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Changes

Summary

  1. feat: SSEP: 完成offline自动回归测试工具。目前支持5种场景的回归测试。其他场景会在后续陆续添加。 (details)
  2. feat: SSEP: 可视化增加地图元素显示 (details)
  3. chore: SSEP: minor updates (details)
  4. feat: SSEP: IMV - either goal direction 更改为 either start direction，大大简化逻辑，并且全场景支持了IMV作业模式未确定的场景。 (details)
  5. Refactor: SSEP: 用aabox替换vector<double>表示search bounds (details)
  6. chore: SSEP: Improve bidirectional search (details)
  7. fix: fix compile errors (details)
  8. fix: SSEP: 解决集卡常规场景轨迹异常的问题 (details)
  9. fix: SSEP: 修复IMV出停车位路径异常的问题 (details)
  10. feat:终点距离的判断使用map distance (details)
  11. fix:imv进停车位双向搜索的bug (details)
  12. fix:切换到idle保持状态的bug (details)
  13. feat:苏溪,西联,董分 双向搜索的bug (details)
  14. chore:添加gitgnore (details)
  15. fix:驾驶走廊图构建的bug (details)
  16. chore:删除多余的log (details)
  17. feat:调整 float to half (details)
  18. fix:修复动态上下面过程中，提前切换到bulk场景的bug (details)
  19. fix: ogm.height/width (details)
  20. feat: SSEP: 初步跑通GPU加速版本的进堆场搜索 (details)
  21. chore: SSEP-GPU: 通过所有测试用例 (details)
  22. chore: SSEP: gpu search 性能优化 (details)
  23. chore: SSEP: 同步ssep的imv进充电桩的更新 (details)
  24. feat: SSEP: 前港倒车进货堆场景添加 fallback searcher。倒车不能到达的情况会使用通用搜索器搜索（现在可以支持向前到达货堆）。 (details)
  25. fix: SSEP: 修复回归测试失败的场景 (details)
  26. fix: SSEP: 解决集卡普通搜索画龙的问题 (details)
  27. fix:修复变道过程中，更新laneid的bug (details)
  28. refactor:出堆场的起始点从参考线上选取 (details)
  29. feat: 添加lowbag 判断函数 (details)
  30. fix: clear path_optimization_task esdf his. (details)
  31. feat: SSEP: 增加万能参数接口 (details)
  32. feat: SSEP: 集卡进堆场支持通过extra_params获取车头拉直位置与车挂最大夹角并规划符合要求的路径。 (details)
  33. chore: SSEP: 改进自卸车多段倒车 (details)
  34. feat: 太阳纸业使用pncc_port_related参数配置SSEP场景 (details)
  35. feat:添加clangd的配置文件 (details)
  36. feat:调整低贝位判断的逻辑，低贝位判断统一FlowController里面进行 (details)
  37. feat:规划路径和ssep路径不一致的问题分析 (details)
  38. feat:适配clang (details)
  39. refactor:适配clang编译 (details)
  40. feat:赋值的bug (details)
  41. fix:适配clang的bug (details)
  42. fix:修复甩正点的bug (details)
  43. feat:适配clang (details)
  44. feat:甩正点距离适配 (details)
Commit 57a69114a40c051917efbe70873cd118cf8e8d54 by tangwenqing
feat: SSEP: 完成offline自动回归测试工具。目前支持5种场景的回归测试。其他场景会在后续陆续添加。

The file was modifiedssep/common/utils/proto_io.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/offboard/scene_frame_provider.cc
The file was addedssep/common/utils/path_utils.h
The file was modifiedssep/offboard/scene_replay/replay_ssep_input_cli.cc
The file was modifiedssep/offboard/scene_replay/replay_scene_frame_cli.cc
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was modifiedssep/CMakeLists.txt
The file was addedssep/test/ssep_planner_test.cc
The file was modifiedssep/offboard/ssep_planner_wrapper.h
The file was addedssep/test/CMakeLists.txt
The file was addedssep/common/utils/path_utils.cc
Commit 68e5c670dc8f4b8852611d6dfea9745a4bcb4468 by tangwenqing
feat: SSEP: 可视化增加地图元素显示

The file was modifiedssep/common/utils/scene_frame_visualization.cc
The file was modifiedssep/test/ssep_planner_test.cc
The file was modifiedssep/offboard/servers/scene_vis_html_template.cc
Commit 37779680e5ac819b4505714c2ac945f2ca441b41 by tangwenqing
chore: SSEP: minor updates

The file was modified.gitignore
The file was modifiedssep/test/ssep_planner_test.cc
The file was modifiedssep/common/utils/scene_frame_visualization.cc
Commit 3d977e95e3b2bb6819b4cb271148c7433110c722 by tangwenqing
feat: SSEP: IMV - either goal direction 更改为 either start direction，大大简化逻辑，并且全场景支持了IMV作业模式未确定的场景。

The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/coarse_search/preprocessed_curves/tt_curve_manager.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/maps/sl_projection_map.h
The file was modifiedssep/coarse_search/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/maps/sl_projection_map.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/coarse_search/preprocessed_curves/trajectories_reader.cc
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/test/ssep_planner_test.cc
Commit 62b8bbef96257f4cef348be22831f2c4e5cd96b1 by tangwenqing
Refactor: SSEP: 用aabox替换vector<double>表示search bounds

The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/data_structures/ssep_input.cc
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.h
The file was modifiedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/data_structures/search_boundary.h
The file was modifiedssep/data_structures/ssep_input.hpp
The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/coarse_search/legacy_searcher_adaptor.h
The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
The file was modifiedssep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/scenarios/legacy_planner.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/offboard/ssep_visualizer.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/evaluator/ref_line_heuristic_computer.h
The file was modifiedssep/scenarios/truck_u_turn_planner.h
The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was modifiedssep/offboard/main_test/main_test_park.cc
The file was modifiedssep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/maps/sl_projection_map.cc
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/coarse_search/evaluator/ref_line_cost_computer.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/maps/sl_projection_map.h
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
The file was modifiedssep/offboard/ssep_visualizer.cc
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
Commit 32d915572bd8073abb9138cf8292ea4072f9afab by tangwenqing
chore: SSEP: Improve bidirectional search

The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/test/ssep_planner_test.cc
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/state_hasher.h
Commit af737dee0680b4bc1a1a604c8c6551bd24e25ee8 by tangwenqing
fix: fix compile errors

The file was modifiedssep/common/math/aabox2d.h
The file was modifiedssep/common/math/aabox2d.cc
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/ssep/ssep_activation.cpp
Commit 26f743ab9bf88bfdc913f2288ab9cb469b78d943 by tangwenqing
fix: SSEP: 解决集卡常规场景轨迹异常的问题
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit 070dd8b89aec0c95b5d92ae45d4f9bfd2a3b3419 by tangwenqing
fix: SSEP: 修复IMV出停车位路径异常的问题

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/scenarios/imv_pullover_planner.h
Commit 12661d1c1c3938f93ef64569387f2a9f4bcad979 by wuyanjun110
feat:终点距离的判断使用map distance
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit 3cdfcf8a76e49522846b3d07d372e73a229cc0ec by wuyanjun110
fix:imv进停车位双向搜索的bug
The file was modifiedssep/scenarios/imv_enter_station_planner.h
Commit 033962050bafe981ff3742a1bb1135461c465d98 by wuyanjun110
fix:切换到idle保持状态的bug
The file was modifiedplan/prepare/prepare_status.cpp
Commit cc9ca3fc4ea4958a3e4e77e5c032d47311fe432c by wuyanjun110
feat:苏溪,西联,董分 双向搜索的bug
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/ssep/ssep_ec.cpp
Commit cc86d71dd4dbf9821c41ba026045b2511eac99d8 by wuyanjun110
chore:添加gitgnore
The file was modified.gitignore
Commit aa5d7f1729393528b055b3f5a3de209b56e14804 by wuyanjun110
fix:驾驶走廊图构建的bug
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/boundary/driving_corridor.cpp
The file was modifieddata/obstacle/ogm.hpp
Commit 21d8d124b7c0802dce940f45ef0eb8b4f1bacd90 by wuyanjun110
chore:删除多余的log
The file was modifieddata/plan/start_point_data.cpp
Commit e8000704e0ab0a118938d53c0fa0cfef4cfa4bcd by wuyanjun110
feat:调整 float to half
The file was modifiedmath/util/math_utils.cc
Commit 27ee5212cc6c7abbbbb7ad6be07780f7ac09c34a by wuyanjun110
fix:修复动态上下面过程中，提前切换到bulk场景的bug
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
Commit df4487255e05eb20a9f2ecbdeceff66dddd3ab14 by 5081703.cr
fix: ogm.height/width

The file was modifiedplan/prepare/prepare_ogm.cpp
Commit e8ec60fb9586797b8fa729ac049464ac8f89811d by tangwenqing
feat: SSEP: 初步跑通GPU加速版本的进堆场搜索
The file was addedssep/gpu/batch_expander_bridge.cu
The file was addedssep/test/gpu_sampler_test.cc
The file was addedssep/test/gpu_cost_test.cc
The file was addedssep/test/gpu_heuristic_test_kernel.cu
The file was addedssep/gpu/cost/path_length_cost.cuh
The file was addedssep/gpu/samplers/sampler_params.h
The file was addedssep/gpu/heur_table_loader.cc
The file was addedssep/gpu/kernels/batch_expand_kernel.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was addedssep/gpu/batch_expander_bridge.h
The file was addedssep/gpu/device_map_data.cuh
The file was addedssep/gpu/device_utils.cuh
The file was addedssep/test/gpu_collision_test.cc
The file was addedssep/gpu/kernels/batch_expand_kernel.cu
The file was addedssep/test/gpu_collision_test_kernel.cu
The file was addedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.h
The file was addedssep/gpu/device_types.h
The file was addedssep/coarse_search/gpu_batch_expander.cc
The file was addedssep/gpu/heuristics/heuristic_computer.cuh
The file was addedssep/coarse_search/gpu_batch_expander.h
The file was addedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was addedssep/gpu/device_map_data.cu
The file was addedssep/gpu/collision/collision_checker.cuh
The file was modifiedssep/ssep_planner.cc
The file was addedssep/test/gpu_heuristic_test.cc
The file was addedssep/gpu/heur_table_loader.h
The file was addedssep/gpu/samplers/multi_curvature_sampler.cuh
The file was addedssep/test/gpu_collision_test_kernel.cuh
The file was modifiedssep/test/CMakeLists.txt
The file was addedssep/test/gpu_heuristic_test_kernel.cuh
The file was addedssep/test/gpu_sampler_test_kernel.cu
The file was addedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/CMakeLists.txt
The file was addedssep/gpu/heur_table_loader.cu
The file was addedssep/gpu/memory_pool.h
The file was addedssep/gpu/device_map_data.h
The file was addedssep/test/gpu_data_convert_test.cc
The file was addedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.cc
The file was addedssep/gpu/memory_pool.cu
The file was addedssep/test/gpu_sampler_test_kernel.cuh
Commit 4c7f0eea0f20d2774a07379f9c04cc1777d498e6 by tangwenqing
chore: SSEP-GPU: 通过所有测试用例

The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/gpu/heuristics/heuristic_computer.cuh
The file was modifiedssep/offboard/scene_replay/CMakeLists.txt
The file was modifiedssep/test/ssep_planner_test.cc
Commit 9660290466fc492978cdd2066bb3cdd5adb70f8a by tangwenqing
chore: SSEP: gpu search 性能优化

The file was modifiedssep/common/utils/scene_frame_visualization.h
The file was modifiedssep/maps/sl_projection_map.h
The file was modifiedssep/gpu/samplers/multi_curvature_sampler.cuh
The file was addedssep/coarse_search/batched_priority_queue.h
The file was modifiedssep/coarse_search/disk_collision_checker.h
The file was modifiedssep/gpu/device_types.h
The file was modifiedssep/gpu/device_map_data.cu
The file was addedssep/test/gpu_ref_line_cost_test_kernel.cu
The file was addedssep/test/gpu_ref_line_cost_test.cc
The file was modifiedssep/gpu/cost/path_length_cost.cuh
The file was modifiedssep/test/CMakeLists.txt
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.cc
The file was addedssep/gpu/cost/ref_line_cost.cuh
The file was addedssep/test/gpu_ref_line_cost_test_kernel.cuh
The file was modifiedssep/coarse_search/motion_primitive.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/gpu/kernels/batch_expand_kernel.cu
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was addedssep/gpu/cost/curvature_cost.cuh
The file was modifiedssep/gpu/device_map_data.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/gpu/heuristics/heuristic_computer.cuh
The file was modifiedssep/coarse_search/state_hasher.h
Commit 161d316820ad30f5da6c3257ca76140440dfac1e by tangwenqing
chore: SSEP: 同步ssep的imv进充电桩的更新

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/imv_enter_station_planner.h
Commit 952ea5b4e8ebcf5e552e070ee9b8aa3bd6a05508 by tangwenqing
feat: SSEP: 前港倒车进货堆场景添加 fallback searcher。倒车不能到达的情况会使用通用搜索器搜索（现在可以支持向前到达货堆）。

The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
Commit a5822c9b8c4f9e13049046ff40223e37ab9e762b by tangwenqing
fix: SSEP: 修复回归测试失败的场景

The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
The file was modifiedssep/offboard/scene_frame_provider.cc
Commit 1104a98f0c4fdf7218dac43989265d7292420779 by tangwenqing
fix: SSEP: 解决集卡普通搜索画龙的问题

The file was modifiedssep/keb_optimizer/cost_features/state_constraint.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit 0b110cab355d94612ba1176dbce47dcfedf6f834 by wuyanjun110
fix:修复变道过程中，更新laneid的bug
The file was modifieddata/plan/switch_data.cpp
Commit 610b436978cbc18d1a9a5cd80571252a9d4336ca by wuyanjun110
refactor:出堆场的起始点从参考线上选取

The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit d4d61862539f1a3100be295e5f7fb22961fed908 by wuyanjun110
feat: 添加lowbag 判断函数

The file was modifieddata/other/flow_control.cpp
The file was modifieddata/plan/guide_line.cpp
The file was modifieddata/ssep/ssep_common.hpp
The file was modifieddata/plan/guide_line.hpp
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/other/flow_control.hpp
Commit 3ff24dd7981ebec1880deb8a64977317b60a826d by 5081703.cr
fix: clear path_optimization_task esdf his.

The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 357aab4612e9084c385829c22a8619713e261308 by tangwenqing
feat: SSEP: 增加万能参数接口

The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/data_structures/ssep_input.hpp
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/protos/scene.proto
The file was modifiedssep/data_structures/ssep_input.cc
The file was modifiedssep/ssep_planner.h
Commit 34f52511f17d0b822c4c935449caf3f79be9bd49 by tangwenqing
feat: SSEP: 集卡进堆场支持通过extra_params获取车头拉直位置与车挂最大夹角并规划符合要求的路径。

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 734b8645572f46693901e90cb6e34d6a40e8cc2c by tangwenqing
chore: SSEP: 改进自卸车多段倒车

The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
Commit 560bb1ec503c6500ce8a61eaa20bd23200725438 by tangwenqing
feat: 太阳纸业使用pncc_port_related参数配置SSEP场景

The file was modifiedtasks/deciders/search_decider/normal_junction_search_decider.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedtasks/deciders/search_decider/out_yard_junction_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/seaside_junction_search_decider.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedtasks/deciders/search_decider/ex_lane_change_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/into_yard_junction_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/reverse_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/bridge_junction_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/open_space_search_decider.cpp
Commit 07727c1b099922dea2aa6be0057ce0b9937bc626 by wuyanjun110
feat:添加clangd的配置文件

The file was added.clangd
Commit 43ba3e517a1b192720cd2d4f8de6e869813f0abd by wuyanjun110
feat:调整低贝位判断的逻辑，低贝位判断统一FlowController里面进行

The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifieddata/scenario/scenario_region_bt.cpp
The file was modifieddata/other/flow_control.hpp
The file was modifieddata/ssep/ssep_common.hpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/ssep/ex_lane_change_ec.cpp
The file was modifieddata/obstacle/obstacle.hpp
The file was modifieddata/scenario/scenario_region_condition.cpp
The file was addedcommon/util/flag_register.hpp
The file was modifieddata/map/pnc_map/pnc_map_path.hpp
The file was modifieddata/ssep/into_yard_junction_ec.hpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/field_junction_ec.hpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/plan_frame.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/obstacle/obstacle.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit 070b69196b129681eef460f1620b33462974a6af by wuyanjun110
feat:规划路径和ssep路径不一致的问题分析

The file was modifiedhmi/draw/draw_ssep.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/ssep/ssep_scenario_config_loader.cpp
The file was modifieddata/ssep/ssep_scenario_config.hpp
The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/into_yard_junction_ec.hpp
The file was modifieddata/ssep/base_stop_line_filter.cpp
The file was modifieddata/ssep/ssep_scenario_config_loader.hpp
The file was modifieddata/map/reference/reference_segment.cpp
The file was modifieddata/ssep/ssep_ec.hpp
Commit 4be06fa6f13fb7a0a2593c20819438c6853d7feb by wuyanjun110
feat:适配clang

The file was modifiedCMakeLists.txt
The file was modifiedcommon/log/log_config.cpp
The file was modifiedssep/offboard/scene_replay/CMakeLists.txt
The file was modifiedssep/common/log/log_config.cc
The file was modifiedssep/offboard/CMakeLists.txt
The file was modifiedssep/offboard/servers/CMakeLists.txt
The file was modifiedssep/offboard/generate_scene_data/CMakeLists.txt
Commit a76d736dff7835ae49f0f17053d51a06c3130a8a by wuyanjun110
refactor:适配clang编译

The file was modifieddata/map/reference/reference_road_section.cpp
The file was modifiedsink/ros_sink_snapshot.cpp
The file was modifieddata/ctrl/lka_start_up.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.hpp
The file was modifieddata/constrain/pnc_junction.cpp
The file was modifiedcommon/util/hdmap_wrapper.cpp
The file was modifiedhmi/draw/draw_map.cpp
The file was modifiedsink/ros_sink_ads_hfsm_state.cpp
The file was modifieddata/vehicle/request_routing_data.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_help.cpp
The file was modifiedreplayer/replayer_data_process/load_snap_data.cpp
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifieddata/app/cmd/cmd_set_target.cpp
The file was modifieddata/ssep/region_builder.cpp
The file was modifieddata/constrain/longitude_constrain.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/plan/guide_line_base.cpp
The file was modifieddata/map/envelop/map_envelop.cpp
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifiedcommon/util/hdmap_wrapper.hpp
The file was modifieddata/map/pnc_map/pnc_map.cpp
The file was modifieddata/map/pnc_map/road_segments.cpp
The file was modifieddata/map/reference/center_line.cpp
The file was modifiedCMakeLists.txt
Commit 08551b2332f90e122c2f1fcf97c2b1de3141ba85 by wuyanjun110
feat:赋值的bug

The file was modifiedssep/common/utils/common.hpp
Commit 5b929402a71df4cfd6ab95014b80ac47aa8cf160 by wuyanjun110
fix:适配clang的bug
The file was modifiedssep/common/utils/map_element_utils.hpp
Commit 9afcc5f9c45f5a770adcad060f637d12836d3a2d by wuyanjun110
fix:修复甩正点的bug
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 719043875afe09c441bf6cc5d0f20760b326f07c by wuyanjun110
feat:适配clang
The file was modifieddata/plan/guide_line_info.hpp
Commit ed942ed5c3e3da22522efc8bf6f42f96d906a4c7 by wuyanjun110
feat:甩正点距离适配
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp