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Changes

Summary

  1. fix: reversing crash. (details)
  2. feat: convert cloud_obstacles to cloud points. (details)
  3. fix: motion_fsm to_normal bug. (details)
  4. fix: 修复imv优化器斜行代价太小的问题 (details)
  5. Revert "fix: 修复imv优化器斜行代价太小的问题" (details)
  6. fix:修复imv优化器斜行代价太小的问题 (details)
Commit 41ccb16f66de254cd3517e72840d53f32f590efa by 5081703.cr
fix: reversing crash.

The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
Commit 1889b02696df313fa483f4df25a9c5f69ad30c79 by 5081703.cr
feat: convert cloud_obstacles to cloud points.

The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifiedplan/prepare/prepare_ogm.hpp
Commit 5563be7741c3e258e70799faa932f2f4e6596bb3 by 5081703.cr
fix: motion_fsm to_normal bug.

The file was modifieddata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp
Commit fe79f04a178dc104ef47b0c7982d90456d5da2dc by wuyanjun110
fix: 修复imv优化器斜行代价太小的问题

The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/maps/ogm.cc
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedssep/maps/ogm.h
The file was modifiedssep/offboard/generate_scene_data/obstacle_polygon_extractor.cc
The file was modifiedssep/param_loader/param.h
Commit ad6ce86814302e4e6d0769134de820ba50f489b0 by wuyanjun110
Revert "fix: 修复imv优化器斜行代价太小的问题"

This reverts commit fe79f04a178dc104ef47b0c7982d90456d5da2dc.
The file was modifiedssep/maps/ogm.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/maps/ogm.h
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedssep/param_loader/param.h
The file was modifiedssep/offboard/generate_scene_data/obstacle_polygon_extractor.cc
Commit 18dd6b332a9504cc4969e5ecff261f16b536cc79 by wuyanjun110
fix:修复imv优化器斜行代价太小的问题

The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/scenarios/imv_enter_yard_planner.h