Changes

Summary

1. feat: SSEP: 增加场景编辑工具 (details)
2. chore: SSEP: update scene editor server (details)
3. fix: SSEP: 改进多段倒车场景的启发项，解决威海更换pass point后搜索成功率低的问题。 (details)
4. feat: SSEP: 多段倒车忽略终点附近障碍物。提升威海倒车成功率 (details)
5. chore: SSEP: Fix mult-segment searching params. (details)
6. feat:修改对准数据的打印 (details)
7. feat: SSEP: 使用多项式采样器生成变道路径 (details)
8. fix: lattice wbca velocity reference bug. (details)
9. fix:杨浦堆场入口重搜索的bug (details)
10. refactor:优化打印日志 (details)
11. feat: 添加更多忽略文件到.gitignore (details)
12. chore: SSEP: 1. 变道场景使用更严格的车挂碰撞判断。2. 过滤超过曲率上限的路径。 (details)
13. fix: 修复边界约束逻辑并优化障碍物处理代码 (details)
14. chore: SSEP: merge 集卡进堆场的新改动 (details)
15. fix: 优化障碍物处理逻辑，过滤不必要的障碍物类型 (details)
16. fix: 优化OgmPoints序列化，过滤无效点并调整序列化方法 (details)
17. fix: 杨浦 调整虚拟车道与第一排箱体的距离和左侧后退延伸长度 (details)
18. fix: 优化SubProcessIdle逻辑，增加对引导线信息可用性的检查，防止没有识别低贝位就进行搜索的bug (details)
19. fix: SSEP: 修复反向路径拖挂角度错误的问题 (details)
20. feat: 1.添加OgmCollisionPos绘制功能，增强碰撞检测可视化 2.replayer 添加og碰撞检测的回放功能 (details)
21. fix: 注释掉日志记录代码以减少输出干扰 (details)
22. fix:优化动态下码头面搜索终点选取的问题 (details)
23. feat: SSEP: 完善网页可视化。现在在网页上可以可视化所有元素并任意调整分辨率。 (details)
24. fix: build bug (details)
25. fix: Trajectory MatchByt bug. (details)
26. chore: SSEP: 搜索使用障碍物软约束，提升自卸车进出堆场极限场景的搜索成功率。 (details)
27. chore: SSEP: 过滤无效的采样轨迹，提高进堆场搜索成功率 (details)
28. chore: SSEP: 处理掉头场景终点在standby_guideline上的情况 (details)
29. feat: 添加镜子配置和绘制功能 (details)
30. feat: 优化JudgeFinishAlign函数，简化FSM接口调用，增强对齐完成判断逻辑 (details)
31. feat: 优化低贝激活判断逻辑，简化条件判断，提高代码可读性 (details)
32. fix: 移除不必要的日志警告，优化代码逻辑 (details)
33. chore: SSEP: 掉头进堆场时增加参考线权重 (details)
34. refactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bug (details)
35. fix: 更新YANGPU虚拟车道到第一排箱子的阈值，修正为0.0 (details)
36. refactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bug (details)
37. fix: 修正右侧车道拉直点阈值为2.0度 (details)
38. fix:进堆场终点距离计算的bug (details)
39. feat: 增加keb optimize task (baseline version)，仿真可以运行。剩余工作：1. 多线程运行 2. 无SSEP轨迹时fallback为pjpo task。 (details)
40. fix: 优化地图包围体和在线区域轮廓创建逻辑,修复潜在的空指针和多边形合并问题 (details)
41. fix: 修正OgmCollisionPos函数中的颜色定义注释，确保颜色代码清晰 (details)
42. feat:添加挂车的上层纵向参数 (details)
43. fix: 简化UpdateCurLaneData函数中的当前和目标车道索引更新逻辑 (details)
44. fix: 优化ConstructStartAndEndContour和ConstructEndStraightPosture函数中的逻辑，增加双车道距离补偿 (details)
45. fix: 调整GetExtendPoint函数中的扩展点计算逻辑，增加扩展距离；优化在线区域轮廓创建逻辑，增加多边形连接性检查和简化处理 (details)
46. feat: Keb optimizer task 单线程功能完成 (details)
47. feat: Keb path optimize task 支持异步（多线程）模式。 (details)
48. feat: 添加核心对象库并优化可执行文件链接逻辑 (details)
49. feat: 添加PncGraphicsView类以支持图像显示和交互功能；更新相关文件以替换DragImage (details)
50. fix: 调整ConstructEndPosture函数中的扩展距离逻辑，将TT类型的扩展距离从20.0增加到25.0 (details)
51. fix: 取消CalRefPtsKappa函数中的注释，启用航向角计算逻辑 (details)
52. feat: 添加测量功能，支持在PncGraphicsView中显示测量线和文本；更新鼠标事件处理逻辑以支持控制键测量 (details)
53. fix: 注释掉DrawTargetPath函数中的轮廓生成和绘制逻辑 (details)
54. fix: 修复EgoExpanding类中VertexExpanding函数的除零错误；更新KinematicBicycleModel类中TrailerPtFromTractorPt函数的代码格式 (details)
55. fix: wbca path fluctuation problem. (details)
56. chore: Finetune Keb-Path-0ptimize-Task and add warm-start stretagy. (details)
57. fix: add wbca min_start_velocity (details)
58. feat: 添加获取弯道前车道ID的功能，并在SwitchData中更新相关逻辑, 解决变道时，参考线跳变的问题 (details)
59. fix: SSEP: 修复IMV进充电桩方向与现场任务不一致的问题。 (details)
60. chore: Keb-Path-Opt-Task 调优，缩放道路边界，调整多边形障碍物参数等。 (details)
61. refactor:优化包略框的合并 ，以及优化耗时 (details)
62. feat: 在CreateContour中添加时间记录，优化轮廓构建过程 (details)
63. feat: 更新参数设置，调整前向和侧向扩展长度以优化空间计算 (details)
64. feat: 增强在线区域轮廓创建失败时的回退逻辑，确保使用基础多边形作为后备 (details)
65. chore: SSEP: 集卡上下码头面可以在standby_guide_line上任意匹配终点 (details)
66. fix: del mode=0 (details)
67. fix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。 (details)
68. fix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。 (details)
69. feat: 添加IsAvailable方法以验证轨迹数据的有效性 (details)
70. fix: 修复StitchSsepReferenceLine方法中的路径段验证逻辑 (details)
71. fix:进充电桩场景切换的bug (details)
72. feat: 添加角度显示功能，增强PncGraphicsView的交互性 (details)
73. fix:修复误进入openspace的bug (details)
74. fix: 调整最大速度阈值以优化后向Ogm忽略逻辑 (details)
75. fix: 调整最大速度阈值以优化后向Ogm忽略逻辑 (details)
76. feat: 添加核心对象库并优化可执行文件链接逻辑 (details)
77. feat: add smooth_mode_wbca_params (details)
78. fix: smooth_mode_wbca_params bug (details)
79. fix: 修复车辆行进过程中，误进routing 方向的更新逻辑的bug (details)
80. fix: Keb Path Optimize Task解决方向盘抖动的问题（启用warm start）。改善低贝位挂车拉不直的问题。 (details)
81. fix: 调整RefMatch匹配条件的范围以增强灵活性 (details)
82. fix: 添加禁停区逻辑以避免在倒车路径区域创建禁停区 (details)
83. fix: SSEP: 解决西联IMV进停车位搜索失败的问题 (details)
84. fix: l_bfgs optimization. (details)
85. feat: 添加获取shared_msgs的commit id和分支名称功能，并更新版本信息输出 (details)
86. feat: 添加Keb路径优化任务的执行和重置功能，并更新场景接口 (details)
87. feat: 实现OutYardJunctionFirstStage类中的ExecuteTaskOnReferenceLine方法，增强任务执行逻辑 (details)
88. fix: keb-path-optimize-task 优化低贝位挂车不直的问题 (details)
89. fix: 调整ReferenceRoadSection和ReferenceSegment中的位置判断条件，优化边界处理逻辑 (details)
90. chore: keb-path-optimize-task finetune. (details)
91. chore: 优化keb-path-optimize-task进堆场效果 (details)
92. chore: keb param adjust (details)
93. feat: 优化障碍物处理逻辑，简化多边形构建和碰撞判断 (details)
94. fix: keb task finetune (details)
95. chore: keb task 关键参数提取 (details)
96. fix: SSEP: 进堆场优化用终点硬约束 (details)
97. chore: keb-task 使用终点约束 (details)
98. feat:暂时关闭参考线拼接 theta重新计算的逻辑 (details)
99. feat: keb task: 1. 实时优化增加拉直点功能。2. 滤除偏离参考线太远的轨迹 (details)
100. fix: 修复集卡优化器终点可能超过拖挂角度限制的问题 (details)
101. feat: 添加ClearAreaOverlap类及相关逻辑，优化清晰区域处理和绘制功能 (details)
102. feat: 添加CmdReduceSafeDistance类及相关逻辑，优化安全距离处理功能 (details)
103. feat: 更新MapEnvelops类，增强路径转换功能，支持备用地图包络处理 (details)
104. fix:修复guidelien 中 overlap计算的bug (details)
105. fix: imv smooth_mode bug (details)
106. fix: imv start_pt bug (details)
107. fix:修复拼接ssep结果后，junction overlap 生成的bug (details)
108. feat: 添加 实时的终点边界约束和拉值约束， 然后 终点约束使用使用实时约束 (details)
109. fix: lock historical cloud point in replayer. (details)
110. fix: add FORWARD_BEFORE_BACKWARD (details)
111. fix: ssep replan for  reversing truck. (details)
112. fix: refine deviation_stop params. (details)
113. fix: path disapearing issue. (details)
114. fix: trailer_path_ego match issue. (details)
115. refactor: 注释掉低贝位作业相关的代码逻辑 (details)
116. refactor: 注释掉低贝位作业相关的代码逻辑 (details)
117. refact: straighten then reverse. (details)
118. fix: using map lane width for single line lane detection (details)
119. fix: 更新镜子相关参数的命名空间前缀为/pnc_node (details)
120. fix:修复崩溃的bug (details)
121. feat: 添加自动获取大谢终点约束的功能 (details)
122. feat: stop for localization switching. (details)
123. fix: log msf localization switching status. (details)
124. feat: 添加搜索起点框的功能并优化车辆框生成逻辑 (details)
125. fix: 更新GetLatPoint函数以考虑LKA控制模式 (details)
126. fix:虚拟停止线构建的bug (details)
127. fix: 修正DrawUpperHead函数中镜子高度计算错误 (details)
128. fix: 调整自动构建结束直线姿态和终点扩展长度的计算逻辑 (details)
129. fix: road segment splitting bug. (details)
130. feat: SSEP: 进堆场添加用专家经验生成的路径，拼接替换原始参考线。 (details)
131. feat: SSEP: 进堆场跑通无搜索规划 (details)
132. fix: keb task 修复路径被og点阻挡时轨迹异常的问题 (details)
133. fix: 修复keb task碰撞检测使用路径长度过长的问题 (details)
134. refact: GetRoadSegmentFirstSplitPos (details)
135. fix: road segment splitting bug. (details)
136. refact: GetRoadSegmentFirstSplitPos (details)
137. fix: SSEP: 修复无搜索模式可能崩溃的问题 (details)
138. feat: SSEP: 进堆场添加用专家经验生成的路径，拼接替换原始参考线。 (details)
139. feat: SSEP: 进堆场跑通无搜索规划 (details)
140. fix: keb task 修复路径被og点阻挡时轨迹异常的问题 (details)
141. fix: 修复keb task碰撞检测使用路径长度过长的问题 (details)
142. fix: SSEP: 修复无搜索模式可能崩溃的问题 (details)
143. fix: SSEP: 提升新版进堆场搜索的成功率 (details)
144. fix: SSEP: 提升新版进堆场搜索的成功率 (details)
145. feat: lka deviation after crane (details)
146. fix: SSEP: 修复变道路径可能有碰撞的问题 (details)
147. chore: keb task 增加最大转向角余量 (details)
148. fix: (临时处理)注释掉接收目标命令中的拖车标签和大小处理逻辑 (details)
149. feat: 优化overlap s重计算，增加起始和结束点的有效性检查 (details)
150. feat: keb-task 输出的轨迹保持固定长度，解决轨迹越来越短导致到达不了终点的问题 (details)
151. fix: keb task ssep_end_s_ 赋值错误 (details)
152. feat: 添加状态机切换时间参数并优化相关逻辑 (details)
153. feat: 添加根据堆场内的车道名称扩展安全阈值 (details)
154. chore: keb实时优化 将转向角余量 提取为配置参数 (details)
155. chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹 (details)
156. feat: 对多个范围更新函数添加排序逻辑，确保范围按顺序排列 (details)
157. feat: 优化 JudgeInStraightLane 方法，重构逻辑以提高可读性和维护性，添加辅助函数以简化任务状态和区域状态的计算 (details)
158. feat: 优化 转场场桥的判断， 以及 场桥是否进行判断碰撞检测的逻辑 (details)
159. fix: 解决西联IMV进停车位搜索过慢的问题 (details)
160. fix: 集卡搜索时滤除起点和终点车挂内部的og点 (details)
161. fix: 修正堆垛机特殊区域的横向扩展长度参数加载路径 (details)
162. fix: 解决西联IMV进停车位搜索过慢的问题 (details)
163. feat: align move 状态下，假如挂的角度大于一定值，不倒车。 倒车的时候限制速度 (details)
164. feat: 杨浦 B003 B004适配 (details)
165. feat: yard name verification. (details)
166. feat: 普通卡车多段倒车入库时适配拉直点逻辑 (details)
167. fix: 调整对拖车姿态有效性的角度判断阈值 (details)
168. feat: 增加对车道有效性的检查，确保车道ID在实际车道ID列表中 (details)
169. chore: SSEP: 自卸车进出散货堆场搜索使用软约束 (details)
170. fix: SSEP: 修复集卡进堆场S弯轨迹不合理，及自适应拉直距离失效的问题 (details)
171. fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。 (details)
172. fix: 调整路径重叠的起始和结束点设置，确保不超出有效范围 (details)
173. fix: 调整路径重叠的起始和结束点设置，确保不超出有效范围 (details)
174. feat: add position check for reversing (details)
175. fix: disable revsersing deviation. (details)
176. feat:杨浦低贝位适配 (details)
177. feat: limit straithen times. (details)
178. feat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离 (details)
179. fix: reversing times bug (details)
180. fix: checkout feat_keb_task (details)
181. fix: reversing ssep planner bug (details)
182. fix: reversitong activation position thr 10.0 (details)
183. feat:合并ssep更改 (details)
184. feat: 添加车辆姿态设置功能并更新测量和角度显示逻辑 (details)
185. fix: SSEP: 修复普通卡车搜索拉直段失效的问题 (details)
186. feat:适配友谊关进停车的拉正距离 (details)
187. fix: disable default LKA deviation. (details)
188. fix: lka deviation bug (details)
189. feat: add lbfgs prevous version. (details)
190. feat: add lbfgs prevous version. (details)
191. feat: 苏溪调箱门场景适配 (details)
192. feat: 添加无效侧通行点检查和虚拟障碍物生成逻辑 (details)
193. refactor:优化 停止线所属junction的判断逻辑 (details)
194. feat:合并ssep更改 (details)
195. fix: curvature over limit filer. (details)
196. fix:终点低贝位时， 然后场桥低贝位不重新搜索的bug (details)
197. feat:合并ssep (details)
198. fix: filter wbca path by cost (details)
199. fix: add switch for lbfgs to lbfgs_new (details)
200. fix: using new l_bfgs (details)
201. fix: cost filter for imv and truck (details)
202. fix: activate wbca smooth mode in align fsm. (details)
203. feat:直道地图包络构建的优化 (details)
204. feat: （动态搜索的box框),优化生成平行框的距离计算逻辑 (details)
205. fix: 更新DrawObject函数中的颜色值注释 (details)
206. fix: filter wbca cost without collision cost. (details)
207. fix: LKA deviation for out_yard (details)
208. feat:调整换向缩小安全距离的阈值 (details)
209. fix:修复变道的约束 (details)
210. feat: 增加ALIGN命令相关错误类型并更新状态处理逻辑 (details)
211. fix: cloud areas avoidence. (details)
212. fix: checkout ssep from feat_keb_task (details)
213. feat: checkout relate_offset from feat_straddle_v2 (details)
214. feat: add DeviationStatus (details)
215. feat: add update_end_position for ssep replan. (details)
216. feat: deviation for align (details)
217. refactor:朝海侧，右转横二路，边界优化 (details)
218. refactor:极限变道约束优化 (details)
219. fix: ssep replan for bulk align. (details)
220. fix: reverse bulk offset heading (details)
221. feat: limit reversing align times (details)
222. refactor: openspace中的参考线为pnc引导线 (details)
223. fix:imv下码头搜索失败的bug (details)
224. fix: 修复imv普通搜索参考线错误的问题 (details)
225. fix:修复反向出停车位的bug (details)
226. fix:修复停止线绑定juntion的bug (details)
227. refactor:优化场桥转场判断 (details)
228. refctor:优化转场场桥box的使用 (details)
229. fix: log align info; serialize bulk_align_offset (details)
230. fix: log stop_deviation_for_algn (details)
231. fix: pnc_map splitting error. (details)
232. fix: pnc_map splitting error. (details)
233. fix: SSEP: 提升太阳纸业自卸车出堆场成功率 (details)
234. chore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度 (details)
235. chore: SSEP: 集卡多段倒车场景，Replan时加入最后一段拉直逻辑 (details)
236. chore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度 (details)
237. fix: SSEP: 提升太阳纸业自卸车出堆场成功率 (details)
238. fix:极限变道不replan的bug (details)
239. fix: 优化SmoothTask执行逻辑，增加对特定条件的处理 (details)
240. chore: SSEP: 解决集卡多段倒车可能绕圈的问题 (details)
241. refactor:优化小地图绘制时间过长的问题 (details)
242. feat: 添加点云底图加载功能，支持异步加载和清除操作 (details)
243. feat: 添加虚拟障碍物长度限制，优化创建虚拟障碍物的性能 (details)
244. fix: SSEP: 修复多段倒车路径异常问题 (details)
245. feat: set up max_forward_distance (details)
246. fix: fiter cost_beta (details)
247. feat: trust-region solver based WBCA (details)
248. fix: max_ref_len 60 (details)
249. fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 (details)
250. feat:fsm interface 里面添加 开始对准是终点距离的接口 (details)
251. fix:align done 情况下还可以继续走的bug (details)
252. fix:停车原因赋值错误的bug (details)
253. feat: 添加对值阈值和条件，优化对准决策逻辑 (details)
254. fix: 添加路径点数量检查，确保至少有两个点以创建路径 (details)
255. fix: add passing pt (details)
256. feat: SSEP 适配烟台跨运车 (details)
257. fix: ssep data filter short segs (details)
258. feat:1.添加耗时显示2.优化绘制界面 map的绘制 (details)
259. fix:一次规划，单个车道分段时， 路径冲突判断的bug (details)
260. fix: ignore .codex (details)
261. refactor: 注释掉不必要的代码，简化判断逻辑 (details)
262. fix: checkout ssep (details)
263. fix: merge bug (details)
264. refactor:优化ssep passing pt的赋值 (details)

Commit 7be6e8a3557675f4c2d6d633cedadbb2aa178236 by tangwenqing feat: SSEP: 增加场景编辑工具
	ssep/offboard/servers/scene_editor_html_template.h
	ssep/offboard/servers/CMakeLists.txt
	ssep/offboard/servers/scene_editor_html_template.cc
	ssep/offboard/servers/scene_editor_server.cc
Commit 14ae272916e84cc2b0c459eea328af1126f4037c by tangwenqing chore: SSEP: update scene editor server
	ssep/offboard/servers/scene_editor_server.cc
Commit 39d91da2688fad295f61b72e03343113f4b58bec by tangwenqing fix: SSEP: 改进多段倒车场景的启发项，解决威海更换pass point后搜索成功率低的问题。
	ssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
	ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit 202d8a3a5b87a2837990b959e7c9f6dc4ed91937 by tangwenqing feat: SSEP: 多段倒车忽略终点附近障碍物。提升威海倒车成功率
	ssep/coarse_search/evaluator/evaluator.h
	ssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
	ssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.cc
	ssep/ssep_planner.cc
	ssep/ssep_planner.h
Commit 9eb6a23d27a51b50abc4551e2f77e805f5f31c2d by tangwenqing chore: SSEP: Fix mult-segment searching params.
	ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
	ssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
	ssep/param_loader/param.h
Commit c4de19b7d9d140ad782aef87dc88d7bd43c07a89 by wuyanjun110 feat:修改对准数据的打印
	common/util/express.cpp
	source/ros_source_offset.cpp
Commit a4a70c8cc13449cc12587345ac23584c4cf64b50 by tangwenqing feat: SSEP: 使用多项式采样器生成变道路径
	ssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.h
	ssep/scenarios/scenario_planner_factory.h
	ssep/test/ssep_planner_test.cc
	ssep/coarse_search/stage_transition_controller.h
	ssep/protos/ssep_scenario_type.proto
	ssep/test/quintic_polynomial_sampler_test.cc
	ssep/coarse_search/motion_primitive_sampler/quintic_polynomial_motion_primitive_sampler.h
	ssep/coarse_search/conditions/node_level_condition.h
	ssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
	ssep/scenarios/tractor_trailer_lane_change_planner.h
	ssep/coarse_search/search_graph.h
	ssep/coarse_search/motion_primitive_sampler/motion_primitive_sampler.h
	ssep/coarse_search/multi_stage_hybrid_astar_search_engine.cc
	ssep/test/CMakeLists.txt
	ssep/common/utils/scene_frame_visualization.cc
	ssep/coarse_search/motion_primitive_sampler/quintic_polynomial_motion_primitive_sampler.cc
	ssep/data_structures/ssep_scenario_type.hpp
	ssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.cc
	ssep/coarse_search/conditions/search_condition_interface.h
Commit e20a48ccf907c172cd258badb80770444a39bdc5 by 5081703.cr fix: lattice wbca velocity reference bug.
	data/lattice/trajectory_evaluator.cpp
Commit f08fc47daa4732107487be5e95cff6c7519c5e76 by wuyanjun110 fix:杨浦堆场入口重搜索的bug
	data/config/cfg_func_sw.cpp
	data/other/flow_control.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
	tasks/deciders/other_decider/replan_decider.cpp
Commit 346b3313849cd4c2a92ff2eae1281fefa17c6bdf by wuyanjun110 refactor:优化打印日志
	data/lattice/trajectory_evaluator.cpp
	tasks/deciders/lat_decider/path_bounds_decider.cpp
Commit efb4b5efff5051ea0cb101f63308b3cf96b24f90 by wuyanjun110 feat: 添加更多忽略文件到.gitignore
	.gitignore
Commit 680d711465338cdb7b63d2fbb55ac8231aa0522b by tangwenqing chore: SSEP: 1. 变道场景使用更严格的车挂碰撞判断。2. 过滤超过曲率上限的路径。
	ssep/coarse_search/evaluator/curvature_cost_computer.h
	ssep/scenarios/tractor_trailer_lane_change_planner.h
	ssep/coarse_search/evaluator/evaluator.h
	ssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.cc
Commit 07eddc3b7ec1ad94417e2dc1bfac5d2a8b76c46d by wuyanjun110 fix: 修复边界约束逻辑并优化障碍物处理代码
	data/ssep/out_yard_junction_ec.cpp
	data/ssep/field_junction_ec.cpp
Commit 5b23bc622f63cdeb7f9546641b51d620b2b35d22 by tangwenqing chore: SSEP: merge 集卡进堆场的新改动
	ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 54a568d284cc21044add53f825e13ffea0c16be0 by wuyanjun110 fix: 优化障碍物处理逻辑，过滤不必要的障碍物类型
	data/ssep/out_yard_junction_ec.cpp
Commit d868d505a77a1ca04d496f97347e1060ead1641f by wuyanjun110 fix: 优化OgmPoints序列化，过滤无效点并调整序列化方法
	data/obstacle/ogm.hpp
Commit 3374681c6ddc84be7755c8ebf8e6854e61159f98 by wuyanjun110 fix: 杨浦 调整虚拟车道与第一排箱体的距离和左侧后退延伸长度
	data/ssep/into_yard_junction_ec.cpp
Commit e347247ce0d00a200574cc5bb25112621e193570 by wuyanjun110 fix: 优化SubProcessIdle逻辑，增加对引导线信息可用性的检查，防止没有识别低贝位就进行搜索的bug
	tasks/deciders/search_decider/into_yard_junction_search_decider.cpp
Commit 66056d9ff0da904e2072d9011666631d41cea52a by tangwenqing fix: SSEP: 修复反向路径拖挂角度错误的问题
	ssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
Commit 29291b95199687e97991d9489d85fad645045654 by wuyanjun110 feat: 1.添加OgmCollisionPos绘制功能，增强碰撞检测可视化 2.replayer 添加og碰撞检测的回放功能
	replayer/replayer_data_process/replayer_data_process.cpp
	hmi/draw/draw_collision_detection.hpp
	replayer/replayer_data_process/replayer_data_process.hpp
	hmi/draw/draw_collision_detection.cpp
Commit c72005d662d95de7153c7a15d40b4505c7b69771 by wuyanjun110 fix: 注释掉日志记录代码以减少输出干扰
	tasks/deciders/lat_decider/side_pass_decider.cpp
Commit f5e3048bcd0597ca0e618895de5849192cd169ec by wuyanjun110 fix:优化动态下码头面搜索终点选取的问题
	data/ssep/open_space_ec.cpp
Commit b9e7010a6647b88f2d1b7ccbf0a107796c00420d by tangwenqing feat: SSEP: 完善网页可视化。现在在网页上可以可视化所有元素并任意调整分辨率。
	ssep/offboard/servers/scene_vis_html_template.cc
	ssep/offboard/servers/scene_vis_html_template.h
	ssep/offboard/servers/scene_vis_server.cc
Commit db6b2998c7b19ac262faae5ce406b6bb1c0300f6 by chenran fix: build bug
	data/config/cfg_env_const.hpp
Commit 857f4abd0e008f86dea5d5880f2a4ab903f6110b by chenran fix: Trajectory MatchByt bug.
	data/common/trajectory_point.cpp
Commit b3d8e7f1b8a0f4f404506eb060e6f56f37d35cae by tangwenqing chore: SSEP: 搜索使用障碍物软约束，提升自卸车进出堆场极限场景的搜索成功率。
	ssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
	ssep/scenarios/truck_bulk_yark_in_out_planner.cc
	ssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
	ssep/common/utils/path_utils.h
	ssep/common/utils/path_utils.cc
Commit dac7c89094f1f75b409fb7ea12870735e8c44f3e by tangwenqing chore: SSEP: 过滤无效的采样轨迹，提高进堆场搜索成功率
	ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 3300e1a9daf69673daac19ea5fbe0039afcbc115 by tangwenqing chore: SSEP: 处理掉头场景终点在standby_guideline上的情况
	ssep/scenarios/scenario_planner_factory.h
Commit ec15472120f3d67d5bcf92713ca0ab7847c5809f by wuyanjun110 feat: 添加镜子配置和绘制功能
	data/config/cfg_static.cpp
	hmi/draw/draw_ego.cpp
	data/config/cfg_static.hpp
Commit 17c3f62191f31f60680819b599f7c257ba28af42 by wuyanjun110 feat: 优化JudgeFinishAlign函数，简化FSM接口调用，增强对齐完成判断逻辑
	plan/prepare/prepare_status.cpp
Commit 8baf0a211150128214102de2d4e3261838b09944 by wuyanjun110 feat: 优化低贝激活判断逻辑，简化条件判断，提高代码可读性
	tasks/deciders/other_decider/replan_decider.cpp
	tasks/deciders/search_decider/into_yard_junction_search_decider.cpp
Commit 51180b0d25c6387ef489de1a8ff39f49bcb37f58 by wuyanjun110 fix: 移除不必要的日志警告，优化代码逻辑
	data/lattice/trajectory_combiner.cpp
Commit 828b79a882767843680f05395f4f8cc73f01d28e by tangwenqing chore: SSEP: 掉头进堆场时增加参考线权重
	ssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit b49664473025df194c4e99e8a592283933351183 by wuyanjun110 refactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bug
	sink/ros_sink_ctrl_reference.cpp
Commit 06f00af19d0f07a9c4ebfb1a14a0adf834e0725e by wuyanjun110 fix: 更新YANGPU虚拟车道到第一排箱子的阈值，修正为0.0
	data/ssep/into_yard_junction_ec.cpp
Commit cbe867251847661f335028397456bf5e9d017e89 by wuyanjun110 refactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bug
	sink/ros_sink_ctrl_reference.cpp
Commit 1ae44720a335293b49d9d198cd6dee924fa28138 by wuyanjun110 fix: 修正右侧车道拉直点阈值为2.0度
	data/ssep/into_yard_junction_ec.cpp
Commit 422d0cd121bf66362cb39f51b2a52a4de9002038 by wuyanjun110 fix:进堆场终点距离计算的bug
	data/ssep/into_yard_junction_ec.cpp
Commit 8949f783ad1beb73ef96d65dafc77bf62970853e by tangwenqing feat: 增加keb optimize task (baseline version)，仿真可以运行。剩余工作：1. 多线程运行 2. 无SSEP轨迹时fallback为pjpo task。
	ssep/keb_optimizer/keb_problem.cc
	data/config/cfg_stage.hpp
	tasks/plan/keb_path_optimize_task.hpp
	data/config/cfg_stage.cpp
	ssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
	ssep/data_structures/path.h
	tasks/plan/keb_path_optimize_task.cpp
	tasks/task_factory.cpp
Commit c224b5b2ad8ef6113c9c822ea496bde7e9219ea3 by wuyanjun110 fix: 优化地图包围体和在线区域轮廓创建逻辑,修复潜在的空指针和多边形合并问题
	data/map/envelop/map_envelop.cpp
	data/ssep/online_region_contour_creator.cpp
Commit ed0b322e870556662db2c272f6cca28d3b2505cf by wuyanjun110 fix: 修正OgmCollisionPos函数中的颜色定义注释，确保颜色代码清晰
	hmi/draw/draw_collision_detection.cpp
Commit 9958c4fb244203a16577ebb183946313ac4902b3 by wuyanjun110 feat:添加挂车的上层纵向参数
	algorithm/plan/ego_expanding.cpp
	algorithm/wbca/truck_wbca_manager.cpp
	replayer/replayer_data_process/replayer_data_process.cpp
	data/config/cfg_static.cpp
	data/config/cfg_static.hpp
	common/util/crash_helper.cpp
	data/lattice/collision_checker.cpp
	algorithm/vehicle_model/kinematic_bicycle_model.cpp
	data/obstacle/ogm.cpp
	data/ssep/ssep_activation.cpp
	data/boundary/road_boundary.cpp
	hmi/draw/draw_constrain.cpp
	hmi/draw/draw_ego.cpp
	algorithm/plan/sweep_area.cpp
Commit 9236dd6181e0b7c771e63db307356296e789dbf2 by wuyanjun110 fix: 简化UpdateCurLaneData函数中的当前和目标车道索引更新逻辑
	data/plan/switch_data.cpp
Commit 1500480102eebfe23dc08f22baee8e8a5e45c038 by wuyanjun110 fix: 优化ConstructStartAndEndContour和ConstructEndStraightPosture函数中的逻辑，增加双车道距离补偿
	data/ssep/into_yard_junction_ec.cpp
Commit 1b3e1d627380950b922bf794cd8f9b9160f4a6e0 by wuyanjun110 fix: 调整GetExtendPoint函数中的扩展点计算逻辑，增加扩展距离；优化在线区域轮廓创建逻辑，增加多边形连接性检查和简化处理
	data/map/envelop/map_envelop.cpp
	data/ssep/online_region_contour_creator.cpp
Commit 978096f8d9bd68740c1cc23d1d60ea5ce1fa09e4 by tangwenqing feat: Keb optimizer task 单线程功能完成
	ssep/data_structures/path_utils.h
	tasks/plan/keb_path_optimize_task.cpp
Commit 9e61440a54d4a4d9ba5f6d79d76bc84ef225b5e7 by tangwenqing feat: Keb path optimize task 支持异步（多线程）模式。
	tasks/plan/keb_path_optimize_task.cpp
	tasks/plan/keb_path_optimize_task.hpp
Commit ab65d3bc4ea9b19ca8a03e9090432de03b66bc73 by wuyanjun110 feat: 添加核心对象库并优化可执行文件链接逻辑
	CMakeLists.txt
Commit 8c79ea9cf0d58a434b38c9fd839eba62571b8eeb by wuyanjun110 feat: 添加PncGraphicsView类以支持图像显示和交互功能；更新相关文件以替换DragImage
	hmi/widget/pnc_mat.cpp
	hmi/widget/pnc_mat.hpp
	hmi/common/image_viewer.cpp
	hmi/common/pnc_graphics_view.hpp
	hmi/replayer_hmi.cpp
	hmi/widget/replayer_pnc_mat.hpp
	hmi/widget/replayer_pnc_mat.cpp
	hmi/node_hmi.cpp
	CMakeLists.txt
	hmi/common/pnc_graphics_view.cpp
Commit 596962e10fec144af58b2e0fd7b089fca8661440 by wuyanjun110 fix: 调整ConstructEndPosture函数中的扩展距离逻辑，将TT类型的扩展距离从20.0增加到25.0
	data/ssep/open_space_ec.cpp
Commit f6df47fe7a095d203cffc46df3eec57303915643 by wuyanjun110 fix: 取消CalRefPtsKappa函数中的注释，启用航向角计算逻辑
	data/map/reference/reference_segment.cpp
Commit 6c6c78a4cb5ad24627297a27ec668ab5e3913a37 by wuyanjun110 feat: 添加测量功能，支持在PncGraphicsView中显示测量线和文本；更新鼠标事件处理逻辑以支持控制键测量
	hmi/common/pnc_graphics_view.hpp
	hmi/draw/draw_ssep.cpp
	hmi/replayer_hmi.cpp
	hmi/common/pnc_graphics_view.cpp
Commit 174fffc20a252707cccc80f830bd65304bdef169 by wuyanjun110 fix: 注释掉DrawTargetPath函数中的轮廓生成和绘制逻辑
	hmi/draw/draw_ssep.cpp
Commit 65a7777d7c662ac049366c24e60b684062dae23d by wuyanjun110 fix: 修复EgoExpanding类中VertexExpanding函数的除零错误；更新KinematicBicycleModel类中TrailerPtFromTractorPt函数的代码格式
	algorithm/vehicle_model/kinematic_bicycle_model.cpp
	algorithm/plan/ego_expanding.cpp
Commit 993c574f08c46cf65f6b891f0e920b196809a7f3 by chenran fix: wbca path fluctuation problem.
	data/plan/start_point_data.cpp
	data/plan/start_point_data.hpp
Commit 19551aed1c4d603d6af3351db48ca4c83b6c67cf by tangwenqing chore: Finetune Keb-Path-0ptimize-Task and add warm-start stretagy.
	tasks/plan/keb_path_optimize_task.cpp
	tasks/plan/keb_path_optimize_task.hpp
Commit ca574be78a4a5b22d2531926384d5f1ece21d0ee by chenran fix: add wbca min_start_velocity
	data/plan/start_point_data.hpp
	data/config/cfg_lat_plan.cpp
	tasks/plan/path_optimization_task.cpp
Commit 64250345071c2bdf4003a45d557cab9fb0e31f7a by wuyanjun110 feat: 添加获取弯道前车道ID的功能，并在SwitchData中更新相关逻辑, 解决变道时，参考线跳变的问题
	data/plan/reference_line_info.cpp
	data/map/pnc_map/pnc_map_path.cpp
	data/map/pnc_map/pnc_map_path.hpp
	data/plan/switch_data.cpp
Commit bbcd70c8e3cfc961046a945890a08281ecd18571 by tangwenqing fix: SSEP: 修复IMV进充电桩方向与现场任务不一致的问题。
	ssep/scenarios/imv_enter_station_planner.h
Commit 8101d8ebf6ca8142278ca0d1491c2ce9622bba6c by tangwenqing chore: Keb-Path-Opt-Task 调优，缩放道路边界，调整多边形障碍物参数等。
	plan/prepare/prepare_ogm.cpp
	ssep/data_structures/path_utils.h
	ssep/data_structures/polyline.h
	tasks/plan/keb_path_optimize_task.cpp
	ssep/data_structures/polyline.cc
Commit d2c0739f3014c96356d8396559abdf5bd6491812 by wuyanjun110 refactor:优化包略框的合并 ，以及优化耗时
	data/ssep/open_space_ec.cpp
	data/ssep/field_junction_ec.cpp
	data/map/envelop/map_envelops.hpp
	data/boundary/road_boundary.cpp
	data/map/envelop/map_envelop.cpp
	data/ssep/online_region_contour_creator.cpp
	data/ssep/online_region_contour_creator.hpp
	data/map/envelop/map_envelops.cpp
	hmi/draw/draw_map_envelpos.cpp
	data/ssep/ex_lane_change_ec.cpp
	data/ssep/ssep_util.cpp
	data/ssep/ssep_ec.cpp
	data/ssep/seaside_junction_ec.cpp
Commit 43f11b859819fd7f30c9c0dbfc7d138350fe3086 by wuyanjun110 feat: 在CreateContour中添加时间记录，优化轮廓构建过程
	data/ssep/online_region_contour_creator.cpp
Commit 5c4212a16790c1e956baf2553bece33826d8e699 by wuyanjun110 feat: 更新参数设置，调整前向和侧向扩展长度以优化空间计算
	data/plan/guide_line.cpp
	data/ssep/open_space_ec.cpp
Commit 743127a9723c20065292b4105dcdb172f6c5eff3 by wuyanjun110 feat: 增强在线区域轮廓创建失败时的回退逻辑，确保使用基础多边形作为后备
	data/ssep/online_region_contour_creator.cpp
	data/ssep/open_space_ec.cpp
Commit 6751b29aa1f63012d68615b08fd675060fe76c28 by tangwenqing chore: SSEP: 集卡上下码头面可以在standby_guide_line上任意匹配终点
	ssep/scenarios/tractor_trailer_general_planner.h
Commit c54def98283c4ec7dc783b3c6e037641d990d3be by chenran fix: del mode=0
	data/lattice/trajectory_evaluator.cpp
Commit d725454ddae3355ba0c05e4ed9600f230ab6153b by tangwenqing fix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
	ssep/scenarios/imv_general_planner.h
Commit 5da516f1b19b13f65a0d9c3f6041cdb4c9226f11 by wuyanjun110 fix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
	ssep/scenarios/imv_general_planner.h
Commit 4a08ca557e16b33f5b439f97aeed655588af18ca by wuyanjun110 feat: 添加IsAvailable方法以验证轨迹数据的有效性
	data/lattice/piecewise_acc_traj1d.hpp
	data/lattice/trajectory_combiner.cpp
	math/curve1d/curve1d.hpp
	data/lattice/piecewise_acc_traj1d.cpp
Commit 6c3476ae1785ffcc0e72a44ab5a39ec14f926234 by wuyanjun110 fix: 修复StitchSsepReferenceLine方法中的路径段验证逻辑
	tasks/other_tasks/stitch_path_to_reference_line.cpp
Commit 6edf9f81cfd8d34ef20271ac92b2c4e0b3a486cc by wuyanjun110 fix:进充电桩场景切换的bug
	plan/prepare/prepare_status.cpp
Commit c8e821186992f60df26f209fe665bd2582a060f3 by wuyanjun110 feat: 添加角度显示功能，增强PncGraphicsView的交互性
	.clangd
	hmi/common/pnc_graphics_view.cpp
	hmi/common/pnc_graphics_view.hpp
Commit 140041f723b7605ba0c3f541cf93137b952dcb5b by wuyanjun110 fix:修复误进入openspace的bug
	data/map/pnc_map/routing_extension/routing_data.cpp
Commit 937254808f46c55561908ecdcb1bc38c60fc631f by wuyanjun110 fix: 调整最大速度阈值以优化后向Ogm忽略逻辑
	data/other/flow_control.cpp
Commit 6b4cad426da64472bce0a1b42ba5414c4d02a0d1 by wuyanjun110 fix: 调整最大速度阈值以优化后向Ogm忽略逻辑
	data/other/flow_control.cpp
Commit df7f1ef3c7e632393236c47384f40942fc30f964 by wuyanjun110 feat: 添加核心对象库并优化可执行文件链接逻辑
	CMakeLists.txt
Commit 9139b2a6a7d5a69cee55395a332187bbf2a096fb by chenran feat: add smooth_mode_wbca_params
	data/config/cfg_lat_plan.hpp
	.clangd
	tasks/plan/path_optimization_task.cpp
	data/wbca/wbca_data.hpp
	data/config/cfg_lat_plan.cpp
Commit 986293b15a5974c620ba0a521a5d167f82a50119 by chenran fix: smooth_mode_wbca_params bug
	tasks/plan/path_optimization_task.cpp
	data/config/cfg_lat_plan.cpp
Commit bcbdf46ad462f619475c1fdf3fb71e834a30d778 by wuyanjun110 fix: 修复车辆行进过程中，误进routing 方向的更新逻辑的bug
	data/map/pnc_map/routing_extension/routing_data.cpp
Commit 4b50a49607424665f8acfd256ac9e1dbd1baea94 by tangwenqing fix: Keb Path Optimize Task解决方向盘抖动的问题（启用warm start）。改善低贝位挂车拉不直的问题。
	ssep/keb_optimizer/keb_problem.cc
	tasks/plan/keb_path_optimize_task.cpp
	ssep/data_structures/path.cc
Commit b4c8509dc59d5b832c6f297fbea4cb1161112772 by wuyanjun110 fix: 调整RefMatch匹配条件的范围以增强灵活性
	data/map/reference/reference_segment.cpp
Commit a73b8f4d7d8f7e5659d3be56c8f20f13c3e3ba9b by wuyanjun110 fix: 添加禁停区逻辑以避免在倒车路径区域创建禁停区
	data/constrain/block_data.cpp
Commit 676d5a425b2d7245cc5964a500bba444c3e2007e by tangwenqing fix: SSEP: 解决西联IMV进停车位搜索失败的问题
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
	ssep/scenarios/imv_enter_station_planner.h
Commit 54642a4d385953f418422c708d1c011a5b7cd8d6 by chenran fix: l_bfgs optimization.
	thirdparty/lbfgs/lbfgs.hpp
Commit 8fb3e52371e6b397cdf014eb49b6bd06c8a3651d by wuyanjun110 feat: 添加获取shared_msgs的commit id和分支名称功能，并更新版本信息输出
	CMakeLists.txt
	common/other/version.hpp
	replayer/main.cpp
	node/main.cpp
Commit a7d725fc7c38581e5d41df1e9a44e812be9fdc51 by wuyanjun110 feat: 添加Keb路径优化任务的执行和重置功能，并更新场景接口
	scenarios/into_yard_junction_scenario/into_yard_junction_first_stage.hpp
	scenarios/scenario_interface.hpp
	tasks/plan/keb_path_optimize_task.cpp
	scenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cpp
	tasks/plan/keb_path_optimize_task.hpp
	scenarios/scenario.cpp
Commit 0ccd53b38e6cf5b4986459323cfb5fc3bce2d87c by wuyanjun110 feat: 实现OutYardJunctionFirstStage类中的ExecuteTaskOnReferenceLine方法，增强任务执行逻辑
	scenarios/out_yead_junction_scenario/out_yard_junction_first_stage.hpp
	scenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cpp
Commit 26f67573d71e96ade8fcb594cdcff81a75d1e006 by tangwenqing fix: keb-path-optimize-task 优化低贝位挂车不直的问题
	ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
	tasks/plan/keb_path_optimize_task.cpp
	ssep/scenarios/tractor_trailer_enter_yard_planner.h
	ssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
Commit 8daab03cfcdd70c6d39cd7a41c0042f2e24d8728 by wuyanjun110 fix: 调整ReferenceRoadSection和ReferenceSegment中的位置判断条件，优化边界处理逻辑
	data/map/reference/reference_segment.cpp
	data/map/reference/reference_road_section.cpp
Commit 771e068e36b299ceb0ee0718cd9eb38dda67c5e7 by tangwenqing chore: keb-path-optimize-task finetune.
	tasks/plan/keb_path_optimize_task.cpp
Commit 68884d9316d33b45fc13365f4ffaf29e9a7e481e by tangwenqing chore: 优化keb-path-optimize-task进堆场效果
	ssep/scenarios/tractor_trailer_enter_yard_planner.h
	data/config/cfg_lat_plan.hpp
	tasks/plan/keb_path_optimize_task.cpp
	data/config/cfg_lat_plan.cpp
Commit aafa159991f4a48c9ef692f1a8e047e7c424afb6 by tangwenqing chore: keb param adjust
	tasks/plan/keb_path_optimize_task.cpp
Commit 1bd0449b5f8dcfa94fec6c7945fe60d974d9ad32 by wuyanjun110 feat: 优化障碍物处理逻辑，简化多边形构建和碰撞判断
	data/ssep/into_yard_junction_ec.cpp
Commit 721aad94a7dfbc0f93058ae6450a28f2dd043489 by tangwenqing fix: keb task finetune
	tasks/plan/keb_path_optimize_task.cpp
Commit 0b608a2fa4fd2c989e96867676775c39bae76060 by tangwenqing chore: keb task 关键参数提取
	data/config/cfg_lat_plan.hpp
	data/config/cfg_lat_plan.cpp
	tasks/plan/keb_path_optimize_task.cpp
	tasks/plan/keb_path_optimize_task.hpp
Commit 9c5c170342494671d0cf0ac64b8a6e7f4b2af70d by tangwenqing fix: SSEP: 进堆场优化用终点硬约束
	ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 84ff4a2e3dde08f3d0742036d1c94610e9ab1d44 by tangwenqing chore: keb-task 使用终点约束
	tasks/plan/keb_path_optimize_task.cpp
Commit 03b3cf39f7b16511a2dbe122e5ad34392670a516 by wuyanjun110 feat:暂时关闭参考线拼接 theta重新计算的逻辑
	data/map/reference/reference_segment.cpp
Commit c41eddb38ef7f1a2e7bbc7435935def0d072d825 by tangwenqing feat: keb task: 1. 实时优化增加拉直点功能。2. 滤除偏离参考线太远的轨迹
	ssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
	tasks/plan/keb_path_optimize_task.cpp
	tasks/plan/keb_path_optimize_task.hpp
	ssep/keb_optimizer/keb_problem.cc
	ssep/keb_optimizer/tractor_trailer_keb_optimizer.h
	ssep/keb_optimizer/keb_problem.h
Commit 9dc2ca95d9ba598e7a465c92cb78be52a34592dc by tangwenqing fix: 修复集卡优化器终点可能超过拖挂角度限制的问题
	ssep/keb_optimizer/cost_features/state_constraint.h
Commit 8d32b4930266f35ff301b6030bec4cccc04d7aa0 by wuyanjun110 feat: 添加ClearAreaOverlap类及相关逻辑，优化清晰区域处理和绘制功能
	data/map/pnc_map/path_overlap.hpp
	data/map/pnc_map/path_overlap.cpp
	data/constrain/disable_stop_range.cpp
	data/constrain/block_data.cpp
	data/map/pnc_map/pnc_map_path.cpp
	hmi/draw/draw_map.cpp
Commit b0b06927dbaffd63819509d96b0a48e95a23a173 by wuyanjun110 feat: 添加CmdReduceSafeDistance类及相关逻辑，优化安全距离处理功能
	data/app/cmd/cmd_reduce_safe_distance.cpp
	data/app/app_data.hpp
	data/app/cmd/cmd_reduce_safe_distance.hpp
	data/app/reaction/app_reaction.cpp
	data/constrain/longitude_constrain.cpp
	data/app/reaction/app_reaction.hpp
	data/config/cfg_long_plan.cpp
	data/app/app_data.cpp
	data/app/fsm/task_command_type.hpp
	tasks/deciders/long_decider/constrain_decider.cpp
Commit fe45ba157988b615c24bae4fe43d8b3302254918 by wuyanjun110 feat: 更新MapEnvelops类，增强路径转换功能，支持备用地图包络处理
	data/plan_frame.hpp
	data/ssep/online_region_contour_creator.cpp
	replayer/replayer_data_process/replayer_data_process.cpp
	data/map/envelop/map_envelops.cpp
	plan/prepare/prepare_map_related.cpp
	data/ssep/open_space_ec.cpp
	data/ssep/open_space_ec.hpp
	data/map/envelop/map_envelops.hpp
Commit 58293034061f9aa3edd075764961740dcf23e6c8 by wuyanjun110 fix:修复guidelien 中 overlap计算的bug
	data/common/path.cpp
	data/plan/guide_line.cpp
Commit 419f75f12ec66fbea96fb469cb3cd0e5e4c742c3 by chenran fix: imv smooth_mode bug
	tasks/plan/path_optimization_task.cpp
	data/wbca/grid_map/esdf_map.hpp
	algorithm/wbca/imv_wbca_manager.cpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
	data/wbca/grid_map/esdf_map.cpp
Commit 2026f2b99af4241f05203d6d6a354eafc69ebbe9 by chenran fix: imv start_pt bug
	data/plan/start_point_data.cpp
Commit bfc992cbf1652ca99e8bfd0ef9cc690b4f595815 by wuyanjun110 fix:修复拼接ssep结果后，junction overlap 生成的bug
	data/map/pnc_map/pnc_map_path.cpp
Commit 251ad648d7b5958a23e670eebf6d15769d94309d by wuyanjun110 feat: 添加 实时的终点边界约束和拉值约束， 然后 终点约束使用使用实时约束
	data/ssep/into_yard_junction_ec.hpp
	data/other/flow_control.cpp
	data/ssep/into_yard_junction_ec.cpp
	data/other/flow_control.hpp
Commit 035e2cf830ba61ee63048e0e129dea20231d8af5 by chenran fix: lock historical cloud point in replayer.
	replayer/logic.cpp
	data/config/cfg_hmi.cpp
	hmi/replayer_hmi.cpp
	data/config/cfg_hmi.hpp
Commit dbd2812127d276e7ad1f968f358529e0ae53a5a1 by chenran fix: add FORWARD_BEFORE_BACKWARD
	data/decide/decide_reaction.hpp
	data/ssep/forward_ec.cpp
	CMakeLists.txt
	.gitignore
	tasks/deciders/search_decider/forward_search_decider.cpp
Commit 448aee47e245f190381c830773c7a318c6b12374 by chenran fix: ssep replan for  reversing truck.
	tasks/deciders/other_decider/replan_decider.hpp
	tasks/deciders/other_decider/replan_decider.cpp
	data/config/cfg_env_const.hpp
	data/config/cfg_env_const.cpp
	plan/prepare/prepare_status.cpp
Commit 76b3a0eb6a03df0be0286a166616b28bfc5ccf5a by chenran fix: refine deviation_stop params.
	data/config/cfg_env_const.cpp
Commit be714f29c973f94c63c32603e269273a23c7bfdd by chenran fix: path disapearing issue.
	data/vehicle/request_routing_data.cpp
Commit ad4d815f1b2950b84c190c02d925b7debb42e282 by chenran fix: trailer_path_ego match issue.
	plan/prepare/prepare_status.cpp
Commit f2e9dde3e2a7a459695b595cd8cc740d5d924eb7 by wuyanjun110 refactor: 注释掉低贝位作业相关的代码逻辑
	data/boundary/road_boundary.cpp
Commit 06ce627159426497944ccf43a460d672bea1611b by wuyanjun110 refactor: 注释掉低贝位作业相关的代码逻辑
	data/boundary/road_boundary.cpp
Commit 05cba2ab21ded99ccdfcb7f96508ea2873e8ccbd by chenran refact: straighten then reverse.
	data/config/cfg_env_const.hpp
	plan/prepare/prepare_status.cpp
	tasks/deciders/other_decider/replan_decider.cpp
	data/config/cfg_env_const.cpp
Commit a106c054091a39f8e38cabb78e45cec62f98e14d by chenran fix: using map lane width for single line lane detection
	data/vehicle/lane_detection.cpp
Commit a9c9de3aebb610e9e0c105d0a9edb79f48aab9c8 by wuyanjun110 fix: 更新镜子相关参数的命名空间前缀为/pnc_node
	data/config/cfg_static.cpp
Commit 75ace1b4dce8a4dddcf1d6d3ceecc7810c013742 by wuyanjun110 fix:修复崩溃的bug
	data/other/flow_control.cpp
Commit 42eda6dd35e959268a2c138d1e7f238bb63f02e6 by wuyanjun110 feat: 添加自动获取大谢终点约束的功能
	data/ssep/into_yard_junction_ec.cpp
	data/ssep/into_yard_junction_ec.hpp
Commit 974f2e41451a6a980c4c8c2a9045fe75f2fc0490 by chenran feat: stop for localization switching.
	tasks/deciders/long_decider/constrain_decider.hpp
	tasks/deciders/long_decider/constrain_decider.cpp
	data/plan/start_point_data.cpp
	data/vehicle/vehicle_state.cpp
	data/vehicle/vehicle_state.hpp
Commit 66668fce0521286d4f78c74c849dadea94895432 by chenran fix: log msf localization switching status.
	tasks/deciders/long_decider/constrain_decider.cpp
Commit 09680d0ab04914754cc2ad5548709fa7a6706021 by wuyanjun110 feat: 添加搜索起点框的功能并优化车辆框生成逻辑
	data/ssep/open_space_ec.cpp
	data/map/pnc_map/routing_extension/routing_data.cpp
Commit b04d7ce3f4cd18f062c3a4d858cf4ad39f3b1ab2 by wuyanjun110 fix: 更新GetLatPoint函数以考虑LKA控制模式
	data/plan/start_point_data.cpp
Commit d4b8b915fc9ba0e5f6f01e879c815c72750a0b12 by wuyanjun110 fix:虚拟停止线构建的bug
	data/map/pnc_map/pnc_map_path.cpp
	data/plan/guide_line.cpp
	hmi/draw/draw_guide_line.cpp
Commit 965f5fede6e0d702f94fc03e5949631fa39c590b by wuyanjun110 fix: 修正DrawUpperHead函数中镜子高度计算错误
	hmi/draw/draw_ego.cpp
Commit 9e80ba1dd25ec991530e8a553d3091634c647c0f by wuyanjun110 fix: 调整自动构建结束直线姿态和终点扩展长度的计算逻辑
	data/ssep/into_yard_junction_ec.cpp
Commit 7c94361ecd0a6331ad51d2fd135e9408b5638289 by chenran fix: road segment splitting bug.
	data/map/pnc_map/pnc_map.cpp
Commit 883b412a5a96493f584d7058fabe6533c8e1c498 by wuyanjun110 feat: SSEP: 进堆场添加用专家经验生成的路径，拼接替换原始参考线。
	ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
	ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
	ssep/data_structures/path.h
	ssep/scenarios/tractor_trailer_enter_yard_planner.h
	ssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.h
	ssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.cc
	ssep/test/ssep_planner_test.cc
	ssep/common/utils/reference_line_stitcher.h
	ssep/common/utils/reference_line_stitcher.cc
	ssep/data_structures/path.cc
Commit 33080cb2d7b4baef6313b23ed6f72c926954f829 by wuyanjun110 feat: SSEP: 进堆场跑通无搜索规划
	ssep/common/utils/reference_line_stitcher.cc
	ssep/data_structures/path.h
	ssep/data_structures/path.cc
	ssep/ssep_planner.cc
	ssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit ff3983e85440eec20a8d71008f9c044361eed42b by wuyanjun110 fix: keb task 修复路径被og点阻挡时轨迹异常的问题
	tasks/plan/keb_path_optimize_task.hpp
	ssep/common/utils/path_utils.cc
	tasks/plan/keb_path_optimize_task.cpp
	ssep/common/utils/path_utils.h
Commit d10baa56499a6a39ce844c37382b8dcb7886e5b5 by wuyanjun110 fix: 修复keb task碰撞检测使用路径长度过长的问题
	ssep/data_structures/path.cc
	tasks/plan/keb_path_optimize_task.cpp
	ssep/data_structures/path.h
Commit 94045a905e6e7064aa83d3535b9a67e6f06bb3b3 by chenran refact: GetRoadSegmentFirstSplitPos
	data/map/pnc_map/pnc_map.cpp
Commit 6602d54db962af381c83bd63f4d23cecef6f9642 by chenran fix: road segment splitting bug.
	data/map/pnc_map/pnc_map.cpp
Commit 5ea473b606083edbe4736f0a0cb6fbf6bb141762 by chenran refact: GetRoadSegmentFirstSplitPos
	data/map/pnc_map/pnc_map.cpp
Commit c423432f6f465d4814e1b8c6f5f102c54d077d0a by wuyanjun110 fix: SSEP: 修复无搜索模式可能崩溃的问题
	ssep/common/utils/reference_line_stitcher.cc
	ssep/scenarios/scenario_planner_factory.h
	ssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 3fb22d781dee9b445918726ac70ab53834e032cf by tangwenqing feat: SSEP: 进堆场添加用专家经验生成的路径，拼接替换原始参考线。
	ssep/scenarios/tractor_trailer_enter_yard_planner.h
	ssep/common/utils/reference_line_stitcher.h
	ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
	ssep/common/utils/reference_line_stitcher.cc
	ssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.cc
	ssep/data_structures/path.h
	ssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.h
	ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
	ssep/data_structures/path.cc
	ssep/test/ssep_planner_test.cc
Commit c3a7a1c91bcb80596ed9371ab46d60af714681a3 by tangwenqing feat: SSEP: 进堆场跑通无搜索规划
	ssep/ssep_planner.cc
	ssep/common/utils/reference_line_stitcher.cc
	ssep/scenarios/tractor_trailer_enter_yard_planner.h
	ssep/data_structures/path.cc
	ssep/data_structures/path.h
Commit 943dbcf65482786bf0ae78eea7f6d02eca589b85 by tangwenqing fix: keb task 修复路径被og点阻挡时轨迹异常的问题
	tasks/plan/keb_path_optimize_task.cpp
	tasks/plan/keb_path_optimize_task.hpp
	ssep/common/utils/path_utils.h
	ssep/common/utils/path_utils.cc
Commit d46b28a4575ad474b7b4fc9acf007636214fdaf6 by tangwenqing fix: 修复keb task碰撞检测使用路径长度过长的问题
	ssep/data_structures/path.h
	tasks/plan/keb_path_optimize_task.cpp
	ssep/data_structures/path.cc
Commit 55d35d7507cd3c3d289168dac7882b5db37d7bfb by tangwenqing fix: SSEP: 修复无搜索模式可能崩溃的问题
	ssep/scenarios/scenario_planner_factory.h
	ssep/common/utils/reference_line_stitcher.cc
	ssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 40be2a376bfdeb10ac8ac64ea311727ec8779caf by tangwenqing fix: SSEP: 提升新版进堆场搜索的成功率
	ssep/scenarios/tractor_trailer_enter_yard_planner.h
	ssep/common/utils/path_utils.h
	ssep/common/utils/path_utils.cc
	ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 1bdae8ae7d8ca3cd49b96dab5d54998d211a6f8c by wuyanjun110 fix: SSEP: 提升新版进堆场搜索的成功率
	ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
	ssep/scenarios/tractor_trailer_enter_yard_planner.h
	ssep/common/utils/path_utils.cc
	ssep/common/utils/path_utils.h
Commit 935d321f793e198615189b481385443adda4536a by chenran feat: lka deviation after crane
	data/boundary/road_boundary.cpp
	data/ctrl/lka_start_up.cpp
	hmi/widget/diagnose.cpp
	data/ctrl/lka_start_up.hpp
Commit fd557192f4bb94e7e7313318315cfd0bd92abbde by wuyanjun110 fix: SSEP: 修复变道路径可能有碰撞的问题
	ssep/scenarios/tractor_trailer_lane_change_planner.h
Commit 848e7e9667e7e592c8ed63ddffe0a6fe77666f13 by wuyanjun110 chore: keb task 增加最大转向角余量
	tasks/plan/keb_path_optimize_task.cpp
Commit 908911bfca576244174f10e54cd725ab9f30dd0e by wuyanjun110 fix: (临时处理)注释掉接收目标命令中的拖车标签和大小处理逻辑
	data/app/app_data.cpp
Commit e728ba79f6b5a2662364a9ec29e3b0d0f1cb99e2 by wuyanjun110 feat: 优化overlap s重计算，增加起始和结束点的有效性检查
	data/map/pnc_map/pnc_map_path.cpp
Commit 4d8e13ea46ae52a342d5c9c904776950f10f37c3 by tangwenqing feat: keb-task 输出的轨迹保持固定长度，解决轨迹越来越短导致到达不了终点的问题
	tasks/plan/keb_path_optimize_task.cpp
	tasks/plan/keb_path_optimize_task.hpp
Commit 84511bc52b02c727f9da034c0684d9bdc6f35ac0 by tangwenqing fix: keb task ssep_end_s_ 赋值错误
	tasks/plan/keb_path_optimize_task.cpp
Commit bb8ff43e7286899e0c671a7550fb06a6b551c13d by wuyanjun110 feat: 添加状态机切换时间参数并优化相关逻辑
	data/vehicle/spreader_protect.cpp
	data/config/cfg_safe_const.cpp
	data/config/cfg_safe_const.hpp
Commit 9276281ddd0799eed3e58febe0b78a605e0fc179 by wuyanjun110 feat: 添加根据堆场内的车道名称扩展安全阈值
	sink/ros_sink_pnc_status.cpp
Commit b47fe07fc71e78f3f8434b8744c9dc847d63eba1 by wuyanjun110 chore: keb实时优化 将转向角余量 提取为配置参数
	tasks/plan/keb_path_optimize_task.cpp
	data/config/cfg_lat_plan.hpp
	tasks/plan/keb_path_optimize_task.hpp
	data/config/cfg_lat_plan.cpp
Commit a02846152de185a088c757d3986eb904e1a4e17a by wuyanjun110 chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹
	ssep/scenarios/tractor_trailer_general_planner.h
Commit bd3a0cd23b9935933c797ca80fb7e28c8dbabe97 by wuyanjun110 feat: 对多个范围更新函数添加排序逻辑，确保范围按顺序排列
	data/constrain/block_data.cpp
Commit 489a31b19ece7734f23e580bd9daf4025f81ad72 by wuyanjun110 feat: 优化 JudgeInStraightLane 方法，重构逻辑以提高可读性和维护性，添加辅助函数以简化任务状态和区域状态的计算
	plan/prepare/prepare_status.hpp
	plan/prepare/prepare_status.cpp
Commit e47c3c07b6831723cd6fcec51d822e6a93b9c686 by wuyanjun110 feat: 优化 转场场桥的判断， 以及 场桥是否进行判断碰撞检测的逻辑
	plan/prepare/prepare_objs.cpp
	data/obstacle/obstacle.cpp
Commit b1675dfe8c52a2bf186d6788cc254920710cd40d by wuyanjun110 fix: 解决西联IMV进停车位搜索过慢的问题
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
	ssep/scenarios/imv_enter_station_planner.h
Commit c3c9fddb6caedd6c3f73c42b6fc14e9e6bb61998 by wuyanjun110 fix: 集卡搜索时滤除起点和终点车挂内部的og点
	ssep/maps/ogm_builder.cc
	ssep/maps/ogm_builder.h
	ssep/ssep_planner.cc
Commit 57789ddab86ba54d6cfba72af2518081b6b5d509 by wuyanjun110 fix: 修正堆垛机特殊区域的横向扩展长度参数加载路径
	data/config/cfg_safe_const.cpp
Commit 67094e46383a0b33d5c95997caedc423eace3014 by wuyanjun110 fix: 解决西联IMV进停车位搜索过慢的问题
	ssep/scenarios/imv_enter_station_planner.h
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
Commit bc071e41f2a92b8798ca568a10d6d7ebe6a4cb02 by wuyanjun110 feat: align move 状态下，假如挂的角度大于一定值，不倒车。 倒车的时候限制速度
	tasks/deciders/long_decider/constrain_decider.cpp
	data/plan/path_direction_data.cpp
Commit 9da2dbb539fbd9991221ecec7ed1b5ab5dcf5756 by wuyanjun110 feat: 杨浦 B003 B004适配
	data/ssep/into_yard_junction_ec.cpp
Commit c184036c04cbd54cbf2d38a50522c261f87a91bc by chenran feat: yard name verification.
	data/ctrl/lka_start_up.cpp
Commit bce64a9fb9bed66c594b0a207511d989c4039b9f by tangwenqing feat: 普通卡车多段倒车入库时适配拉直点逻辑
	ssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
	ssep/scenarios/planner_utils.cc
	ssep/scenarios/truck_multi_segment_parking_planner.h
	ssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
	ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
	ssep/scenarios/planner_utils.h
Commit 678aa94ed48bdae8222f00caa2159d3a4f765e93 by wuyanjun110 fix: 调整对拖车姿态有效性的角度判断阈值
	data/plan/path_direction_data.cpp
Commit 6150b7d1445ee5be72794b493d46d708742e1b2f by wuyanjun110 feat: 增加对车道有效性的检查，确保车道ID在实际车道ID列表中
	plan/prepare/prepare_objs.cpp
Commit f73f14c1abecb7d72ead16573ba2801d4688ec3b by wuyanjun110 chore: SSEP: 自卸车进出散货堆场搜索使用软约束
	ssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
Commit 83543a38fe864a91b8574d0637c45ef2d8533bfe by wuyanjun110 fix: SSEP: 修复集卡进堆场S弯轨迹不合理，及自适应拉直距离失效的问题
	ssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 88fe599342bb3d5e99b4f73b388d3a36f9f7d320 by wuyanjun110 fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。
	ssep/common/utils/path_utils.cc
Commit 989199e3abcea69d8f2c3a5b02eea5fed4b5f2e5 by wuyanjun110 fix: 调整路径重叠的起始和结束点设置，确保不超出有效范围
	data/map/pnc_map/pnc_map_path.cpp
Commit eb8b675d5b80921a05bcf7cfd6d9c37677c0398b by wuyanjun110 fix: 调整路径重叠的起始和结束点设置，确保不超出有效范围
	data/map/pnc_map/pnc_map_path.cpp
Commit 46589607901cc2599655efe869c7b40651bcffc8 by chenran feat: add position check for reversing
	data/config/cfg_env_const.cpp
	data/config/cfg_env_const.hpp
	plan/prepare/prepare_status.cpp
Commit cd315a7c5379a39b970324c059728920143fa523 by chenran fix: disable revsersing deviation.
	data/config/cfg_env_const.cpp
Commit d7b38ac92fd4feea0f081ba7b8d1bdf9ef6d74c4 by wuyanjun110 feat:杨浦低贝位适配
	data/ssep/into_yard_junction_ec.cpp
Commit d8c6278e4447d5e4f9d4ce98f9acd13dc367adcf by chenran feat: limit straithen times.
	data/config/cfg_env_const.cpp
	data/config/cfg_env_const.hpp
	plan/prepare/prepare_status.hpp
	plan/prepare/prepare_status.cpp
Commit 1158a27743ae3cbb4a0c1095e7850143daf14aea by chenran feat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离
	ssep/scenarios/truck_accurate_reversing_planner.cc
	ssep/keb_optimizer/rigid_truck_keb_optimizer.h
	ssep/keb_optimizer/rigid_truck_keb_optimizer.cc
Commit 1af3c8f1db01d0693586e98cad36c87580ac5c56 by chenran fix: reversing times bug
	plan/prepare/prepare_status.cpp
Commit 9e70c8344cefa2dce322bdebaded279a165ebaed by chenran fix: checkout feat_keb_task
	ssep/scenarios/truck_general_planner.h
	ssep/scenarios/imv_exit_parking_spot_planner.h
	ssep/ssep_planner.cc
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
	ssep/scenarios/truck_multi_segment_parking_planner.h
	ssep/common/utils/path_utils.cc
	ssep/scenarios/scenario_planner_factory.h
	ssep/scenarios/imv_enter_station_planner.h
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
Commit 89102f4e856e982cd6a002d274678e2f0e19dff8 by chenran fix: reversing ssep planner bug
	ssep/ssep_planner.cc
Commit a29eb1c83bacb6b66111a68719a9a3937fa350d1 by chenran fix: reversitong activation position thr 10.0
	plan/prepare/prepare_status.cpp
Commit 78b03829ca619e234632e08ef4a2fec031ee502a by wuyanjun110 feat:合并ssep更改
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
	ssep/scenarios/imv_enter_station_planner.h
	ssep/scenarios/planner_utils.cc
	ssep/scenarios/truck_general_planner.h
	ssep/ssep_planner.cc
	ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
	ssep/scenarios/truck_multi_segment_parking_planner.h
	ssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
	ssep/keb_optimizer/rigid_truck_keb_optimizer.h
	ssep/common/utils/path_utils.cc
	ssep/keb_optimizer/rigid_truck_keb_optimizer.cc
	ssep/scenarios/imv_exit_parking_spot_planner.h
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
	ssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
	ssep/scenarios/scenario_planner_factory.h
	ssep/scenarios/truck_accurate_reversing_planner.cc
	ssep/scenarios/planner_utils.h
Commit 0790824356c822d73ea7452ea501676bdf42445f by wuyanjun110 feat: 添加车辆姿态设置功能并更新测量和角度显示逻辑
	hmi/widget/replayer_pnc_mat.cpp
	hmi/common/pnc_graphics_view.cpp
	hmi/common/pnc_graphics_view.hpp
	hmi/widget/pnc_mat.cpp
Commit 2bf315098c6338d37740c7d9754ae76a47e91a51 by wuyanjun110 fix: SSEP: 修复普通卡车搜索拉直段失效的问题
	ssep/scenarios/truck_general_planner.h
Commit e77b10f61749b6e9afd05a75fdfafd11a38f7b37 by wuyanjun110 feat:适配友谊关进停车的拉正距离
	data/ssep/forward_ec.cpp
	data/ssep/forward_ec.hpp
Commit e6b92869883057da0681b03f5113122025ef0983 by chenran fix: disable default LKA deviation.
	data/ctrl/lka_start_up.cpp
Commit fa455161c9a61091ea7b4aa829a89ce4ac9fed36 by chenran fix: lka deviation bug
	data/ctrl/lka_start_up.hpp
	data/ctrl/lka_start_up.cpp
Commit 86499e111872b1d3d1c5d563a19973150c47adc5 by chenran feat: add lbfgs prevous version.
	thirdparty/lbfgs/lbfgs.hpp
Commit bce6bb1dbfa57b881faf7ad6886f49a37230adc9 by chenran feat: add lbfgs prevous version.
	thirdparty/lbfgs/lbfgs.hpp
Commit a08b0d9eda7192187c98b20f94d44a8b82adff81 by wuyanjun110 feat: 苏溪调箱门场景适配
	data/ssep/normal_junction_ec.cpp
Commit 1613b12c1f873e85b5db4546d718acc3f000a041 by wuyanjun110 feat: 添加无效侧通行点检查和虚拟障碍物生成逻辑
	data/obstacle/ogm.hpp
	plan/prepare/prepare_ogm.cpp
	data/obstacle/ogm.cpp
	data/boundary/driving_corridor.cpp
Commit fb8de5cde2aa0863bec4b2fcbdcbd5efea6a3e07 by wuyanjun110 refactor:优化 停止线所属junction的判断逻辑
	data/map/pnc_map/pnc_map_path.cpp
Commit 6561aae642b08a5f52f0e42603e97e44a5bb95b7 by wuyanjun110 feat:合并ssep更改
	ssep/data_structures/state_match_condition.cc
	ssep/data_structures/path_repository_manager.h
	ssep/offboard/generate_path_repository/CMakeLists.txt
	ssep/ssep_planner.cc
	ssep/offboard/servers/CMakeLists.txt
	ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
	ssep/data_structures/path_repository_manager.cc
	ssep/offboard/generate_path_repository/generate_path_repository_cli.cc
	ssep/protos/state_match_condition.proto
	ssep/protos/path_repository.proto
	ssep/ssep_planner.h
	ssep/offboard/servers/path_repository_vis_html_template.cc
	ssep/CMakeLists.txt
	ssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
	ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
	ssep/data_structures/state_match_condition.h
	ssep/offboard/servers/path_repository_vis_server.cc
	ssep/offboard/servers/path_repository_vis_html_template.h
Commit 7083a00f7acd9d060708d1f01df5c82a7e6537f5 by chenran fix: curvature over limit filer.
	data/constrain/block_data.cpp
Commit 0fee299f74d88e995f954a18306383d3d5d47e65 by wuyanjun110 fix:终点低贝位时， 然后场桥低贝位不重新搜索的bug
	tasks/deciders/other_decider/replan_decider.cpp
Commit add9f556e95b2608a803429926180a9f8765565b by wuyanjun110 feat:合并ssep
	ssep/data_structures/path_repository_manager.h
	ssep/CMakeLists.txt
	ssep/offboard/servers/path_repository_vis_html_template.cc
	ssep/offboard/generate_path_repository/CMakeLists.txt
	ssep/offboard/scene_replay/CMakeLists.txt
	ssep/scenarios/truck_general_planner.h
	ssep/data_structures/state_match_condition.cc
	ssep/ssep_planner.h
	ssep/scenarios/truck_accurate_reversing_planner.cc
	ssep/common/utils/map_element_utils.hpp
	ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
	ssep/protos/state_match_condition.proto
	ssep/offboard/servers/CMakeLists.txt
	ssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
	ssep/offboard/servers/path_repository_vis_html_template.h
	ssep/offboard/ssep_planner_wrapper.cc
	ssep/protos/path_repository.proto
	ssep/offboard/servers/path_repository_vis_server.cc
	ssep/offboard/generate_path_repository/generate_path_repository_cli.cc
	ssep/ssep_planner.cc
	ssep/data_structures/state_match_condition.h
	ssep/protos/operation_mode.proto
	ssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
	ssep/protos/scene.proto
	ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
	ssep/data_structures/path_repository_manager.cc
Commit e5b729ff7d0611bdbb69ddcee59054dda48c439b by chenran fix: filter wbca path by cost
	algorithm/wbca/path_optimization/car_path_optimization.cpp
	data/config/cfg_lat_plan.hpp
	hmi/widget/diagnose.cpp
	data/config/cfg_lat_plan.cpp
Commit 6dcf15351db344dcd55fc9aab5b4752d79ece05c by chenran fix: add switch for lbfgs to lbfgs_new
	algorithm/wbca/path_optimization/truck_path_optimization.cpp
	data/config/cfg_lat_plan.hpp
	data/config/cfg_lat_plan.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	algorithm/wbca/path_optimization/car_path_optimization.cpp
	thirdparty/lbfgs/lbfgs.hpp
Commit 4b8fd569d6e9e0b2fce5f82fcc1492a931254c13 by chenran fix: using new l_bfgs
	data/config/cfg_lat_plan.cpp
Commit 43b5f43e081e3fcb19611dabd32690bbb038433f by chenran fix: cost filter for imv and truck
	algorithm/wbca/path_optimization/truck_path_optimization.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit 0afabfef75fe9e5647647d2c76ff30a5a8462dcf by chenran fix: activate wbca smooth mode in align fsm.
	tasks/plan/path_optimization_task.cpp
Commit dd3cd4ffa16307ef8ec1e14b7c9d54612569cec7 by wuyanjun110 feat:直道地图包络构建的优化
	data/map/envelop/map_envelop.cpp
Commit 0cb819d21bf799329879a48cde4521ad3d9ee993 by wuyanjun110 feat: （动态搜索的box框),优化生成平行框的距离计算逻辑
	data/map/pnc_map/routing_extension/routing_data.cpp
	data/plan/ssep_data.cpp
Commit 0cea97bb59690e21b8c78f6f57dba06bc21bb1f5 by wuyanjun110 fix: 更新DrawObject函数中的颜色值注释
	hmi/draw/draw_map.cpp
Commit 2d88b884ef5a90f28725b9ee8a903052746dae20 by chenran fix: filter wbca cost without collision cost.
	algorithm/wbca/path_optimization/car_path_optimization.cpp
	algorithm/wbca/imv_wbca_manager.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	algorithm/wbca/path_optimization/truck_path_optimization.cpp
	algorithm/wbca/wbca_manager.cpp
Commit 16c1b08fd90dfbe96d6c19eee677e0c277106059 by chenran fix: LKA deviation for out_yard
	data/ctrl/lka_start_up.cpp
Commit b908866bb5fc622e0b5c38abb054065846fac533 by wuyanjun110 feat:调整换向缩小安全距离的阈值
	data/config/cfg_long_plan.cpp
Commit 9166b6f5cf02de41c7d254793596e93b4095b8d7 by wuyanjun110 fix:修复变道的约束
	data/ssep/ex_lane_change_ec.cpp
Commit 59a8b4953c0034a76e4621e903299f15a73ee06e by wuyanjun110 feat: 增加ALIGN命令相关错误类型并更新状态处理逻辑
	data/app/cmd/cmd_align.cpp
	data/vehicle/vehicle_status.hpp
	data/app/fsm/task_command_type.hpp
	hmi/widget/command.cpp
	data/app/fsm/task_command_type.cpp
	plan/prepare/prepare_status.cpp
	data/vehicle/vehicle_status.cpp
Commit 485ee6c90f4b6efd1d8e6ac773ad61e1f3b27331 by chenran fix: cloud areas avoidence.
	.codex
	data/obstacle/ogm.cpp
Commit 5492d6800ec62aba7edeff396c22e32c2367048a by chenran fix: checkout ssep from feat_keb_task
	ssep/CMakeLists.txt
	ssep/offboard/servers/path_repository_vis_html_template.cc
	ssep/protos/ogm.proto
	ssep/offboard/servers/path_repository_vis_server.cc
	ssep/protos/path_repository.proto
	ssep/maps/ogm_builder.cc
	ssep/maps/ogm.h
	ssep/data_structures/path_repository_manager.h
	ssep/maps/ogm.cc
	ssep/offboard/generate_path_repository/generate_path_repository_cli.cc
	ssep/ssep_planner.cc
	ssep/data_structures/path_repository_manager.cc
	ssep/data_structures/path_utils.h
Commit 49256fc5857617c9ec947e1e70e59a7fe592a985 by chenran feat: checkout relate_offset from feat_straddle_v2
	source/ros_source_offset.cpp
	data/vehicle/related_offset.hpp
	data/config/cfg_env_const.cpp
	data/config/cfg_env_const.hpp
	data/vehicle/related_offset.cpp
	plan/prepare/prepare_offset.cpp
Commit 44df58cea3903417a9131a306456a68dbbdce578 by chenran feat: add DeviationStatus
	data/config/cfg_env_const.hpp
	data/config/cfg_env_const.cpp
	data/vehicle/deviation_status.cpp
	data/vehicle/deviation_status.hpp
	data/plan_frame.cpp
	plan/prepare/prepare_status.cpp
	data/plan_frame.hpp
Commit a1a26f2d57ce4bf6557d71580132ced3c17bf8a6 by chenran feat: add update_end_position for ssep replan.
	data/decide/decide_reaction.hpp
Commit e0b3376c588f78e040bd3b0bf6df8a204be651dc by chenran feat: deviation for align
	data/config/cfg_env_const.cpp
	data/vehicle/deviation_status.cpp
	tasks/deciders/other_decider/replan_decider.cpp
	data/config/cfg_env_const.hpp
	data/vehicle/deviation_status.hpp
Commit a2dea387ad7cf18e899b5e4fad9f818ccfea8fae by wuyanjun110 refactor:朝海侧，右转横二路，边界优化
	data/ssep/normal_junction_ec.cpp
Commit ec4d35f41324aa76809ec6751edbe77100865758 by wuyanjun110 refactor:极限变道约束优化
	data/ssep/ex_lane_change_ec.cpp
Commit 8fb3cc2a97083c3f930ec6dc668b4defbb7c3726 by chenran fix: ssep replan for bulk align.
	data/ssep/forward_ec.cpp
	data/vehicle/related_offset.cpp
	data/vehicle/deviation_status.cpp
	data/decide/decide_reaction.cpp
	tasks/deciders/other_decider/replan_decider.cpp
	hmi/draw/draw_ego.cpp
	data/config/cfg_env_const.cpp
	plan/prepare/prepare_offset.cpp
Commit 9c32cddd4754aeba740e36ba349aab4e24f2d3e8 by chenran fix: reverse bulk offset heading
	data/vehicle/related_offset.cpp
Commit d4e913f216407576df39fab3f728b07e6282b424 by chenran feat: limit reversing align times
	data/config/cfg_env_const.cpp
	data/config/cfg_env_const.hpp
	data/vehicle/deviation_status.cpp
Commit 6862fa7baf3e2ea29901804dc68811836d0a2ec5 by wuyanjun110 refactor: openspace中的参考线为pnc引导线
	ssep/scenarios/scenario_planner_factory.h
Commit 872795a1a0f295bc2a654f87ac3d581f7d5ed224 by wuyanjun110 fix:imv下码头搜索失败的bug
	data/ssep/open_space_ec.cpp
Commit 1bfa73de87f15d05a5d6a4ce6b7567405c3a65d9 by tangwenqing fix: 修复imv普通搜索参考线错误的问题
	ssep/scenarios/scenario_planner_factory.h
	ssep/scenarios/imv_general_planner.h
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
Commit 52b5cdfbedb852982b4aee273b9ec123661e2492 by wuyanjun110 fix:修复反向出停车位的bug
	data/other/flow_control.cpp
Commit 573112a5fff58141b971f584de3609204f935a3f by wuyanjun110 fix:修复停止线绑定juntion的bug
	data/map/pnc_map/pnc_map_path.cpp
Commit ebbb633c102e5c17cf27904916b01b96810d114e by wuyanjun110 refactor:优化场桥转场判断
	plan/prepare/prepare_objs.cpp
	data/constrain/block_data.cpp
Commit 15e9e4cee79dce43e032ac44ce5a5ee6b43a671e by wuyanjun110 refctor:优化转场场桥box的使用
	data/ssep/into_yard_junction_ec.cpp
	data/plan/predict_path.cpp
Commit 62b89686f4a1c19ee1e01cb9728e75cd45b20c18 by chenran fix: log align info; serialize bulk_align_offset
	data/plan_frame.cpp
	tasks/deciders/other_decider/replan_decider.cpp
	data/vehicle/deviation_status.cpp
Commit 823ba5df56c967431bdf659641beb1b5f8e94fe5 by chenran fix: log stop_deviation_for_algn
	data/vehicle/deviation_status.cpp
Commit 9271ccec604819e8591030767febe7b72acc8052 by chenran fix: pnc_map splitting error.
	data/map/pnc_map/pnc_map.cpp
Commit 480404c57f2a071947cc17402c0420e4c885f35a by chenran fix: pnc_map splitting error.
	data/map/pnc_map/pnc_map.cpp
Commit 417c0854f98abcc3a27da26348c4ca5116b2fb97 by tangwenqing fix: SSEP: 提升太阳纸业自卸车出堆场成功率
	ssep/keb_optimizer/rigid_truck_keb_optimizer.cc
	ssep/scenarios/truck_bulk_yark_in_out_planner.cc
Commit cf9ba1f557eaf34408610eb1ee0cce4be1e897ee by tangwenqing chore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度
	ssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
	ssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
	ssep/ssep_planner.cc
Commit a37db28239f7ff646e2cfd4741956d0931f16012 by wuyanjun110 chore: SSEP: 集卡多段倒车场景，Replan时加入最后一段拉直逻辑
	ssep/scenarios/stitching_replanner.h
	ssep/ssep_planner.cc
Commit c056957f24f960655444350738b1f87cfd43dfee by wuyanjun110 chore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度
	ssep/ssep_planner.cc
	ssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
	ssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
Commit 6689b96da152ff775738a4d8549f63c3a4006ef5 by wuyanjun110 fix: SSEP: 提升太阳纸业自卸车出堆场成功率
	ssep/scenarios/truck_bulk_yark_in_out_planner.cc
	ssep/keb_optimizer/rigid_truck_keb_optimizer.cc
Commit bc123663a2b96f1de8212916ac10b2311921b2ea by wuyanjun110 fix:极限变道不replan的bug
	tasks/deciders/search_decider/ex_lane_change_search_decider.cpp
	tasks/deciders/other_decider/replan_decider.cpp
Commit da89721cf51cc043236212892929ab5f695057cd by wuyanjun110 fix: 优化SmoothTask执行逻辑，增加对特定条件的处理
	tasks/plan/smooth_task.cpp
Commit 8e49862c79f39612bfc375ccd4713261e70a0418 by wuyanjun110 chore: SSEP: 解决集卡多段倒车可能绕圈的问题
	ssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
Commit d666a45ca3767b4b91105fb1fb0f7d32135b68cf by wuyanjun110 refactor:优化小地图绘制时间过长的问题
	hmi/widget/map.cpp
	hmi/widget/replayer_map.hpp
	hmi/common/image_viewer.cpp
	hmi/common/image_viewer.hpp
	hmi/widget/replayer_map.cpp
	hmi/widget/map.hpp
Commit a37d003f3d78285b1caa441cbe8d88a4cb213a04 by wuyanjun110 feat: 添加点云底图加载功能，支持异步加载和清除操作
	hmi/replayer_hmi.cpp
	hmi/draw/draw_map.hpp
	hmi/node_hmi.cpp
	hmi/draw/draw_map.cpp
Commit 4276d18dd2fdd47232479f7a347a05597563a7cc by wuyanjun110 feat: 添加虚拟障碍物长度限制，优化创建虚拟障碍物的性能
	plan/prepare/prepare_ogm.cpp
	hmi/common/pnc_graphics_view.cpp
Commit c60e0265ea92e647e55b5f4eb78622385dbc7dd0 by tangwenqing fix: SSEP: 修复多段倒车路径异常问题
	ssep/ssep_planner.cc
Commit c0ec70f60f70c13f1633236b6113eceef4924922 by chenran feat: set up max_forward_distance
	data/config/cfg_env_const.hpp
	data/config/cfg_env_const.cpp
	data/ssep/forward_ec.cpp
Commit 64ef83d02cb4ee10b6552d567e1250eeeb5ced6d by chenran fix: fiter cost_beta
	algorithm/wbca/wbca_manager.cpp
Commit 28b808307c8011970b2cdff7fa66961de6217668 by chenran feat: trust-region solver based WBCA
	thirdparty/trust-region/truncated_cg_trust_region.hpp
	algorithm/wbca/path_optimization/path_optimization.hpp
	algorithm/wbca/path_optimization/path_optimization.cpp
	data/config/cfg_lat_plan.hpp
	data/config/cfg_lat_plan.cpp
	algorithm/wbca/path_optimization/car_path_optimization.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	algorithm/wbca/path_optimization/truck_path_optimization.cpp
Commit 8ac969a8781279ff5844967394890d8214fff0a7 by chenran fix: max_ref_len 60
	algorithm/wbca/wbca_manager.cpp
	data/config/cfg_lat_plan.cpp
Commit ef0bf75759f63fadc53235a7a657a8ab7a9768f1 by chenran fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题
	ssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
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.cpp
	data/app/fsm_interface.hpp
	data/app/fsm/task_fsm/task_align_fsm/task_align_fsm.hpp
	data/app/fsm/task_fsm/task_align_fsm/task_align_fsm.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_remote_ctrl.cpp
	plan/prepare/prepare_status.cpp
	plan/prepare/module.cpp
	hmi/widget/command.cpp
	data/app/fsm/task_command_type.cpp
	data/app/cmd/cmd_align.cpp
	data/app/fsm/task_command_type.hpp
Commit 8ba0710732b2cc129b93b855484552d35aac311c by wuyanjun110 feat: 添加对值阈值和条件，优化对准决策逻辑
	data/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
	data/config/cfg_safe_const.cpp
	data/config/cfg_env_const.cpp
	data/config/cfg_env_const.hpp
	plan/prepare/prepare_status.cpp
Commit b9301900bfe01801aee8ab789b9f37e9ee58fea1 by wuyanjun110 fix: 添加路径点数量检查，确保至少有两个点以创建路径
	data/map/pnc_map/pnc_map_path.cpp
Commit cb1ae31231335f267f8638fb771d1a05b7734b57 by chenran fix: add passing pt
	data/ssep/open_space_ec.cpp
Commit fd1f1d7c543b45c5a4b536c7ace5f0eba56dc35f by tangwenqing feat: SSEP 适配烟台跨运车
	ssep/scenarios/planner_utils.h
	ssep/test/quintic_polynomial_sampler_test.cc
	ssep/offboard/ssep_planner_wrapper.cc
	ssep/keb_optimizer/cost_features/dynamic_constraint.h
	ssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
	ssep/maps/ogm_builder.h
	ssep/param_loader/param.h
	ssep/ssep_planner.h
	ssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
	ssep/offboard/generate_path_repository/generate_path_repository_cli.cc
	ssep/protos/scene.proto
	ssep/offboard/path_drawing_tool/hermite_path_generator.h
	ssep/coarse_search/conditions/search_condition_interface.h
	ssep/maps/ogm.cc
	ssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.h
	data/plan/ssep_data.cpp
	ssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cc
	ssep/maps/ogm_builder.cc
	ssep/protos/path_repository.proto
	ssep/scenarios/truck_bulk_yark_in_out_planner.cc
	ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
	ssep/offboard/servers/scene_vis_html_template.cc
	ssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
	ssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
	ssep/scenarios/stitching_replanner.h
	ssep/scenarios/tractor_trailer_general_planner.h
	ssep/coarse_search/search_graph.h
	ssep/scenarios/planner_utils.cc
	ssep/keb_optimizer/keb_problem.h
	ssep/coarse_search/multi_stage_hybrid_astar_search_engine.cc
	ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
	ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
	ssep/data_structures/state_match_condition.cc
	ssep/coarse_search/motion_primitive_sampler/quintic_polynomial_motion_primitive_sampler.h
	ssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.cc
	ssep/data_structures/path_utils.h
	ssep/data_structures/path.h
	ssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
	ssep/coarse_search/motion_primitive_sampler/motion_primitive_sampler.h
	ssep/offboard/servers/path_repository_vis_server.cc
	ssep/offboard/servers/CMakeLists.txt
	ssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
	ssep/offboard/servers/scene_editor_html_template.cc
	ssep/scenarios/straddle_carrier_pick_vehicle_planner.h
	ssep/scenarios/tractor_trailer_lane_change_planner.h
	ssep/CMakeLists.txt
	ssep/coarse_search/evaluator/curvature_cost_computer.h
	ssep/offboard/servers/scene_vis_html_template.h
	data/ssep/open_space_ec.cpp
	ssep/common/utils/path_utils.cc
	ssep/protos/params.proto
	ssep/offboard/path_drawing_tool/path_drawing_tool_main.cc
	ssep/keb_optimizer/tractor_trailer_keb_optimizer.h
	ssep/data_structures/polyline.cc
	ssep/common/utils/reference_line_stitcher.cc
	ssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
	ssep/offboard/path_drawing_tool/path_drawing_html_template.cc
	ssep/scenarios/imv_enter_station_planner.h
	ssep/scenarios/imv_exit_parking_spot_planner.h
	ssep/keb_optimizer/keb_problem.cc
	ssep/data_structures/path_repository_manager.h
	ssep/data_structures/polyline.h
	ssep/coarse_search/stage_transition_controller.h
	ssep/scenarios/tractor_trailer_enter_yard_planner.h
	ssep/ssep_planner.cc
	ssep/offboard/scene_replay/CMakeLists.txt
	ssep/coarse_search/motion_primitive_sampler/quintic_polynomial_motion_primitive_sampler.cc
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
	ssep/data_structures/path.cc
	ssep/offboard/servers/scene_editor_server.cc
	ssep/keb_optimizer/rigid_truck_keb_optimizer.cc
	ssep/protos/ssep_scenario_type.proto
	ssep/offboard/servers/path_repository_vis_html_template.h
	ssep/common/utils/scene_frame_visualization.cc
	ssep/coarse_search/conditions/node_level_condition.h
	ssep/offboard/path_drawing_tool/CMakeLists.txt
	ssep/common/utils/reference_line_stitcher.h
	ssep/protos/ogm.proto
	ssep/offboard/servers/scene_editor_html_template.h
	ssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
	ssep/protos/state_match_condition.proto
	ssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
	ssep/keb_optimizer/cost_features/trailer_disk_collision_cost.h
	ssep/scenarios/truck_general_planner.h
	ssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
	ssep/scenarios/truck_multi_segment_parking_planner.h
	ssep/offboard/path_drawing_tool/path_drawing_html_template.h
	ssep/data_structures/path_repository_manager.cc
	ssep/scenarios/truck_accurate_reversing_planner.cc
	ssep/data_structures/state_match_condition.h
	ssep/common/utils/path_utils.h
	ssep/keb_optimizer/rigid_truck_keb_optimizer.h
	ssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
	ssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
	ssep/scenarios/scenario_planner_factory.h
	ssep/test/CMakeLists.txt
	ssep/data_structures/ssep_scenario_type.hpp
	ssep/test/ssep_planner_test.cc
	ssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.h
	ssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.cc
	ssep/offboard/servers/path_repository_vis_html_template.cc
	ssep/common/utils/map_element_utils.hpp
	ssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
	ssep/offboard/servers/scene_vis_server.cc
	ssep/coarse_search/evaluator/evaluator.h
	ssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
	ssep/maps/ogm.h
	ssep/scenarios/imv_general_planner.h
	ssep/offboard/path_drawing_tool/hermite_path_generator.cc
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
	ssep/protos/operation_mode.proto
	ssep/offboard/generate_path_repository/CMakeLists.txt
	ssep/keb_optimizer/cost_features/state_constraint.h
	ssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.cc
Commit 17a5ab4f50b070741b448d6961885fb68c03c7f3 by tangwenqing fix: ssep data filter short segs
	data/plan/ssep_data.cpp
Commit d30d6299d2fb251ac8aee52fca49b70da0214e63 by wuyanjun110 feat:1.添加耗时显示2.优化绘制界面 map的绘制
	data/plan_frame.hpp
	hmi/widget/replayer_pnc_mat.hpp
	node/logic.cpp
	hmi/replayer_hmi.cpp
	hmi/replayer_hmi.hpp
	replayer/main.cpp
	hmi/node_hmi.hpp
	replayer/logic.hpp
	hmi/widget/pnc_mat_shared.hpp
	hmi/draw/draw_map.cpp
	hmi/widget/perf_cost_detail.cpp
	CMakeLists.txt
	hmi/widget/pnc_mat.cpp
	hmi/node_hmi.cpp
	hmi/widget/perf_cost_detail.hpp
	hmi/widget/pnc_mat.hpp
	node/logic.hpp
	data/hmi_frame.hpp
	hmi/draw/draw_map.hpp
	node/main.cpp
	hmi/widget/pnc_mat_shared.cpp
	replayer/logic.cpp
	hmi/widget/replayer_pnc_mat.cpp
Commit 3421d2be0ff961c640228f3b8f049880a1ea10d6 by wuyanjun110 fix:一次规划，单个车道分段时， 路径冲突判断的bug
	data/map/pnc_map/routing_extension/routing_data.cpp
Commit dc3008e13d516eaab559fe5e5d0cc94d3cb73de2 by chenran fix: ignore .codex
	.gitignore
Commit 68dc456383bcadb79d2867775c57e5b14742dae0 by wuyanjun110 refactor: 注释掉不必要的代码，简化判断逻辑
	data/ssep/open_space_ec.cpp
Commit 2f1779ca78376c007b5480b7837e5c018dc516b6 by chenran fix: checkout ssep
	ssep/maps/ogm.cc
	ssep/maps/ogm.h
	ssep/scenarios/truck_multi_segment_parking_planner.h
	ssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
Commit 552c635bd69183b4ae8c52fb7ab08585b83d450e by chenran fix: merge bug
	common/util/express.cpp
	data/config/cfg_env_const.hpp
Commit b63375377c7e33d1f9b90bf0e4d35ca8059bdddc by wuyanjun110 refactor:优化ssep passing pt的赋值
	data/ssep/ssep_ec.hpp
	data/ssep/ssep_ec.cpp