[Jenkins]Jenkins

Changes

Summary

  1. 仿真中跑通进出充电桩 (details)
  2. fix: 修复了轨迹平滑时，边界约束为0时，轨迹位置仍会改变的bug (details)
  3. chore: 适配HD-Map改动-一个堆场对应多个堆场口 (details)
  4. fix: 修复方向切换时延长失效的问题，增大对tunnel constraint的前向响应距离 (details)
  5. merge latest ssep (details)
  6. fix: 解决imv出充电桩离障碍物过近的问题 (details)
  7. fix: start velocity limitation. (details)
  8. fix:velocity profile optimization. (details)
  9. fix: high speed wbca bug. (details)
  10. fix: residual = 40.0 (details)
  11. fix: 解决imv出充电桩离障碍物过近的问题 (details)
  12. fix: 回退老版本的tt_hybrid_astar逻辑，提高杨浦搜索成功率 (details)
  13. feat: 新搜索框架添加gui 可视化功能 (details)
  14. feat: 新搜索框架添加gui 可视化功能 (details)
  15. fix: 修复ssep搜索轨迹tractor-trailer拖车角度错误的问题 (details)
  16. fix: 修复ssep搜索轨迹tractor-trailer拖车角度错误的问题 (details)
  17. feat: ssep: tt 搜索中，使用guide line匹配终点 (details)
  18. feat: ssep: tt 搜索中，使用guide line匹配终点 (details)
  19. fix: using pnc upper speed limit for wbca. (details)
  20. fix: wbca start vel bug. (details)
  21. fix: using his when esdf=null. (details)
  22. fix: obstacle_decider bug. (details)
  23. fix:修复对准标志位请求不复位的bug (details)
  24. fix: obstacle_decider bug. (details)
  25. fix:修复对准标志位请求不复位的bug (details)
  26. feat:openspace场景调用老的ssep算法 (details)
  27. feat:openspace场景调用老的ssep算法 (details)
  28. feat:打开红绿灯路口停车功能 (details)
  29. feat:调整红绿灯停车的逻辑 (details)
  30. feat:wcba限速添加参数 (details)
  31. feat:imv 变道的安全校验参数化 (details)
  32. feat:优化红绿灯停车 (details)
  33. fix:合并的bug (details)
  34. feat:调整缩小安全距离的参数 (details)
  35. fix:调整红绿灯停车的刹车值 (details)
  36. fix:修复uturn路径误过滤的bug (details)
  37. feat:车车道出堆场不添加双黄线约束 (details)
  38. feat: 加入双向搜索，太阳纸业支持car倒车入库。 (details)
  39. chore: ssep多段倒车入库根据测试结果调整搜索逻辑 (details)
  40. fix: ssep加保护逻辑，不考虑距离过远的途经点 (details)
  41. chore: ssep-car多段倒车入库减小双向搜索时两段路径连接处跳变 (details)
  42. chore: ssep-car 多段倒车入库，提升倒车二次搜索成功率 (details)
  43. chore: ssep-car-多段倒车入库提升成功率 (details)
  44. feat: ssep-拖车进出堆场时，使用双向搜索作为fallback searcher。 (details)
  45. feat: merge latest ssep - 跑通双向搜索fallback进堆场 (details)
  46. fix: 修复ssep路径终点离设定终点过远的问题 (details)
  47. feat:吊距防护相关的优化 (details)
  48. fix: correct imv crab mode conditions. (details)
  49. feat: 加入双向搜索，太阳纸业支持car倒车入库。 (details)
  50. chore: ssep多段倒车入库根据测试结果调整搜索逻辑 (details)
  51. fix: ssep加保护逻辑，不考虑距离过远的途经点 (details)
  52. chore: ssep-car多段倒车入库减小双向搜索时两段路径连接处跳变 (details)
  53. chore: ssep-car 多段倒车入库，提升倒车二次搜索成功率 (details)
  54. chore: ssep-car-多段倒车入库提升成功率 (details)
  55. feat: ssep-拖车进出堆场时，使用双向搜索作为fallback searcher。 (details)
  56. fix: Remove file (details)
  57. chore: ssep-car多段倒车 提升二次搜索成功率 (details)
  58. fix: 修复ssep路径终点离设定终点过远的问题 (details)
  59. feat: 增加候选起点策略 (details)
  60. feat:适配 感知105类型 (details)
  61. fix:重复进行四阶段的bug (details)
  62. feat:吊距临停阈值和2nd 切换 lock 阈值一致 (details)
  63. feat:3阶段过程中，假如吊具着箱，不进行4阶段对准 (details)
  64. chore: SSEP: Decrease tractor-trailer bi-direction search time limit. (details)
  65. feat:变道是否考虑身边的障碍物默认值修改成true (details)
  66. feat:修改ssep碰撞检测阈值 (details)
  67. fix:龙须点处理的bug (details)
  68. fix:出堆场搜索的真实障碍物添加的bug (details)
  69. chore: SSEP: 自卸车普通搜索终点车道匹配只允许匹配给定终点以后的位置 (details)
  70. feat: 进堆场使用双向搜索+keb优化 (details)
  71. chore: keb-optimizer增加曲率约束校验 (details)
  72. fix: 修复起点终点过远时反向搜索失效的问题 (details)
  73. chore: SSEP: import tensorrt into ssep (details)
  74. chore: ssep: 将Map envelop 转为 constraint，容许轻微违反约束-不超过0.5m (details)
Commit e5e34c1bf06ba8533229922aee586a49572607e5 by tangwenqing
仿真中跑通进出充电桩
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifieddata/ssep/forward_ec.cpp
Commit ff2f1a190f655a03d28720eea2e4f8b40eb294d8 by tangwenqing
fix: 修复了轨迹平滑时，边界约束为0时，轨迹位置仍会改变的bug

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/smoother/safety_corridor_smoother.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/general_hybrid_astar_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/general_hybrid_astar_searcher_builder.h
Commit 698c19b283cc1791e2ad3e4cb2ad38b114c1e574 by tangwenqing
chore: 适配HD-Map改动-一个堆场对应多个堆场口

The file was modifieddata/ssep/ssep_ec.cpp
The file was addedssep/ssep_heat_net/inference_ml_trajectory_cli.cc
The file was modifiedssep/main_test/main_ssep_input.cc
The file was addedssep/ssep_heat_net/ssep_heat_net.cc
The file was addedssep/ssep_heat_net/ssep_heat_net.h
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was addedssep/ssep_heat_net/standarization_params.h
Commit 064d2328976821cc551f04be981e326941c30b54 by tangwenqing
fix: 修复方向切换时延长失效的问题，增大对tunnel constraint的前向响应距离

The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
Commit 309c6bb716723306519d34161aed000a417358ed by tangwenqing
merge latest ssep
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.cc
The file was addedssep/coarse_search/geometric_searcher/conditions/trailer_relative_angle_condition.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/bulk_yard_reasoner.h
The file was modifiedssep/tools/scene_data_generator/generate_scene_data_cli.cc
The file was modifiedssep/ssep_heat_net/inference_ml_trajectory_cli.cc
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/ref_line_cost_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/tools/scene_data_generator/state_augment_util.h
The file was modifiedssep/common/def/ssep_input.hpp
The file was modifiedssep/ogm_map/ogm.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/ref_line_heuristic_computer.h
The file was modifiedssep/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.h
The file was modifiedssep/coarse_search/geometric_searcher/geometric_search_visualizer.cc
The file was modifiedssep/tools/scene_data_generator/ogm_builder/ogm_builder.cc
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/ilqr_motion_primitive_sampler.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/ssep_heat_net/ssep_heat_net.h
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_collision_cost_computer.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/ogm_map/ogm.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/composed_motion_primitive_sampler.h
Commit 234692cbd21448d78712df1df1038c105f3c8941 by tangwenqing
fix: 解决imv出充电桩离障碍物过近的问题

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit 03caa081fbe6fb1b12926668e747a97852d2d3e2 by 5081703.cr
fix: start velocity limitation.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 76a2ee2379f427b09084fa5696d820f2763022e2 by 5081703.cr
fix:velocity profile optimization.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedalgorithm/wbca/linear_velocity_generator.hpp
The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
Commit 7fee9e4e4f954954a6c39892f1ac64c5091769e5 by 5081703.cr
fix: high speed wbca bug.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
The file was modifiedalgorithm/wbca/linear_velocity_generator.hpp
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 828dc8cfe9ac785e29b6851a425f7139fa0426fa by 5081703.cr
fix: residual = 40.0
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit b8669b615eaa1eba6cef89dce1c6a22208af4bae by tangwenqing
fix: 解决imv出充电桩离障碍物过近的问题

The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
Commit b9a071f48d16d79de636d2f69d30f91e5c88f393 by tangwenqing
fix: 回退老版本的tt_hybrid_astar逻辑，提高杨浦搜索成功率

The file was modifiedssep/coarse_search/hybrid_a_star_tt.cc
Commit 8326a4640abf8503484f904fdaadd2788d413c97 by tangwenqing
feat: 新搜索框架添加gui 可视化功能

The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit aecb4ce494184c15a085fb601b336a0fa4ef534a by tangwenqing
feat: 新搜索框架添加gui 可视化功能

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
Commit 265a3a0db34f2c5614355cc2eae078745104180f by tangwenqing
fix: 修复ssep搜索轨迹tractor-trailer拖车角度错误的问题
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/data_structure/polyline.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifieddata/ssep/ssep_activation.cpp
Commit 67a07fd307b71e5d8f6935382eceac51a2ecaf0a by tangwenqing
fix: 修复ssep搜索轨迹tractor-trailer拖车角度错误的问题
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/ssep_planner.cc
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/data_structure/polyline.cc
Commit 968494451d407a4793b5f2135a144dd3c2b7a75f by tangwenqing
feat: ssep: tt 搜索中，使用guide line匹配终点

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/coarse_search/data_structure/polyline.cc
The file was modifiedssep/coarse_search/data_structure/polyline.h
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.h
Commit c4b86f6c94cad909b16a0905a77fb0bd8c7121f0 by tangwenqing
feat: ssep: tt 搜索中，使用guide line匹配终点

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/data_structure/polyline.cc
The file was modifiedssep/coarse_search/data_structure/polyline.h
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.cc
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.h
Commit eba6389af9f0e7acf3891b94acde638437960078 by 5081703.cr
fix: using pnc upper speed limit for wbca.

The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
Commit ac46b4f3bc6844c63fa5e27f3a3550db36ea4d49 by 5081703.cr
fix: wbca start vel bug.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit b98ae2a1a9f840c70d1d37a1d2a4dfc9682c90ef by 5081703.cr
fix: using his when esdf=null.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit a187e76ce21139b7cc2de165df05c822b053d4dc by 5081703.cr
fix: obstacle_decider bug.

The file was modifieddata/obstacle/obstacle_decider_attr.cpp
Commit 178b4f17112cdf0209ba6b5adef5853bbdebc214 by wuyanjun110
fix:修复对准标志位请求不复位的bug

The file was modifieddata/app/cmd/cmd_align.cpp
Commit 846c0c71b191ac09917ac707ed9804e24e11d8b9 by wuyanjun110
fix: obstacle_decider bug.

The file was modifieddata/obstacle/obstacle_decider_attr.cpp
Commit 82b2556450ca2b21ddb81be5722df2f6f7c3cc7e by wuyanjun110
fix:修复对准标志位请求不复位的bug

The file was modifieddata/app/cmd/cmd_align.cpp
Commit e6187c8e09cf6e89f13072e32fa0e79350d0ea39 by wuyanjun110
feat:openspace场景调用老的ssep算法

The file was modifieddata/ssep/ssep_ec.cpp
Commit 42923f47a26b0fc741ed18d6f92b7d10cbab8385 by wuyanjun110
feat:openspace场景调用老的ssep算法

The file was modifieddata/ssep/ssep_ec.cpp
Commit 8aec2c3858c759bb9d1c411ebde05d0ed5213c68 by wuyanjun110
feat:打开红绿灯路口停车功能

The file was modifieddata/constrain/pnc_junction.cpp
Commit bfd7897845ca38b67691492d3217f946f7465662 by wuyanjun110
feat:调整红绿灯停车的逻辑

The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/plan/guide_line_base.hpp
Commit 0f2c0ea0212547678989a52223119a37ebfb9673 by wuyanjun110
feat:wcba限速添加参数

The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/lattice/trajectory_evaluator.cpp
Commit fd133a2ceaeaed828be1292074d049e59ae3bf5d by wuyanjun110
feat:imv 变道的安全校验参数化

The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/plan/switch_data.cpp
Commit 749219bf13ce569e8153aa95290e7075da093313 by wuyanjun110
feat:优化红绿灯停车

The file was modifieddata/constrain/block_data.cpp
The file was modifiedhmi/draw/draw_map.cpp
Commit 9b89e68efdd9d8e80e9e7df05210bbc03ad5080f by wuyanjun110
fix:合并的bug

The file was modifieddata/ssep/ssep_ec.hpp
The file was modifieddata/ssep/ssep_ec.cpp
Commit 2282c6f06407cbfb5d8ef37f429013e6637ef2d4 by wuyanjun110
feat:调整缩小安全距离的参数

The file was modifieddata/config/cfg_long_plan.cpp
Commit 816aa6ae80895b523be4fc8b8c9b068811de86fd by wuyanjun110
fix:调整红绿灯停车的刹车值

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit b2b70f9198dad03a15aaffa4a3b4242e5f4cd679 by wuyanjun110
fix:修复uturn路径误过滤的bug

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifieddata/ssep/ssep_ec.cpp
Commit d572cf0b77b8589b0bf4d94fd9a704698955b173 by wuyanjun110
feat:车车道出堆场不添加双黄线约束

The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit ca055c19aecb27807f17f08bb5e8b3c569cc7db5 by tangwenqing
feat: 加入双向搜索，太阳纸业支持car倒车入库。
The file was modifiedssep/coarse_search/geometric_searcher/indexed_priority_queue.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/influence_map/sl_projection_map.cc
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was addedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/ref_line_heuristic_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/ref_line_cost_computer.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/state_hasher.h
The file was addedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/reverse_primitive_decorator.h
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.h
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
The file was addedssep/coarse_search/geometric_searcher/search_engine_interface.h
Commit f301a3cf03e19a4825cca76cc5c4557b7dfac3ac by tangwenqing
chore: ssep多段倒车入库根据测试结果调整搜索逻辑

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
Commit 951fdc1c0709f1ac53ff0afaf09801ba983c6472 by tangwenqing
fix: ssep加保护逻辑，不考虑距离过远的途经点

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 4b0158e309e8862795414acd20d1d7de75297bf4 by tangwenqing
chore: ssep-car多段倒车入库减小双向搜索时两段路径连接处跳变
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.h
Commit 5c1f04b3205737b6acf86cbd11fdfede3e75b1f6 by tangwenqing
chore: ssep-car 多段倒车入库，提升倒车二次搜索成功率

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 24f34b53c7ba189f0865c30f9a1efe18496a70a2 by tangwenqing
chore: ssep-car-多段倒车入库提升成功率

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
Commit bb73e0dd27d05fe8433eb4f30d01dc82f8522dde by tangwenqing
feat: ssep-拖车进出堆场时，使用双向搜索作为fallback searcher。

The file was addedssep/coarse_search/geometric_searcher/search_engine_interface.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifieddata/config/cfg_ssep.cpp
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
The file was modifieddata/config/cfg_ssep.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit 598f72e651ae32b71634c8a887a73f2cd8fad8ce by tangwenqing
feat: merge latest ssep - 跑通双向搜索fallback进堆场

The file was modifieddata/ssep/ssep_ec.cpp
The file was removedssep/coarse_search/geometric_searcher/search_engine_interface.cc
The file was modifieddata/config/cfg_ssep.cpp
The file was modifieddata/config/cfg_ssep.hpp
The file was modifieddata/ssep/forward_ec.cpp
Commit 86264b238528b6a4504d767ca416caa5eebe0a97 by tangwenqing
fix: 修复ssep路径终点离设定终点过远的问题

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
Commit d7b81077fcc05698a8198155381bfca0e31ab3a4 by wuyanjun110
feat:吊距防护相关的优化

The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedhmi/widget/diagnose.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/vehicle/spreader_protect.cpp
The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
Commit ed148558f9af93bcad5e692511ef10bf126032ee by 5081703.cr
fix: correct imv crab mode conditions.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 47b3336c43545750f24f41ea08ef054689c901e3 by tangwenqing
feat: 加入双向搜索，太阳纸业支持car倒车入库。

The file was addedssep/coarse_search/geometric_searcher/search_engine_interface.h
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was addedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/indexed_priority_queue.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/state_hasher.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/ref_line_cost_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/influence_map/sl_projection_map.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/reverse_primitive_decorator.h
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/ref_line_heuristic_computer.h
The file was addedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive.h
The file was modifieddata/ssep/forward_ec.cpp
Commit 4fea7122b6fca58b5853de3a50038219b4218494 by tangwenqing
chore: ssep多段倒车入库根据测试结果调整搜索逻辑

The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit bf4817cd030a9d2fbf2d4a99115c5471214a462b by tangwenqing
fix: ssep加保护逻辑，不考虑距离过远的途经点

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 0ea10f6af73fa4d6c00dacddbb5927749286815c by tangwenqing
chore: ssep-car多段倒车入库减小双向搜索时两段路径连接处跳变
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
Commit fbe5772a016c9a05e4ca06c20241d05c29ce410a by tangwenqing
chore: ssep-car 多段倒车入库，提升倒车二次搜索成功率

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit bbdf23141cb6fe372604a3d828dadb19c516bd2e by tangwenqing
chore: ssep-car-多段倒车入库提升成功率

The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
Commit f0cf14baa220494a030c678755853ecb45ec8c4a by tangwenqing
feat: ssep-拖车进出堆场时，使用双向搜索作为fallback searcher。

The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was addedssep/coarse_search/geometric_searcher/search_engine_interface.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifieddata/config/cfg_ssep.hpp
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.cc
The file was modifieddata/config/cfg_ssep.cpp
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit 8e6a3aba3c677d6a9bcaaf94cd05d6d2d9179789 by tangwenqing
fix: Remove file

The file was removedssep/coarse_search/geometric_searcher/search_engine_interface.cc
Commit f3ddeb8ccb4b7f291771c0a50bae73a523c93d83 by tangwenqing
chore: ssep-car多段倒车 提升二次搜索成功率

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit 20fb944b1778b74adf6216d8c153d83bd03e7916 by tangwenqing
fix: 修复ssep路径终点离设定终点过远的问题

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
Commit 0f6ee489db3235ccfc5be9d3822817494a575531 by tangwenqing
feat: 增加候选起点策略

The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.h
Commit a9be8f6d57c9ae6da6e23b516351bacb7fa3c482 by wuyanjun110
feat:适配 感知105类型

The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/boundary/driving_corridor.cpp
The file was modifiedhmi/draw/draw_perception.cpp
Commit aa07466414472066f2d2c33aac3eacb91257ac99 by wuyanjun110
fix:重复进行四阶段的bug

The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
Commit 140a14d9cfbd9ee13f2acb3b2480f6bfc3a0073f by wuyanjun110
feat:吊距临停阈值和2nd 切换 lock 阈值一致

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 68c8461c7bdede9cb467c7d30ba82c1947e0d95a by wuyanjun110
feat:3阶段过程中，假如吊具着箱，不进行4阶段对准

The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
Commit bcc547ae15273cc37436c152f69359fa1f0310d1 by tangwenqing
chore: SSEP: Decrease tractor-trailer bi-direction search time limit.
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 222cea7941255fd6e10413089be63f21cfa04d13 by wuyanjun110
feat:变道是否考虑身边的障碍物默认值修改成true

The file was modifieddata/config/cfg_func_sw.cpp
Commit 44e45ebb95dcb780a76e4e751bb8347de5cc7201 by wuyanjun110
feat:修改ssep碰撞检测阈值

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit c3bcb68d80ddd7c83be481820ad7d84ffa56dffa by wuyanjun110
fix:龙须点处理的bug

The file was modifiedplan/prepare/prepare_ogm.cpp
Commit 7c0bf187d15fc854adc5c4bab2809a2f9e9e055e by wuyanjun110
fix:出堆场搜索的真实障碍物添加的bug

The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit 11e52b4481efa2a6cd5d5370a4bd7cd1f1c46aca by tangwenqing
chore: SSEP: 自卸车普通搜索终点车道匹配只允许匹配给定终点以后的位置

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
Commit 1da82c0f8995d7c5ff6d3a2b18228a12e025d51c by tangwenqing
feat: 进堆场使用双向搜索+keb优化

The file was modifiedCMakeLists.txt
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifiedssep/influence_map/sl_projection_map.cc
The file was addedssep/keb_optimizer/keb_problem.h
The file was addedssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/CMakeLists.txt
The file was addedssep/keb_optimizer/cost_features/pinch_cost.h
The file was addedssep/keb_optimizer/cost_features/state_constraint.h
The file was addedssep/keb_optimizer/cost_features/jet_access.h
The file was modifiedssep/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cc
The file was addedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was addedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/keb_optimizer/cost_features/path_length_cost.h
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cc
The file was addedssep/keb_optimizer/cost_features/trailer_disk_collision_cost.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/influence_map/sl_projection_map.h
The file was addedssep/keb_optimizer/cost_features/kinematic_constraint.h
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was addedssep/keb_optimizer/cost_features/dynamic_constraint.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was addedssep/keb_optimizer/cost_features/disk_collision_cost.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.h
The file was addedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
The file was addedssep/keb_optimizer/data_structure.h
The file was modifiedssep/ssep_planner.cc
Commit 4bdb765f48bb4e7e9dc76b69f803d072b9ea7123 by tangwenqing
chore: keb-optimizer增加曲率约束校验

The file was modifiedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit 62bc6832fbe022bdc96141855d2730ad3dd3b763 by tangwenqing
fix: 修复起点终点过远时反向搜索失效的问题

The file was modifiedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit 4fef6eecc55fffb041b170539bfc280b652b3abd by tangwenqing
chore: SSEP: import tensorrt into ssep
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/conf/ssep_preprocess.yaml
The file was modified.gitignore
The file was modifiedssep/CMakeLists.txt
Commit fddb6e960340783b39e5a639fd9e8dca120e9e13 by tangwenqing
chore: ssep: 将Map envelop 转为 constraint，容许轻微违反约束-不超过0.5m

The file was modifiedssep/ssep_planner.cc
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
The file was modifiedssep/coarse_search/hybrid_a_star.hpp

Summary

  1. feat_out: 获取范围内映射点 (details)
  2. feat_out: 类型错误修复 (details)
  3. feat_out: 处理逻辑错误 (details)
Commit 6197f66809322670242a5b260fb6240e24de2690 by zhaozitong
feat_out: 获取范围内映射点
The file was modifiedinterface/map_elements/lane_info.cc
The file was modifiedinclude/hdmap_interface/map_elements/lane_info.h
Commit 2d8807abb06b719dfb4c348052d574bc29dea40a by zhaozitong
feat_out: 类型错误修复
The file was modifiedinterface/map_elements/lane_info.cc
The file was modifiedinclude/hdmap_interface/map_elements/lane_info.h
Commit ab3eaeb0965566d02d8d4e20986d1f48ef94900d by zhaozitong
feat_out: 处理逻辑错误
The file was modifiedinterface/map_elements/lane_info.cc
The file was modifiedinclude/hdmap_interface/map_elements/lane_info.h