[Jenkins]Jenkins

Changes

Summary

  1. fix: SSEP: Resolve crashing issue. (details)
  2. fix: choosing WBCA start_pt at guide_line in SMOOTH MODE (details)
  3. fix: cherry pick bug. (details)
  4. fix: using history_pts for lattice velocity reference. (details)
  5. feat: clear align times when align2nd to align1st. (details)
  6. feat: SSEP: 增加引导线跟随模式搜索 (details)
  7. fix: SSEP: 修复引导线跟随搜索的一些bug (details)
  8. chore: SSEP: 新增DirectionalPath数据结构，简化对reference line的处理 (details)
  9. fix: lon_decision for car. (details)
  10. feat:cut ego 添加参数 (details)
  11. feat:适配新的障碍物类型 (details)
  12. fix:调整危险限速距离的bug (details)
  13. feat:远程步步进，停车时间参数化 (details)
  14. enable ssep_heat_net (tmp commit) (details)
  15. fix: SSEP: 修复IMV进充电桩方向错误的问题 (details)
  16. feat: SSEP: 完成 learning-based 进出堆场口搜索全流程 (details)
  17. feat: 适配ssep learning-based 进出堆场口 (details)
  18. fix: SSEP: 修复终点在堆场边缘时，场景识别错误导致搜索失败的问题。 (details)
  19. chore: SSEP: Add some printos. (details)
  20. feat:添加obj障碍物的跟车距离 (details)
  21. refactor:优化跟车距离 (details)
  22. chore: SSEP: use standard out stream. (details)
  23. fix: 解决未安装cuda的系统编译失败的问题。 (details)
  24. refactor:优化动态搜索限速 (details)
  25. feat: SSEP: 重规划时先考虑复用优化上一条轨迹 (details)
  26. feat: SSEP重规划时复用轨迹 (details)
  27. fix:修复replayer编译失败的bug (details)
  28. feat:添加障碍物靠近警报的功能 (details)
  29. feat:添加障碍物靠近警报的功能 (details)
  30. fix:修复出堆场过程中， travel out场景退出的bug (details)
  31. fix: bulk场景 进出堆场限速的bug (details)
  32. feat: SSEP: 增加imv keb optimizer, 适配两段式搜索任务。 (details)
  33. refactor:优化动态搜索限速 (details)
  34. feat:添加障碍物靠近警报的功能 (details)
  35. fix:修复出堆场过程中， travel out场景退出的bug (details)
  36. fix: bulk场景 进出堆场限速的bug (details)
  37. fix:优化不绕行和搜索停车的问题 (details)
  38. fix:保存任务时，当前定位保存错误的bug (details)
  39. fix:合并的bug (details)
  40. chore: SSEP: minor params finetune. (details)
  41. feat: 海润适配新imv搜索器 (details)
  42. fix: crash issue. (details)
  43. fix: SSEP: 修复集卡进堆场轨迹绕圈问题 (details)
Commit 98e8e274bf05a76d4557731892885c01ded08feb 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 modifieddata/wbca/wbca_data.hpp
The file was modifiedtasks/plan/path_optimization_task.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 modifiedssep/common/def/ssep_scenario_type.hpp
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.h
The file was modifiedssep/main_test/main_ssep_input.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.cc
The file was modifiedssep/conf/ssep_preprocess.yaml
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
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/hybrid_a_star.hpp
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.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 removedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.cc
The file was addedssep/coarse_search/data_structure/directional_path.h
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/data_structure/directional_path.cc
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.h
Commit a5c5bb46e01f4e55bfeca548e3ef9c63d2510baf by 5081703.cr
fix: lon_decision for car.

The file was modifiedalgorithm/decision/semantic_set_transformation_2.cpp
Commit ad6c09e37907cebcaa2037c5a0d452809b0a40a9 by wuyanjun110
feat:cut ego 添加参数

The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/obstacle/ogm.hpp
Commit 663af06f4e49b4956bfdb7724e2f4af6cf86ed1d by wuyanjun110
feat:适配新的障碍物类型

The file was modifieddata/obstacle/perception_obstacle.hpp
Commit 388f6d439d5573602e948ead66a7f211b1a2ca0e by wuyanjun110
fix:调整危险限速距离的bug

The file was modifiedalgorithm/plan/obstacle_risk_evaluation.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 01e5770aa2b86f883819374bd05a78443ac2dd23 by wuyanjun110
feat:远程步步进，停车时间参数化

The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_fsm.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/config/cfg_env_const.cpp
Commit 9e0b88249bd653bb4516cf863552738db6ed5e06 by tangwenqing
enable ssep_heat_net (tmp commit)
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/ssep_heat_net/ssep_heat_net.h
The file was modifiedssep/conf/ssep_preprocess.yaml
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modified.gitignore
The file was modifiedssep/coarse_search/data_structure/polyline.h
The file was modifiedssep/ssep_heat_net/inference_ml_trajectory_cli.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was addedssep/coarse_search/reference_line_snapper.h
The file was addedssep/tools/scene_data_generator/utils.h
The file was modifiedssep/ssep_heat_net/ssep_heat_net.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.cc
The file was addedssep/coarse_search/ml_path_validator.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.h
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/data_structure/directional_path.h
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/coarse_search/data_structure/directional_path.cc
Commit 6c088e1ef716df23d8d72e0db628379340e55c8c by tangwenqing
fix: SSEP: 修复IMV进充电桩方向错误的问题
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit 9c366b165aebbc23ec15f7c7c180882cf5f5da7f by tangwenqing
feat: SSEP: 完成 learning-based 进出堆场口搜索全流程

The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.h
The file was removedssep/ssep_heat_net/inference_ml_trajectory_cli.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/tools/executable/inference_ml_trajectory_cli.cc
The file was modifiedssep/param_loader/param.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/ssep_heat_net/ssep_heat_net.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/ssep_heat_net/ssep_heat_net.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.cc
Commit 4764fe09a51aceb56c0da627948116e3184479f6 by tangwenqing
feat: 适配ssep learning-based 进出堆场口

The file was modifieddata/config/cfg_ssep.cpp
The file was modifiedCMakeLists.txt
The file was modifieddata/config/cfg_ssep.hpp
Commit 7098e5415d6bd47e934e8d2aeb9db564ce4c125e by tangwenqing
fix: SSEP: 修复终点在堆场边缘时，场景识别错误导致搜索失败的问题。

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/conditions/inside_yard_condition.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/common/def/map_element_polyline.hpp
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/bulk_yard_reasoner.h
Commit 265280e297efd28920dcf41d567dc2a01bf42023 by tangwenqing
chore: SSEP: Add some printos.

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/ml_path_validator.h
Commit 6968f0becb6e4205acf9747153959f2804dc39e5 by wuyanjun110
feat:添加obj障碍物的跟车距离

The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/constrain/longitude_constrain.cpp
The file was modifieddata/config/cfg_long_plan.hpp
Commit fbcf64b20bb7a0e28f3f59bd472b7c92cca8f1e0 by wuyanjun110
refactor:优化跟车距离

The file was modifieddata/config/cfg_long_plan.cpp
Commit f6fc40765e865624dbbf8f06d10bb50c0737a36d by tangwenqing
chore: SSEP: use standard out stream.

The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.cc
Commit c5c03d2b950c5118588e96b8208191b160e6a535 by tangwenqing
fix: 解决未安装cuda的系统编译失败的问题。

The file was modifiedCMakeLists.txt
Commit 0790e7d3fb073f66c996f5c2d4ef5c28c08bf268 by wuyanjun110
refactor:优化动态搜索限速

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/plan/guide_line.cpp
Commit 3bdbadb8192f2e1afbf517b06df6fa9888b05c6b by tangwenqing
feat: SSEP: 重规划时先考虑复用优化上一条轨迹

The file was modifiedssep/coarse_search/geometric_searcher/data_structure.h
The file was modifiedssep/common/def/ssep_input.hpp
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/ssep_planner.cc
Commit b9518728d2da556842eddcf95681f3f1aef566bf by tangwenqing
feat: SSEP重规划时复用轨迹

The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/ssep/ssep_ec.cpp
Commit fa0b4b6111a47d28d18929de661182e9e51745a5 by wuyanjun110
fix:修复replayer编译失败的bug

The file was modifiedCMakeLists.txt
Commit b927c1b538f0862739b0fd3f3e7faf0e800de7e2 by wuyanjun110
feat:添加障碍物靠近警报的功能

The file was modifieddata/obstacle/obstacle_decider_attr.cpp
The file was modifiedsink/ros_sink_chassis_ctrl.cpp
The file was modifiedsink/ros_sink_chassis_ctrl.hpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/obstacle/obstacle_decider_attr.hpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifiedalgorithm/plan/obstacle_risk_evaluation.cpp
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.hpp
The file was modifiedalgorithm/plan/obstacle_risk_evaluation.hpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.cpp
Commit 82b6c62336e681fa911b2f8b86cb34bbcf29642f by wuyanjun110
feat:添加障碍物靠近警报的功能

The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifiedsink/ros_sink_chassis_ctrl.hpp
The file was modifiedalgorithm/plan/obstacle_risk_evaluation.cpp
The file was modifieddata/obstacle/obstacle_decider_attr.cpp
The file was modifiedsink/ros_sink_chassis_ctrl.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/obstacle/obstacle_decider_attr.hpp
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.hpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifiedalgorithm/plan/obstacle_risk_evaluation.hpp
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.cpp
Commit 7233129e21e790db93b28035752be471f30783ec by wuyanjun110
fix:修复出堆场过程中， travel out场景退出的bug

The file was modifieddata/other/flow_control.cpp
The file was modifieddata/app/fsm/task_fsm/task_travel/task_travel_fsm.cpp
Commit 02ef3a87c72fa468a8e27ee4e0af031ad877c05c by wuyanjun110
fix: bulk场景 进出堆场限速的bug

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/constrain/long_target.cpp
Commit 313ad77784466556e1099148a2a5b00756f4f56d by tangwenqing
feat: SSEP: 增加imv keb optimizer, 适配两段式搜索任务。

The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was addedssep/keb_optimizer/cost_features/imv_rear_curvature_cost.h
The file was addedssep/keb_optimizer/cost_features/imv_dynamic_constraint.h
The file was addedssep/keb_optimizer/cost_features/imv_rear_pinch_cost.h
The file was modifiedssep/ogm_map/ogm.cc
The file was modifiedssep/CMakeLists.txt
The file was addedssep/keb_optimizer/imv_keb_optimizer.cc
The file was addedssep/keb_optimizer/cost_features/imv_rear_oversteer_cost.h
The file was modifiedssep/keb_optimizer/data_structure.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/keb_optimizer/cost_features/imv_center_curvature_cost.h
The file was modifiedssep/ssep_planner.cc
The file was addedssep/keb_optimizer/cost_features/imv_center_pinch_cost.h
The file was addedssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
The file was addedssep/keb_optimizer/imv_keb_optimizer.h
Commit b1d7edb7f2364f0b31aaefe5f365e5f5eb552716 by wuyanjun110
refactor:优化动态搜索限速

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/plan/guide_line.cpp
Commit b44716c1fac57d651ff9e4e7317600b4b480b846 by wuyanjun110
feat:添加障碍物靠近警报的功能

The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.hpp
The file was modifiedalgorithm/plan/obstacle_risk_evaluation.hpp
The file was modifiedalgorithm/plan/obstacle_risk_evaluation.cpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/obstacle/obstacle_decider_attr.hpp
The file was modifiedsink/ros_sink_chassis_ctrl.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/obstacle/obstacle_decider_attr.cpp
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.cpp
The file was modifiedsink/ros_sink_chassis_ctrl.hpp
Commit f4fea06d93b1571764d260bd8ab24c761ff40ba2 by wuyanjun110
fix:修复出堆场过程中， travel out场景退出的bug

The file was modifieddata/app/fsm/task_fsm/task_travel/task_travel_fsm.cpp
The file was modifieddata/other/flow_control.cpp
Commit 5ab62f8c1314d98f8b5e69abee10ebc9eec7211c by wuyanjun110
fix: bulk场景 进出堆场限速的bug

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/constrain/long_target.cpp
Commit 72264732bd5d2c4bbfc5c087a1f4e27c549b1c0c by wuyanjun110
fix:优化不绕行和搜索停车的问题

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/boundary/driving_corridor.cpp
The file was modifieddata/ssep/forward_ec.cpp
Commit e6a9d101a79c8a24170cf062ba1c4efef6c06bc7 by wuyanjun110
fix:保存任务时，当前定位保存错误的bug

The file was modifiedsource/ros_source_ads_target.cpp
Commit 9778807fadf12683f3a6ab8cbadd64e02533d411 by wuyanjun110
fix:合并的bug

The file was modifieddata/config/cfg_env_const.hpp
Commit 998432a53fc583d72f6eedc0d6ae802499e002c0 by tangwenqing
chore: SSEP: minor params finetune.

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
Commit 4f2ebb73a2f4f43b4a0306dbbb7b4348c7e4f3fe by tangwenqing
feat: 海润适配新imv搜索器

The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedCMakeLists.txt
Commit 5775d0434930bd933538056f6dd6c1cdba439788 by 5081703.cr
fix: crash issue.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 9dc7c3033ea57ea993db2b9f4f2e0df3106283a5 by tangwenqing
fix: SSEP: 修复集卡进堆场轨迹绕圈问题

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc