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Changes

Summary

  1. fix: disable dynamic and steering speed constraints (details)
  2. fix: add min_velocity_coefficient_for_velocity_cost. (details)
  3. chore: SSEP: minor params finetune. (details)
  4. feat: 海润适配新imv搜索器 (details)
  5. fix: crash issue. (details)
  6. fix: SSEP: 修复集卡进堆场轨迹绕圈问题 (details)
  7. feat: ogm聚类时使用多边形代替原来的线段障碍物 (details)
  8. chore: SSEP: (details)
  9. feat: 进出堆场场景中，如果存在云端remote guide line的话，进入参考线跟随搜索模式。 (details)
  10. chore: SSEP: imv optimizer参数调试 (details)
  11. fix: 救援模式下，无法取消任务的bug (details)
  12. fix:状态机切换的bug (details)
  13. fix:修复带有bulk 途经点， opensspce 不搜索的bug (details)
  14. chore: SSEP重构 - 实现搜索框架适配器，将旧的搜索器适配到新框架，统一流程。可视化与主进程解耦，去除死代码。 (details)
  15. chore: 适配ssep重构 (details)
  16. chore: SSEP: minor adjustments (details)
  17. chore: SSEP: 1. imv-keb-optimizer调参解决低贝位进堆场路径画龙的问题。2. 限制斜行角度。 (details)
  18. chore: SSEP: 增加打印信息，修复一些小错误。 (details)
  19. feat:适配直线步进，根据ttc进行碰撞检测的功能 (details)
  20. fix:1.修复fall back 重搜索的bug 2.fallback自动起步的bug (details)
Commit 262ba25a61e529ba682a868668332b982d754d4c by 5081703.cr
fix: disable dynamic and steering speed constraints

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 25ea413341d494cc2bd5f20fce8ca02f978988ae by 5081703.cr
fix: add min_velocity_coefficient_for_velocity_cost.

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifieddata/config/cfg_lat_plan.cpp
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 modifiedCMakeLists.txt
The file was modifieddata/ssep/ssep_ec.cpp
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
Commit d071b98f930438c12ee4e25d181887f7f5c2936a by tangwenqing
feat: ogm聚类时使用多边形代替原来的线段障碍物

The file was modifieddata/ssep/ssep_util.cpp
The file was modifieddata/ssep/ssep_util.hpp
The file was modifieddata/ssep/reverse_ec.cpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifiedsink/ros_sink_og_line_segments.cpp
Commit 3abb45ee4435e1dc8c7838595f583f8dac201eb6 by tangwenqing
chore: SSEP: 

1. 拆分普通guide line与云端remote guide line。
2. 最后一段路径为倒车路径时，将终点后方区域设置为禁行区域。
The file was modifiedssep/common/def/ssep_input.hpp
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/data_structure/directional_path.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.h
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.h
Commit e8942e3fc90f02b82aa9e2345c47b4e54aa1a270 by tangwenqing
feat: 进出堆场场景中，如果存在云端remote guide line的话，进入参考线跟随搜索模式。

The file was modifieddata/app/reaction/app_reaction.hpp
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifieddata/ssep/ssep_ec.cpp
Commit deb6c6f53d137384d8ba57b939cf535e4737034e by tangwenqing
chore: SSEP: imv optimizer参数调试

The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/ssep_planner.cc
Commit d59896ccb2ee030a809190d96893a6e90da475d7 by wuyanjun110
fix: 救援模式下，无法取消任务的bug

The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
Commit 6215b504ba3736e2843e01bda5f2e35e2f73065d by wuyanjun110
fix:状态机切换的bug

The file was modifieddata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp
Commit 90a54dfa2a008218b8a8f6096de3be540093959f by wuyanjun110
fix:修复带有bulk 途经点， opensspce 不搜索的bug

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/scenario/scenario_planner_condition.cpp
Commit 92a48ada059e3348440ce6c31fb49beb108d400f by tangwenqing
chore: SSEP重构 - 实现搜索框架适配器，将旧的搜索器适配到新框架，统一流程。可视化与主进程解耦，去除死代码。

The file was addedssep/coarse_search/geometric_searcher/legacy_searcher_adaptor.h
The file was modifiedssep/coarse_search/hybrid_a_star_imv.h
The file was modifiedssep/coarse_search/hybrid_a_star_tt.cc
The file was addedssep/keb_optimizer/cost_features/imv_center_curvature_constraint.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was addedssep/ssep_visualizer.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/hybrid_a_star_car.h
The file was modifiedssep/sdk/ssep_activation_impl.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/ssep_planner.h
The file was addedssep/ssep_visualizer.cc
The file was modifiedssep/coarse_search/hybrid_a_star_car.cc
The file was modifiedssep/coarse_search/hybrid_a_star_tt.h
The file was modifiedssep/coarse_search/hybrid_a_star_imv.cc
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/common/def/type_definition.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/geometric_searcher/data_structure.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
Commit 02c08cfee444099dc03dbb3d04f005dc10df926f by tangwenqing
chore: 适配ssep重构

The file was modifieddata/ssep/ssep_activation.cpp
Commit 9512a300b6b260a6efa1d3d9536906eb1cc0a3b5 by tangwenqing
chore: SSEP: minor adjustments

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/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit c1ddd3db44b13b8cd7a97208f6d149b4ea61ab33 by tangwenqing
chore: SSEP: 1. imv-keb-optimizer调参解决低贝位进堆场路径画龙的问题。2. 限制斜行角度。

The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/cost_features/imv_dynamic_constraint.h
Commit a6dd939259b424d3aa4b8e6672a3c981af2fbe95 by tangwenqing
chore: SSEP: 增加打印信息，修复一些小错误。

The file was modifieddata/ssep/ssep_util.hpp
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path_motion_primitive_sampler.h
The file was modifiedssep/coarse_search/geometric_searcher/data_structure.h
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/reeds_shepp_path.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/reeds_shepp_path.cc
The file was modifieddata/ssep/ssep_util.cpp
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/geometric_searcher/conditions/along_lane_condition.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/composite_heuristic_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/kinematic_heuristic_computer.h
The file was modifiedssep/common/utils/common.hpp
Commit acfc0c56e9269217c82baf54b3babd4cdfb3130a by wuyanjun110
feat:适配直线步进，根据ttc进行碰撞检测的功能

The file was modifieddata/app/fsm/task_command_type.cpp
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.hpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_fsm.hpp
The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_state.hpp
The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifiedtasks/deciders/other_decider/stop_decider.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_fsm.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_fsm.cpp
Commit 210669ef8898b68ce49d8764f782892fea07a214 by wuyanjun110
fix:1.修复fall back 重搜索的bug 2.fallback自动起步的bug

The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_fsm.cpp