Changes

Summary

1. fix: wbca start vel bug. (details)
2. fix: using his when esdf=null. (details)

Commit 670aa9c7c395ecad0c8012f47ab8a60a8d3aa606 by 5081703.cr fix: wbca start vel bug.
	algorithm/wbca/wbca_manager.cpp
Commit b85882ea8e8e6f515ad0008c61944a26214e1e58 by 5081703.cr fix: using his when esdf=null.
	tasks/plan/path_optimization_task.cpp