decision/semantic_set_transformation_2.cpp