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Changes

Summary

  1. feat: SSEP: Viz server add download button. (details)
  2. feat: SSEP: Add rigid truck general scenario planner. (details)
  3. fix: SSEP: 修复SSEP内存泄漏问题 (details)
  4. chore: 保存ssep scene frame 到本地 (details)
  5. fix: SSEP: Fix crashing issues (details)
  6. chore: SSEP web 可视化增加【上一个】【下一个】按钮 (details)
  7. feat: Pnc Cmakelist中增加scene_vis_server(编译和打包) (details)
  8. chore: minor update (details)
  9. feat: SSEP: visualization show trailer contour (details)
  10. feat: OG点挡停重规划 (details)
  11. fix: SSEP: 修复car search + optimize相关问题 (details)
  12. fix: active curvature speed limit. (details)
  13. fix: wbca debug in replayer. (details)
  14. fix: kappa_softmax and kappa_rate_softmax (details)
  15. fix: win = 4 for kappa speed limit (details)
  16. chore: SSEP: 改进低贝位进堆场效果 (details)
  17. chore: SSEP: Remove unused offline files. (details)
  18. fix:修复连续普通路口搜索的bug (details)
  19. fix:身后障碍物过滤的bug (details)
  20. fix:replan逻辑的优化 (details)
  21. refacor:搜索的优化 (details)
  22. fix:编译的bug (details)
  23. chore:  SSEP: Improve keb car optimization process (details)
  24. fix:重复规划的bug (details)
  25. fix:出堆场，误进平滑模式的bug (details)
  26. fix:优化出堆场的搜索 (details)
  27. fix:修复replayer内存泄漏的问题 (details)
  28. fix:防护half to float 到 inf的场景 (details)
  29. fix: smooth_mode for bulk_load (details)
Commit 0cdb2dc3bec41ed7200d2161f4df3dbaac37a61c by tangwenqing
feat: SSEP: Viz server add download button.

The file was modifiedssep/offboard/servers/scene_vis_html_template.cc
The file was modifiedssep/offboard/servers/scene_vis_server.cc
Commit 901d7f793823d44c2d04a56c664a226acf7dccb2 by tangwenqing
feat: SSEP: Add rigid truck general scenario planner.

The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/scenarios/stitching_replanner.h
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/scenarios/truck_u_turn_planner.h
The file was addedssep/scenarios/truck_general_planner.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/scenarios/legacy_planner.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
Commit e2376cff05d8cf483bf3c7c398829e239ab68ff2 by tangwenqing
fix: SSEP: 修复SSEP内存泄漏问题

The file was modifiedssep/offboard/generate_scene_data/CMakeLists.txt
The file was modifiedssep/coarse_search/evaluator/heuristic_feature_computer.h
The file was modifiedssep/offboard/ssep_planner_wrapper.h
The file was modifiedssep/coarse_search/evaluator/cost_feature_computer.h
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/coarse_search/conditions/search_condition_interface.h
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.cc
The file was modifiedssep/coarse_search/search_engine_interface.h
The file was modifiedssep/coarse_search/motion_primitive_sampler/motion_primitive_sampler.h
The file was modifiedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
Commit f52ba2ef1fb5346eec142290ac4398d58ce79fcb by tangwenqing
chore: 保存ssep scene frame 到本地

The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.h
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifieddata/ssep/ssep_activation.hpp
Commit 7dc8a003ba5d2e4ab15970147d5e8b2094fea5d2 by tangwenqing
fix: SSEP: Fix crashing issues

The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
Commit c69714450e69cbcd131885615d8231e63d5397ee by tangwenqing
chore: SSEP web 可视化增加【上一个】【下一个】按钮

The file was modifiedssep/offboard/servers/scene_vis_html_template.cc
The file was modifiedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was modifiedssep/offboard/servers/scene_vis_server.cc
Commit 46435604fde44c426485e7d93ad3df04ac126948 by tangwenqing
feat: Pnc Cmakelist中增加scene_vis_server(编译和打包)

The file was modifiedCMakeLists.txt
The file was modifiedssep/offboard/servers/scene_vis_server.cc
Commit c3d6743944820dd1fa0cc800742e0d5c2be544c5 by tangwenqing
chore: minor update

The file was modifiedssep/offboard/servers/scene_vis_server.cc
Commit 675f481ef462bf6f9173a488e2ec17f356e17869 by tangwenqing
feat: SSEP: visualization show trailer contour

The file was modifiedssep/offboard/servers/scene_vis_html_template.cc
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/common/utils/scene_frame_visualization.cc
Commit 51bb3c33540d362c1f6f8c6f957fc12d6b37c2ff by tangwenqing
feat: OG点挡停重规划

The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.hpp
The file was modifieddata/decide/decide_reaction.hpp
Commit 6d9811fec49e2c949719c1c0b71537a3afe9a012 by tangwenqing
fix: SSEP: 修复car search + optimize相关问题

The file was modifiedssep/data_structures/polyline.cc
The file was modifiedssep/data_structures/map_element_polyline.cc
The file was modifiedssep/scenarios/planner_utils.cc
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/data_structures/polyline.h
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/data_structures/map_element_polyline.h
Commit 7f290155bdb140fa1624ecbf603de3580ef7d4f4 by 5081703.cr
fix: active curvature speed limit.

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit ddb43002871d24041e8189943f6b08725f3bd436 by 5081703.cr
fix: wbca debug in replayer.

The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit 9776ea9c14130026cc8d3826c0acba00ade11d3d by 5081703.cr
fix: kappa_softmax and kappa_rate_softmax

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.hpp
Commit 8f88e0d857eb01b955dc5783b7af4c9dcd2f5680 by 5081703.cr
fix: win = 4 for kappa speed limit

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 4528c3efdb7b7dd7cbf041df6b079965cbb91c0e by tangwenqing
chore: SSEP: 改进低贝位进堆场效果

The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was addedssep/keb_optimizer/cost_features/soft_trailer_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
Commit 67c5536ea4b8ecc2783fee6f04801e9fe54bb568 by tangwenqing
chore: SSEP: Remove unused offline files.

The file was removedssep/offboard/generate_scene_data/utils.h
The file was removedssep/offboard/generate_scene_data/trajectory_provider/search_based_trajectory_provider.h
The file was removedssep/offboard/generate_scene_data/data_structures.h
The file was removedssep/offboard/generate_scene_data/trajectory_provider/search_based_trajectory_provider.cc
The file was removedssep/offboard/generate_scene_data/state_augment_util.h
Commit b10720a08427bb000d2576bfd3ab0f314f536e90 by wuyanjun110
fix:修复连续普通路口搜索的bug
The file was modifieddata/scenario/scenario_manager.cpp
The file was modifieddata/decide/decide_reaction.hpp
The file was modifieddata/scenario/scenario_manager.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.hpp
The file was modifiedtasks/deciders/search_decider/normal_junction_search_decider.cpp
Commit 5be095107f0cdfe70efef60b738602b4d3f04d97 by wuyanjun110
fix:身后障碍物过滤的bug

The file was modifieddata/obstacle/ogm.cpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/config/cfg_env_const.cpp
Commit 77b55ece453551fb79e7191ed4b2ed16a842c61b by wuyanjun110
fix:replan逻辑的优化
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit 5b01e8a5427151e7e8f78e9259be130b3533712c by wuyanjun110
refacor:搜索的优化

The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/ssep/forward_ec.hpp
The file was modifiedssep/ssep_planner.cc
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/obstacle/obstacle.hpp
The file was modifiedssep/maps/ogm_builder.h
The file was modifieddata/ssep/normal_junction_ec.cpp
Commit f01be4fe8e5cd29ed7e8ebaeb4a4a8cd2f0abc7d by wuyanjun110
fix:编译的bug

The file was modifieddata/ssep/ssep_activation.cpp
Commit 5e5442bf1f8dd2ac3de2f4d336d847b450dc180d by tangwenqing
chore:  SSEP: Improve keb car optimization process

The file was modifiedssep/data_structures/path.cc
The file was modifiedssep/data_structures/path.h
The file was modifiedssep/scenarios/truck_general_planner.h
Commit cbc8ec5c4d9cc09ae3b66ff7a092d40e51859412 by wuyanjun110
fix:重复规划的bug

The file was modifieddata/decide/decide_reaction.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/decide/decide_reaction.hpp
Commit 231805897b1ac3919a39c4574adaaaef84e87e68 by wuyanjun110
fix:出堆场，误进平滑模式的bug

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 3fd692c61f7e6e4819728ad8d1796c85bb1a48ad by wuyanjun110
fix:优化出堆场的搜索

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedssep/ssep_planner.cc
The file was modifieddata/ssep/forward_ec.cpp
Commit 684a0cfe925b1a9ad2d2f6eaf1a6c0e56926afd4 by wuyanjun110
fix:修复replayer内存泄漏的问题

The file was modifiedreplayer/main.cpp
Commit 2896a9016ab589ca6cfc634f92743e89d3c30768 by wuyanjun110
fix:防护half to float 到 inf的场景

The file was modifieddata/common/point.cpp
The file was modifiedmath/util/math_utils.h
The file was modifiedmath/util/math_utils.cc
The file was modifiedmath/util/vec_2d.cpp
Commit 24b6f3f043057424f7f360b558666e51feda4912 by 5081703.cr
fix: smooth_mode for bulk_load

The file was modifiedtasks/deciders/lat_decider/wbca_path_boundary_decider.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifieddata/boundary/road_boundary.cpp