[Jenkins]Jenkins

Changes

Summary

  1. 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)
  2. feat: Keb optimizer task 单线程功能完成 (details)
  3. feat: Keb path optimize task 支持异步（多线程）模式。 (details)
  4. chore: Finetune Keb-Path-0ptimize-Task and add warm-start stretagy. (details)
  5. fix: SSEP: 修复IMV进充电桩方向与现场任务不一致的问题。 (details)
  6. 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)
  7. chore: SSEP: 集卡上下码头面可以在standby_guide_line上任意匹配终点 (details)
  8. fix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。 (details)
  9. 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)
  10. fix: SSEP: 解决西联IMV进停车位搜索失败的问题 (details)
  11. fix: l_bfgs optimization. (details)
  12. 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)
  13. 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)
  14. feat: 实现OutYardJunctionFirstStage类中的ExecuteTaskOnReferenceLine方法，增强任务执行逻辑 (details)
  15. fix: keb-path-optimize-task 优化低贝位挂车不直的问题 (details)
  16. fix: 调整ReferenceRoadSection和ReferenceSegment中的位置判断条件，优化边界处理逻辑 (details)
  17. chore: keb-path-optimize-task finetune. (details)
  18. chore: 优化keb-path-optimize-task进堆场效果 (details)
  19. chore: keb param adjust (details)
  20. feat: 优化障碍物处理逻辑，简化多边形构建和碰撞判断 (details)
  21. fix: keb task finetune (details)
  22. chore: keb task 关键参数提取 (details)
  23. fix: SSEP: 进堆场优化用终点硬约束 (details)
  24. chore: keb-task 使用终点约束 (details)
  25. feat:暂时关闭参考线拼接 theta重新计算的逻辑 (details)
  26. 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)
  27. fix: 修复集卡优化器终点可能超过拖挂角度限制的问题 (details)
  28. feat: 添加ClearAreaOverlap类及相关逻辑，优化清晰区域处理和绘制功能 (details)
  29. feat: 添加CmdReduceSafeDistance类及相关逻辑，优化安全距离处理功能 (details)
  30. feat: 更新MapEnvelops类，增强路径转换功能，支持备用地图包络处理 (details)
  31. fix:修复guidelien 中 overlap计算的bug (details)
  32. fix:修复拼接ssep结果后，junction overlap 生成的bug (details)
  33. 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)
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。

The file was modifieddata/config/cfg_stage.hpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedtasks/task_factory.cpp
The file was modifieddata/config/cfg_stage.cpp
The file was modifiedssep/data_structures/path.h
The file was addedtasks/plan/keb_path_optimize_task.hpp
The file was addedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
Commit 978096f8d9bd68740c1cc23d1d60ea5ce1fa09e4 by tangwenqing
feat: Keb optimizer task 单线程功能完成

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/data_structures/path_utils.h
Commit 9e61440a54d4a4d9ba5f6d79d76bc84ef225b5e7 by tangwenqing
feat: Keb path optimize task 支持异步（多线程）模式。

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
Commit 19551aed1c4d603d6af3351db48ca4c83b6c67cf by tangwenqing
chore: Finetune Keb-Path-0ptimize-Task and add warm-start stretagy.

The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.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。

The file was modifiedssep/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。

The file was modifiedssep/data_structures/polyline.cc
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifiedssep/data_structures/polyline.h
The file was modifiedssep/data_structures/path_utils.h
The file was modifiedtasks/plan/keb_path_optimize_task.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

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
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。

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/imv_general_planner.h
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。

The file was modifiedssep/data_structures/path.cc
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit 676d5a425b2d7245cc5964a500bba444c3e2007e by tangwenqing
fix: SSEP: 解决西联IMV进停车位搜索失败的问题

The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
Commit 54642a4d385953f418422c708d1c011a5b7cd8d6 by chenran
fix: l_bfgs optimization.
The file was modifiedthirdparty/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
The file was modifiedreplayer/main.cpp
The file was modifiedCMakeLists.txt
The file was modifiedcommon/other/version.hpp
The file was modifiednode/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
The file was modifiedscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.hpp
The file was modifiedscenarios/scenario_interface.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedscenarios/scenario.cpp
The file was modifiedscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
Commit 0ccd53b38e6cf5b4986459323cfb5fc3bce2d87c by wuyanjun110
feat: 实现OutYardJunctionFirstStage类中的ExecuteTaskOnReferenceLine方法，增强任务执行逻辑
The file was modifiedscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cpp
The file was modifiedscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.hpp
Commit 26f67573d71e96ade8fcb594cdcff81a75d1e006 by tangwenqing
fix: keb-path-optimize-task 优化低贝位挂车不直的问题

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.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
The file was modifieddata/map/reference/reference_road_section.cpp
The file was modifieddata/map/reference/reference_segment.cpp
Commit 771e068e36b299ceb0ee0718cd9eb38dda67c5e7 by tangwenqing
chore: keb-path-optimize-task finetune.

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 68884d9316d33b45fc13365f4ffaf29e9a7e481e by tangwenqing
chore: 优化keb-path-optimize-task进堆场效果

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
Commit aafa159991f4a48c9ef692f1a8e047e7c424afb6 by tangwenqing
chore: keb param adjust

The file was modifiedtasks/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
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 721aad94a7dfbc0f93058ae6450a28f2dd043489 by tangwenqing
fix: keb task finetune

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 0b608a2fa4fd2c989e96867676775c39bae76060 by tangwenqing
chore: keb task 关键参数提取

The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 9c5c170342494671d0cf0ac64b8a6e7f4b2af70d by tangwenqing
fix: SSEP: 进堆场优化用终点硬约束

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 84ff4a2e3dde08f3d0742036d1c94610e9ab1d44 by tangwenqing
chore: keb-task 使用终点约束

The file was modifiedtasks/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
The file was modifieddata/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

The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
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

The file was modifiedssep/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
The file was modifiedhmi/draw/draw_map.cpp
The file was modifieddata/map/pnc_map/path_overlap.hpp
The file was modifieddata/constrain/disable_stop_range.cpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/map/pnc_map/path_overlap.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.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
The file was modifieddata/app/reaction/app_reaction.hpp
The file was modifieddata/constrain/longitude_constrain.cpp
The file was addeddata/app/cmd/cmd_reduce_safe_distance.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/app/app_data.cpp
The file was modifieddata/app/app_data.hpp
The file was modifieddata/app/reaction/app_reaction.cpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/app/fsm/task_command_type.hpp
The file was addeddata/app/cmd/cmd_reduce_safe_distance.hpp
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
The file was modifieddata/ssep/open_space_ec.hpp
The file was modifieddata/map/envelop/map_envelops.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifieddata/plan_frame.hpp
The file was modifieddata/map/envelop/map_envelops.hpp
The file was modifieddata/ssep/online_region_contour_creator.cpp
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifiedplan/prepare/prepare_map_related.cpp
Commit 58293034061f9aa3edd075764961740dcf23e6c8 by wuyanjun110
fix:修复guidelien 中 overlap计算的bug
The file was modifieddata/common/path.cpp
The file was modifieddata/plan/guide_line.cpp
Commit bfc992cbf1652ca99e8bfd0ef9cc690b4f595815 by wuyanjun110
fix:修复拼接ssep结果后，junction overlap 生成的bug
The file was modifieddata/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
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/other/flow_control.hpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/into_yard_junction_ec.hpp