Changes

Summary

1. fix: fiter cost_beta (details)
2. feat: trust-region solver based WBCA (details)
3. fix: max_ref_len 60 (details)
4. feat:fsm interface 里面添加 开始对准是终点距离的接口 (details)
5. fix:align done 情况下还可以继续走的bug (details)
6. fix:停车原因赋值错误的bug (details)

Commit 64ef83d02cb4ee10b6552d567e1250eeeb5ced6d by chenran fix: fiter cost_beta
	algorithm/wbca/wbca_manager.cpp
Commit 28b808307c8011970b2cdff7fa66961de6217668 by chenran feat: trust-region solver based WBCA
	algorithm/wbca/path_optimization/car_path_optimization.cpp
	algorithm/wbca/path_optimization/path_optimization.cpp
	data/config/cfg_lat_plan.cpp
	algorithm/wbca/path_optimization/truck_path_optimization.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	algorithm/wbca/path_optimization/path_optimization.hpp
	data/config/cfg_lat_plan.hpp
	thirdparty/trust-region/truncated_cg_trust_region.hpp
Commit 8ac969a8781279ff5844967394890d8214fff0a7 by chenran fix: max_ref_len 60
	data/config/cfg_lat_plan.cpp
	algorithm/wbca/wbca_manager.cpp
Commit 819284d803105345130b63c9b6bd545af273446f by wuyanjun110 feat:fsm interface 里面添加 开始对准是终点距离的接口
	data/app/fsm/task_fsm/task_fsm.hpp
	data/app/fsm_interface.hpp
	data/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
	data/app/fsm/task_fsm/task_align_fsm/task_align_fsm.hpp
	data/app/fsm_interface.cpp
	data/app/fsm/task_motion_fsm.cpp
	data/app/fsm/task_motion_fsm.hpp
Commit 8c45894813ba6649234716d03a0f8db3819c13fd by wuyanjun110 fix:align done 情况下还可以继续走的bug
	data/app/fsm/motion_fsm/motion_fsm.cpp
Commit 1103882d593a0c4891581b5d3ce213d8c472bbf4 by wuyanjun110 fix:停车原因赋值错误的bug
	data/app/cmd/cmd_align.cpp
	data/app/fsm/task_command_type.hpp
	hmi/widget/command.cpp
	data/app/fsm/task_command_type.cpp
	data/app/cmd/cmd_remote_ctrl.cpp
	plan/prepare/module.cpp
	plan/prepare/prepare_status.cpp