[Jenkins]Jenkins

Changes

Summary

  1. feat:添加多次步进的功能 (details)
  2. fix:修复终点前变道的bug (details)
  3. feat:添加参数 直行的junction 是否用路口的边界 (details)
  4. refactor:删除打印日志 (details)
  5. fix:road 级别的可行驶范围的bug (details)
  6. feat:适配董分进堆场边界 (details)
  7. fix:修复封路变道的bug (details)
  8. fix:引桥前变道的bug (details)
  9. fix:可能崩溃的bug (details)
  10. fix:变道的bug (details)
  11. fix:适配open space 场景 (details)
  12. fix:人工对准误创建约束 (details)
  13. feat:open space的优化 (details)
  14. refactor:直线步进 优化步进时间 (details)
  15. refactor:直线步进 优化步进时间 (details)
  16. fix: add wbca debug var. (details)
  17. fix: add lateral acc cost. (details)
  18. fix: add wbca cost and time_consuming. (details)
  19. fix:修复代码合并的bug (details)
  20. fix: pub lane_pts debug msg. (details)
  21. feat:暂时可以调试 (details)
  22. feat: SSEP: 增加IMV-either-facing-goal搜索功能（可以头朝前也可以尾朝前） (details)
  23. feat: SSEP: 增加集卡多段倒车场景 (details)
  24. fix: SSEP: Resolve crashing issue. (details)
  25. fix: SSEP: Resolve crashing issue. (details)
  26. feat: add distance2bend (details)
  27. fix: WBCA lane change path (details)
  28. fix: choosing WBCA start_pt at guide_line in SMOOTH MODE (details)
  29. feat:适配状态机场景 (details)
  30. feat: WBCA serialization for debug. (details)
  31. fix: using history_pts for lattice velocity reference. (details)
  32. fix: use_func_use_wbca_speed_limit = true (details)
  33. fix: using history_pts for lattice velocity reference. (details)
  34. feat: SSEP: 增加引导线跟随模式搜索 (details)
  35. feat: ssep适配脱困模式 (details)
  36. feat:boost 编译错误 (details)
  37. fix: SSEP: 修复引导线跟随搜索的一些bug (details)
  38. fix: lateral acceleration parameters. (details)
  39. fix: ComputeLonGuideVelFromLatAcc (details)
  40. feat: clear align times when align2nd to align1st. (details)
  41. feat: clear align times when align2nd to align1st. (details)
  42. feat:脱离模式 路径切换的适配 (details)
  43. chore: SSEP: 新增DirectionalPath数据结构，简化对reference line的处理 (details)
  44. feat: SSEP: 增加引导线跟随模式搜索 (details)
  45. fix: SSEP: 修复引导线跟随搜索的一些bug (details)
  46. chore: SSEP: 新增DirectionalPath数据结构，简化对reference line的处理 (details)
  47. fix: lon_decision for car. (details)
  48. feat:cut ego 添加参数 (details)
  49. feat:适配新的障碍物类型 (details)
  50. fix: lon_decision for car. (details)
  51. feat:脱困模式，适配重搜索逻辑以及地图版本校验 (details)
  52. feat:cut ego 添加参数 (details)
  53. feat:适配新的障碍物类型 (details)
  54. fix: add min_turn_radius (details)
  55. fix: add lattice_velocity_reference_mode (details)
  56. fix: disable wbca debug mode. (details)
  57. fix: max_lat_acc in wbca params (details)
  58. fix: ignore dynamic obstacle in risk evaluation. (details)
  59. fix:调整危险限速距离的bug (details)
  60. feat:调整状态机 (details)
  61. feat:远程步步进，停车时间参数化 (details)
  62. fix:调整危险限速距离的bug (details)
  63. feat:远程步步进，停车时间参数化 (details)
  64. fix_out: lat_acc_baed ref vel cal error. add debug msg. (details)
  65. fix:修复因为距离阈值，带来场景识别错误的bug (details)
  66. fix: bug (details)
  67. fix: disable wbca_debug mode. (details)
  68. fix:修复终点距离计算的bug (details)
  69. chore(format):格式 (details)
  70. chore: 适配remote guide line变更 (details)
  71. fix:修复海润进弯道后第一个停车位停不正的bug (details)
  72. fix: delete log. (details)
  73. enable ssep_heat_net (tmp commit) (details)
  74. fix:修复误触发open space的bug (details)
  75. fix: SSEP: 修复IMV进充电桩方向错误的问题 (details)
  76. fix: delete log (details)
  77. feat: SSEP: 完成 learning-based 进出堆场口搜索全流程 (details)
  78. feat: 适配ssep learning-based 进出堆场口 (details)
  79. feat:执行remote后进入stop auto (details)
  80. feat:添加obj障碍物的跟车距离 (details)
  81. refactor:优化bulk场景的限速 (details)
  82. fix: SSEP: 修复终点在堆场边缘时，场景识别错误导致搜索失败的问题。 (details)
  83. chore: SSEP: Add some printos. (details)
  84. fix:修复park lock 切换 park out， 不重搜索的bug (details)
  85. fix:修复极限变道时没有应用变道路径，然后状态机切换的bug (details)
  86. feat:添加obj障碍物的跟车距离 (details)
  87. refactor:优化跟车距离 (details)
  88. refactor:优化跟车距离 (details)
  89. chore: SSEP: use standard out stream. (details)
  90. fix: 解决未安装cuda的系统编译失败的问题。 (details)
  91. fix:临时修复重搜索的bug (details)
  92. refactor:优化动态搜索限速 (details)
  93. feat: SSEP: 重规划时先考虑复用优化上一条轨迹 (details)
  94. feat: SSEP重规划时复用轨迹 (details)
  95. fix:修复replayer编译失败的bug (details)
  96. fix: disable dynamic and steering speed constraints (details)
  97. fix: add min_velocity_coefficient_for_velocity_cost. (details)
  98. feat:添加障碍物靠近警报的功能 (details)
  99. feat:添加障碍物靠近警报的功能 (details)
  100. fix:修复出堆场过程中， travel out场景退出的bug (details)
  101. fix: bulk场景 进出堆场限速的bug (details)
  102. feat: SSEP: 增加imv keb optimizer, 适配两段式搜索任务。 (details)
  103. refactor:优化动态搜索限速 (details)
  104. feat:添加障碍物靠近警报的功能 (details)
  105. fix:修复出堆场过程中， travel out场景退出的bug (details)
  106. fix: bulk场景 进出堆场限速的bug (details)
  107. fix:优化不绕行和搜索停车的问题 (details)
  108. fix:保存任务时，当前定位保存错误的bug (details)
  109. fix:合并的bug (details)
  110. chore: SSEP: minor params finetune. (details)
  111. feat: 海润适配新imv搜索器 (details)
  112. fix: crash issue. (details)
  113. fix: SSEP: 修复集卡进堆场轨迹绕圈问题 (details)
  114. feat: ogm聚类时使用多边形代替原来的线段障碍物 (details)
  115. chore: SSEP: (details)
  116. 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)
  117. chore: SSEP: imv optimizer参数调试 (details)
  118. fix: 救援模式下，无法取消任务的bug (details)
  119. fix:状态机切换的bug (details)
  120. fix:修复带有bulk 途经点， opensspce 不搜索的bug (details)
  121. 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)
  122. chore: 适配ssep重构 (details)
  123. chore: SSEP: minor adjustments (details)
  124. 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)
  125. chore: SSEP: 增加打印信息，修复一些小错误。 (details)
  126. feat:适配直线步进，根据ttc进行碰撞检测的功能 (details)
  127. fix:1.修复fall back 重搜索的bug 2.fallback自动起步的bug (details)
  128. fix:向后直线步进的bug (details)
  129. fix:修复合并的bug (details)
Commit c8fcf1f78a1b5d296d805167e77246cecebfea4c by wuyanjun110
feat:添加多次步进的功能

The file was addeddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_state.hpp
The file was modifieddata/app/fsm/motion_fsm/motion_fsm.cpp
The file was modifieddata/app/app_data.cpp
The file was addeddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_fsm.hpp
The file was addeddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_fsm.cpp
The file was modifieddata/app/cmd/cmd_base.hpp
The file was modifieddata/app/reaction/app_reaction.hpp
The file was modifieddata/app/fsm/motion_fsm/motion_fsm.hpp
The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
The file was modifieddata/vehicle/vehicle_status.hpp
The file was modifieddata/app/fsm_interface.cpp
The file was modifieddata/app/fsm_interface.hpp
The file was modifieddata/app/reaction/app_reaction.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_state.hpp
The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifieddata/app/fsm/task_command_type.cpp
The file was modifiedplan/prepare/prepare_status.cpp
Commit 6262490bbdf7032619c7cd1ab1e21d968084dc11 by wuyanjun110
fix:修复终点前变道的bug

The file was modifieddata/map/reference/center_line.cpp
Commit b3af1e94ec213bd33e04482534fc9d1e11998aef by wuyanjun110
feat:添加参数 直行的junction 是否用路口的边界

The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/config/cfg_func_sw.cpp
Commit e1e180ac6232f0dad6d254ee32c924445c82559a by wuyanjun110
refactor:删除打印日志

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit f2cfd96c1d6680e5ba602d2887effdf525da5a69 by wuyanjun110
fix:road 级别的可行驶范围的bug

The file was modifieddata/map/pnc_map/pnc_map_helper.cpp
Commit 56972055caec62da979b601756c9ca7ead955c7d by wuyanjun110
feat:适配董分进堆场边界

The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit 87dbb414736342ed5025c3724874d05f6884859b by wuyanjun110
fix:修复封路变道的bug

The file was modifieddata/map/reference/center_line.cpp
Commit 89161e6bea2dc298b72279d20989a8d95e8bf2c6 by wuyanjun110
fix:引桥前变道的bug

The file was modifieddata/plan/switch_data.cpp
Commit d6180ecba4bf2a682e330ffe0ae91149c2724a95 by wuyanjun110
fix:可能崩溃的bug

The file was modifieddata/plan/switch_data.cpp
Commit 4419f5005346efc02ca435aa2236e5af31d0666c by wuyanjun110
fix:变道的bug

The file was modifieddata/map/reference/center_line.cpp
Commit b85177099c031fce100287e2f28605c7df379c54 by wuyanjun110
fix:适配open space 场景

The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/app/reaction/app_reaction.cpp
The file was modifieddata/app/reaction/app_reaction.hpp
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.hpp
The file was modifieddata/ssep/forward_ec.cpp
Commit 99ab390ee555fefbb05351f68f6053e949d3fa26 by wuyanjun110
fix:人工对准误创建约束

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit c9b7c7ef30f2b802baf67b8bccd1563874f76bc8 by wuyanjun110
feat:open space的优化

The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/config/cfg_region.cpp
The file was modifieddata/config/cfg_region.hpp
Commit 39e1051cec249f83e81811588c26ec21da0e61e6 by wuyanjun110
refactor:直线步进 优化步进时间

The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_fsm.cpp
The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
The file was modifieddata/config/cfg_env_const.cpp
Commit 3d538b2a494e397c1228ebfacf648da8c4937b20 by wuyanjun110
refactor:直线步进 优化步进时间

The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_fsm.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
Commit 09de05492e0e8f6c4bc5470cd7a23eaa1498f4e0 by 5081703.cr
fix: add wbca debug var.

The file was modifiedsink/ros_sink_plan_debug.cpp
Commit 42a20025d749e2115e2fd0f8b96c75a4d7f9c718 by 5081703.cr
fix: add lateral acc cost.

The file was modifiedalgorithm/wbca/path_optimization/car_path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/truck_path_optimization.cpp
Commit efed77162e1f93c135d20545829be3b0a1286036 by 5081703.cr
fix: add wbca cost and time_consuming.

The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/wbca/wbca_data.hpp
Commit e144a3fa9d9dc5d60f442f1886c83d42cdd6f6d2 by wuyanjun110
fix:修复代码合并的bug

The file was modifieddata/ssep/forward_ec.cpp
Commit 7e361d0240c561704b8c58c95e44c4c30176b3be by 5081703.cr
fix: pub lane_pts debug msg.
The file was modifiedreplayer/logic.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.hpp
Commit 9e2f67a11b970c72d57dd91cb7628c86bb90f48f by wuyanjun110
feat:暂时可以调试

The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedhmi/draw/draw_map.cpp
The file was modifieddata/app/cmd/cmd_set_target.cpp
The file was modifieddata/other/flow_control.hpp
The file was modifiedhmi/draw/draw_map.hpp
The file was modifieddata/ssep/forward_ec.hpp
The file was modifieddata/app/cmd/cmd_set_target.hpp
The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifieddata/app/app_data.cpp
The file was modifieddata/app/reaction/app_reaction.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/app/reaction/app_reaction.hpp
Commit bc1112a9d52f45b8ad8918bb1b057535b9e58ed7 by tangwenqing
feat: SSEP: 增加IMV-either-facing-goal搜索功能（可以头朝前也可以尾朝前）

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/conditions/along_lane_condition.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/ssep_planner.cc
The file was addedssep/coarse_search/geometric_searcher/conditions/path_direction_condition.h
Commit a280eeda09dc73323f7028324017ff21ba288ae8 by tangwenqing
feat: SSEP: 增加集卡多段倒车场景

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/ssep_planner.cc
Commit 98e8e274bf05a76d4557731892885c01ded08feb by tangwenqing
fix: SSEP: Resolve crashing issue.

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit aa57cf43920b34fe51b46fd9a051e89f533822f3 by tangwenqing
fix: SSEP: Resolve crashing issue.

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit 6af1002eef64b39603e65a6e9a8097bd08c959b4 by 5081703.cr
 feat: add distance2bend

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.hpp
Commit 7cf7d48885a66176adede13d881909f4dd380122 by 5081703.cr
fix: WBCA lane change path
The file was modifieddata/config/cfg_lat_decide.hpp
The file was modifiedtasks/deciders/lat_decider/wbca_path_boundary_decider.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifieddata/config/cfg_lat_decide.cpp
The file was modifieddata/plan/switch_data.cpp
The file was modifieddata/plan/switch_helper.cpp
The file was modifieddata/plan/switch_data.hpp
The file was modifieddata/plan/guide_line_info.cpp
The file was modifiedtasks/deciders/lat_decider/wbca_path_boundary_decider.hpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedalgorithm/wbca/wbca_manager.hpp
Commit da28a47375f1766e488d585a4a1627690ee1af1d by 5081703.cr
fix: choosing WBCA start_pt at guide_line in SMOOTH MODE

The file was modifiedtasks/plan/path_optimization_task.hpp
The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit ef5c89f3285fb795c957d97d2d638e9607e23189 by wuyanjun110
feat:适配状态机场景

The file was modifieddata/scenario/scenario_region_condition.hpp
The file was modifieddata/config/cfg_stage.hpp
The file was modifieddata/scenario/scenario_planner_bt.cpp
The file was modifieddata/other/flow_control.cpp
The file was addedscenarios/fallback_scenario/fallback_scenario.cpp
The file was modifieddata/scenario/scenario_region_condition.cpp
The file was modifieddata/app/fsm/task_command_type.cpp
The file was modifieddata/app/cmd/cmd_set_target.cpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.hpp
The file was modifieddata/config/cfg_stage.cpp
The file was modifieddata/scenario/scenario_planner_action.cpp
The file was addedscenarios/fallback_scenario/fallback_scenario.hpp
The file was modifieddata/scenario/scenario_region_action.cpp
The file was modifieddata/scenario/scenario_planner.hpp
The file was modifieddata/scenario/scenario_planner_condition.cpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/app/fsm/task_fsm/task_state.hpp
The file was addedscenarios/fallback_scenario/fallback_stage.cpp
The file was modifieddata/scenario/scenario_region_bt.cpp
The file was modifieddata/scenario/scenario_region.hpp
The file was addedscenarios/fallback_scenario/fallback_stage.hpp
The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifiedscenarios/scenario_supervise.cpp
The file was modifiedtasks/other_tasks/create_reference_line.cpp
The file was modifiedcommon/util/express.cpp
Commit 5385854ced1c4f0a38ecc0337eebc0d1a0ae820d by 5081703.cr
feat: WBCA serialization for debug.

The file was modifieddata/wbca/wbca_data.hpp
The file was modifieddata/plan/guide_line_info.hpp
The file was modifieddata/wbca/grid_map/esdf_map.hpp
The file was modifieddata/wbca/grid_map/grid_map.hpp
Commit 349cf66c11d9628ff7dde4ff4fe034f46ad4eab1 by 5081703.cr
fix: using history_pts for lattice velocity reference.

The file was modifieddata/lattice/trajectory_evaluator.cpp
Commit c5b717740c81e6085311e306132e5adec38bc508 by 5081703.cr
fix: use_func_use_wbca_speed_limit = true

The file was modifieddata/config/cfg_func_sw.cpp
Commit 529766b72c33a698ebb04242a5f04b4b21411065 by 5081703.cr
fix: using history_pts for lattice velocity reference.

The file was modifieddata/lattice/trajectory_evaluator.cpp
Commit f630959754c596f5112e6b06ca27455f75817e36 by tangwenqing
feat: SSEP: 增加引导线跟随模式搜索

The file was modifiedssep/conf/ssep_preprocess.yaml
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/main_test/main_ssep_input.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.h
The file was modifiedssep/common/def/ssep_scenario_type.hpp
Commit eb15b8594d32856bc558eaf00a2cdd79e9f88a8f by tangwenqing
feat: ssep适配脱困模式

The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifieddata/ssep/ssep_ec.cpp
Commit d2aa1263316b362fa95667833a95cb387ed4db95 by wuyanjun110
feat:boost 编译错误

The file was modifiedCMakeLists.txt
Commit 5b151ef7dc7b81438899a4a14d899c76fddb1cbf by tangwenqing
fix: SSEP: 修复引导线跟随搜索的一些bug

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
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.h
Commit 536b1fde473aa41238cb47d4343d807c3c507ab3 by 5081703.cr
fix: lateral acceleration parameters.

The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifieddata/config/cfg_long_plan.hpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/config/cfg_long_plan.cpp
Commit 9676b1db3bfc55a692b673dd152ae900129bc6c9 by 5081703.cr
fix: ComputeLonGuideVelFromLatAcc

The file was modifieddata/lattice/trajectory_evaluator.hpp
The file was modifieddata/lattice/trajectory_evaluator.cpp
Commit 6f04708b7e57863992eea101db7db54f7fca94a5 by 5081703.cr
feat: clear align times when align2nd to align1st.

The file was modifiedplan/prepare/prepare_status.hpp
The file was modifiedplan/prepare/prepare_status.cpp
Commit 7dde7bf484e626563740dd2d75d4fabe7af72a64 by 5081703.cr
feat: clear align times when align2nd to align1st.

The file was modifiedplan/prepare/prepare_status.cpp
The file was modifiedplan/prepare/prepare_status.hpp
Commit 8b77a84d05f84cafc18356acda48b4e4c5183ad0 by wuyanjun110
feat:脱离模式 路径切换的适配

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/plan/path_direction_data.cpp
The file was modifieddata/vehicle/vehicle_destination.cpp
The file was modifiedplan/prepare/prepare_state.cpp
The file was modifieddata/plan/ssep_data.hpp
The file was modifieddata/plan/guide_line.cpp
Commit a1d9f0a0191c2974cae7191e8a81f09b421a643b by tangwenqing
chore: SSEP: 新增DirectionalPath数据结构，简化对reference line的处理

The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.h
The file was addedssep/coarse_search/data_structure/directional_path.cc
The file was addedssep/coarse_search/data_structure/directional_path.h
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.h
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit 2e38dea16234d3f3854755fd5d8fda9981f26949 by tangwenqing
feat: SSEP: 增加引导线跟随模式搜索

The file was addedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.cc
The file was modifiedssep/main_test/main_ssep_input.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/conf/ssep_preprocess.yaml
Commit 4d0eb985470379176f7871594b20f2a948ae6687 by tangwenqing
fix: SSEP: 修复引导线跟随搜索的一些bug

The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit b561d0438921523925628dcf5fcb163914948128 by tangwenqing
chore: SSEP: 新增DirectionalPath数据结构，简化对reference line的处理

The file was addedssep/coarse_search/data_structure/directional_path.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.h
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.h
The file was removedssep/coarse_search/geometric_searcher/searcher_builders/reference_following_searcher_builder.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.cc
The file was addedssep/coarse_search/data_structure/directional_path.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit e77151e6ba5e36a4b850362ec661d98588ba6c7f by 5081703.cr
fix: lon_decision for car.

The file was modifiedalgorithm/decision/semantic_set_transformation_2.cpp
Commit d9e6b8da0a9a98d6c7466d51872046e2ff487ffb by wuyanjun110
feat:cut ego 添加参数

The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/obstacle/ogm.cpp
Commit f0374d1e424b9eb8bfc116e85a1f4b8631991c0a by wuyanjun110
feat:适配新的障碍物类型

The file was modifieddata/obstacle/perception_obstacle.hpp
Commit a5c5bb46e01f4e55bfeca548e3ef9c63d2510baf by 5081703.cr
fix: lon_decision for car.

The file was modifiedalgorithm/decision/semantic_set_transformation_2.cpp
Commit 07da24972be561730ba0607d76f6a479db4b96a9 by wuyanjun110
feat:脱困模式，适配重搜索逻辑以及地图版本校验

The file was modifieddata/plan/ssep_data.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.hpp
The file was modifieddata/app/cmd/cmd_set_target.cpp
Commit ad6c09e37907cebcaa2037c5a0d452809b0a40a9 by wuyanjun110
feat:cut ego 添加参数

The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/obstacle/ogm.hpp
Commit 663af06f4e49b4956bfdb7724e2f4af6cf86ed1d by wuyanjun110
feat:适配新的障碍物类型

The file was modifieddata/obstacle/perception_obstacle.hpp
Commit b1212f643913fed0b5782662c89feda43ff994d7 by 5081703.cr
fix: add min_turn_radius

The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/lattice/trajectory_evaluator.cpp
Commit 2cd209182765e48ef76e10b8f4f73986d6099459 by chenran
fix: add lattice_velocity_reference_mode

The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/lattice/trajectory_evaluator.cpp
The file was modifieddata/config/cfg_long_plan.hpp
Commit 8c9e246300c0a81187d7dfc9d967a17080931b86 by chenran
fix: disable wbca debug mode.

The file was modifieddata/wbca/grid_map/grid_map.hpp
Commit 71bc6b3762ae5bf4b93ed630fa3f60584aacd28b by chenran
fix: max_lat_acc in wbca params

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/lattice/trajectory_evaluator.cpp
The file was modifieddata/wbca/grid_map/grid_map.hpp
Commit d39503b26035a503132b582c968445d29d89232d by chenran
fix: ignore dynamic obstacle in risk evaluation.

The file was modifiedalgorithm/plan/obstacle_risk_evaluation.cpp
Commit 31d2d9ac0ecaaa2d8efc795df33b733c0fb6ca29 by wuyanjun110
fix:调整危险限速距离的bug

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedalgorithm/plan/obstacle_risk_evaluation.cpp
Commit f20ef566b368c578bb66db1dcab56ddb8873788a by wuyanjun110
feat:调整状态机

The file was modifieddata/app/fsm/task_fsm/task_fsm.hpp
Commit 091eaeb602a8d3e4a3aeb0d35cdd4283121e0dd9 by wuyanjun110
feat:远程步步进，停车时间参数化

The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_fsm.cpp
The file was modifieddata/config/cfg_env_const.cpp
Commit 388f6d439d5573602e948ead66a7f211b1a2ca0e by wuyanjun110
fix:调整危险限速距离的bug

The file was modifiedalgorithm/plan/obstacle_risk_evaluation.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 01e5770aa2b86f883819374bd05a78443ac2dd23 by wuyanjun110
feat:远程步步进，停车时间参数化

The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_fsm.cpp
The file was modifieddata/config/cfg_env_const.cpp
Commit d0b10cfb5be8ed25111675d3f7302e8517235829 by chenran
fix_out: lat_acc_baed ref vel cal error. add debug msg.

The file was modifieddata/lattice/trajectory_evaluator.cpp
The file was modifieddata/lattice/trajectory_evaluator.hpp
The file was modifiedalgorithm/plan/lattice.cpp
The file was modifieddata/plan_frame.hpp
The file was modifiedsink/ros_sink_plan_debug.cpp
Commit 60fa8bbb4ce743b21bdf1c01f4aef06360f6b000 by wuyanjun110
fix:修复因为距离阈值，带来场景识别错误的bug

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 7882b227a73b2918bc10db5449921c29d0017d89 by chenran
fix: bug

The file was modifieddata/lattice/trajectory_evaluator.cpp
Commit 9cfc82949d744490a620b28f81c98283fbb7d048 by chenran
fix: disable wbca_debug mode.

The file was modifieddata/wbca/grid_map/grid_map.hpp
Commit 45d74acfedd027e5cec0bc21e40ecac6d1e9d6e2 by wuyanjun110
fix:修复终点距离计算的bug

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit dd5ed89ec56fd354a8530f7587a801e2e069cd45 by wuyanjun110
chore(format):格式

The file was modifieddata/config/cfg_env_const.hpp
Commit 013bc56b3aa76e9ae6726f6005ef1f0824c30635 by tangwenqing
chore: 适配remote guide line变更

The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedhmi/draw/draw_map.cpp
Commit b17f0d5fb704e33ac5c479ea638e8dc7e745462c by wuyanjun110
fix:修复海润进弯道后第一个停车位停不正的bug

The file was modifieddata/plan/switch_data.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 9ae3bb642cab7844f04669b423c74cf6d8361bd3 by chenran
fix: delete log.

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 9e0b88249bd653bb4516cf863552738db6ed5e06 by tangwenqing
enable ssep_heat_net (tmp commit)
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/tools/scene_data_generator/utils.h
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/coarse_search/data_structure/directional_path.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was addedssep/coarse_search/reference_line_snapper.h
The file was modifiedssep/ssep_heat_net/ssep_heat_net.h
The file was modified.gitignore
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/ssep_heat_net/ssep_heat_net.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.cc
The file was addedssep/coarse_search/ml_path_validator.h
The file was modifiedssep/coarse_search/data_structure/polyline.h
The file was modifiedssep/coarse_search/data_structure/directional_path.h
The file was modifiedssep/conf/ssep_preprocess.yaml
The file was modifiedssep/ssep_heat_net/inference_ml_trajectory_cli.cc
Commit 694cad1303ba2c0e2957174ca71764e0749fa783 by wuyanjun110
fix:修复误触发open space的bug

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 6c088e1ef716df23d8d72e0db628379340e55c8c by tangwenqing
fix: SSEP: 修复IMV进充电桩方向错误的问题
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit d188c11ec9081cf9e63baf839a39f0254f7a5c6b by chenran
fix: delete log

The file was modifieddata/plan/guide_line.cpp
Commit 9c366b165aebbc23ec15f7c7c180882cf5f5da7f by tangwenqing
feat: SSEP: 完成 learning-based 进出堆场口搜索全流程

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/tools/executable/inference_ml_trajectory_cli.cc
The file was removedssep/ssep_heat_net/inference_ml_trajectory_cli.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.h
The file was modifiedssep/ssep_heat_net/ssep_heat_net.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/param_loader/param.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.cc
The file was modifiedssep/ssep_heat_net/ssep_heat_net.h
Commit 4764fe09a51aceb56c0da627948116e3184479f6 by tangwenqing
feat: 适配ssep learning-based 进出堆场口

The file was modifiedCMakeLists.txt
The file was modifieddata/config/cfg_ssep.hpp
The file was modifieddata/config/cfg_ssep.cpp
Commit a0714073667b61cb782dc1cec5778ef2037679a8 by wuyanjun110
feat:执行remote后进入stop auto

The file was modifieddata/app/fsm/stop_reason.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_fsm.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp
The file was modifieddata/app/fsm/stop_reason.hpp
Commit 5dbd19046e7b94b72f150bcdc72f4ad2cc43aff3 by wuyanjun110
feat:添加obj障碍物的跟车距离

The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/constrain/longitude_constrain.cpp
The file was modifieddata/config/cfg_long_plan.hpp
Commit 78040d89b4fb954c95b42c8c2b47d5824f95a9a7 by wuyanjun110
refactor:优化bulk场景的限速

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 7098e5415d6bd47e934e8d2aeb9db564ce4c125e by tangwenqing
fix: SSEP: 修复终点在堆场边缘时，场景识别错误导致搜索失败的问题。

The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/bulk_yard_reasoner.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/common/def/map_element_polyline.hpp
The file was modifiedssep/coarse_search/geometric_searcher/conditions/inside_yard_condition.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit 265280e297efd28920dcf41d567dc2a01bf42023 by tangwenqing
chore: SSEP: Add some printos.

The file was modifiedssep/coarse_search/ml_path_validator.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit aab9cba29215396bf75e3caa78691569a3d9726e by wuyanjun110
fix:修复park lock 切换 park out， 不重搜索的bug

The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit ffc89ba1cab4ef45708d83dc857e6c9a11c38ce0 by wuyanjun110
fix:修复极限变道时没有应用变道路径，然后状态机切换的bug

The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
The file was modifieddata/plan/switch_data.cpp
Commit 6968f0becb6e4205acf9747153959f2804dc39e5 by wuyanjun110
feat:添加obj障碍物的跟车距离

The file was modifieddata/constrain/longitude_constrain.cpp
The file was modifieddata/config/cfg_long_plan.hpp
The file was modifieddata/config/cfg_long_plan.cpp
Commit cd51af59b0d3bb60f8bd54fa148b89afeb852b36 by wuyanjun110
refactor:优化跟车距离

The file was modifieddata/config/cfg_long_plan.cpp
Commit fbcf64b20bb7a0e28f3f59bd472b7c92cca8f1e0 by wuyanjun110
refactor:优化跟车距离

The file was modifieddata/config/cfg_long_plan.cpp
Commit f6fc40765e865624dbbf8f06d10bb50c0737a36d by tangwenqing
chore: SSEP: use standard out stream.

The file was modifiedssep/ssep_heat_net/ssep_heat_net_trt.cc
Commit c5c03d2b950c5118588e96b8208191b160e6a535 by tangwenqing
fix: 解决未安装cuda的系统编译失败的问题。

The file was modifiedCMakeLists.txt
Commit 4f10762950f9fd6f6e02b069bbca40b8285ccdaa by wuyanjun110
fix:临时修复重搜索的bug

The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit 0790e7d3fb073f66c996f5c2d4ef5c28c08bf268 by wuyanjun110
refactor:优化动态搜索限速

The file was modifieddata/plan/guide_line.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 3bdbadb8192f2e1afbf517b06df6fa9888b05c6b by tangwenqing
feat: SSEP: 重规划时先考虑复用优化上一条轨迹

The file was modifiedssep/coarse_search/geometric_searcher/data_structure.h
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/common/def/ssep_input.hpp
Commit b9518728d2da556842eddcf95681f3f1aef566bf by tangwenqing
feat: SSEP重规划时复用轨迹

The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit fa0b4b6111a47d28d18929de661182e9e51745a5 by wuyanjun110
fix:修复replayer编译失败的bug

The file was modifiedCMakeLists.txt
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.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
Commit b927c1b538f0862739b0fd3f3e7faf0e800de7e2 by wuyanjun110
feat:添加障碍物靠近警报的功能

The file was modifieddata/obstacle/obstacle_decider_attr.hpp
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/obstacle/obstacle_decider_attr.cpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifiedsink/ros_sink_chassis_ctrl.hpp
The file was modifiedalgorithm/plan/obstacle_risk_evaluation.cpp
The file was modifiedsink/ros_sink_chassis_ctrl.cpp
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.hpp
The file was modifiedalgorithm/plan/obstacle_risk_evaluation.hpp
The file was modifieddata/config/cfg_safe_const.hpp
Commit 82b6c62336e681fa911b2f8b86cb34bbcf29642f by wuyanjun110
feat:添加障碍物靠近警报的功能

The file was modifiedalgorithm/plan/obstacle_risk_evaluation.hpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.hpp
The file was modifiedalgorithm/plan/obstacle_risk_evaluation.cpp
The file was modifieddata/obstacle/obstacle_decider_attr.hpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifiedsink/ros_sink_chassis_ctrl.cpp
The file was modifiedsink/ros_sink_chassis_ctrl.hpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/obstacle/obstacle_decider_attr.cpp
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.cpp
Commit 7233129e21e790db93b28035752be471f30783ec by wuyanjun110
fix:修复出堆场过程中， travel out场景退出的bug

The file was modifieddata/other/flow_control.cpp
The file was modifieddata/app/fsm/task_fsm/task_travel/task_travel_fsm.cpp
Commit 02ef3a87c72fa468a8e27ee4e0af031ad877c05c by wuyanjun110
fix: bulk场景 进出堆场限速的bug

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/constrain/long_target.cpp
Commit 313ad77784466556e1099148a2a5b00756f4f56d by tangwenqing
feat: SSEP: 增加imv keb optimizer, 适配两段式搜索任务。

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/keb_optimizer/cost_features/imv_dynamic_constraint.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/ssep_planner.cc
The file was addedssep/keb_optimizer/imv_keb_optimizer.h
The file was addedssep/keb_optimizer/cost_features/imv_center_pinch_cost.h
The file was modifiedssep/keb_optimizer/data_structure.h
The file was addedssep/keb_optimizer/cost_features/imv_rear_curvature_cost.h
The file was addedssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
The file was addedssep/keb_optimizer/cost_features/imv_center_curvature_cost.h
The file was addedssep/keb_optimizer/cost_features/imv_rear_oversteer_cost.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was addedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/ogm_map/ogm.cc
The file was modifiedssep/CMakeLists.txt
The file was addedssep/keb_optimizer/cost_features/imv_rear_pinch_cost.h
Commit b1d7edb7f2364f0b31aaefe5f365e5f5eb552716 by wuyanjun110
refactor:优化动态搜索限速

The file was modifieddata/plan/guide_line.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit b44716c1fac57d651ff9e4e7317600b4b480b846 by wuyanjun110
feat:添加障碍物靠近警报的功能

The file was modifiedalgorithm/plan/obstacle_risk_evaluation.cpp
The file was modifiedsink/ros_sink_chassis_ctrl.hpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/obstacle/obstacle_decider_attr.cpp
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.hpp
The file was modifiedsink/ros_sink_chassis_ctrl.cpp
The file was modifiedalgorithm/plan/obstacle_risk_evaluation.hpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/obstacle/obstacle_decider_attr.hpp
Commit f4fea06d93b1571764d260bd8ab24c761ff40ba2 by wuyanjun110
fix:修复出堆场过程中， travel out场景退出的bug

The file was modifieddata/app/fsm/task_fsm/task_travel/task_travel_fsm.cpp
The file was modifieddata/other/flow_control.cpp
Commit 5ab62f8c1314d98f8b5e69abee10ebc9eec7211c by wuyanjun110
fix: bulk场景 进出堆场限速的bug

The file was modifieddata/constrain/long_target.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 72264732bd5d2c4bbfc5c087a1f4e27c549b1c0c by wuyanjun110
fix:优化不绕行和搜索停车的问题

The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/boundary/driving_corridor.cpp
Commit e6a9d101a79c8a24170cf062ba1c4efef6c06bc7 by wuyanjun110
fix:保存任务时，当前定位保存错误的bug

The file was modifiedsource/ros_source_ads_target.cpp
Commit 9778807fadf12683f3a6ab8cbadd64e02533d411 by wuyanjun110
fix:合并的bug

The file was modifieddata/config/cfg_env_const.hpp
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 modifieddata/ssep/ssep_ec.cpp
The file was modifiedCMakeLists.txt
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 modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/ssep/ssep_util.cpp
The file was modifiedsink/ros_sink_og_line_segments.cpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifieddata/ssep/reverse_ec.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/ssep/ssep_util.hpp
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/coarse_search/geometric_searcher/searcher_builders/truck_reference_following_searcher_builder.h
The file was modifiedssep/common/def/ssep_input.hpp
The file was modifiedssep/coarse_search/data_structure/directional_path.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
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/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/main_test/main_ssep_input.cc
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/ssep/ssep_activation.cpp
The file was modifieddata/app/reaction/app_reaction.hpp
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/common/def/type_definition.h
The file was modifiedssep/coarse_search/geometric_searcher/data_structure.h
The file was modifiedssep/coarse_search/hybrid_a_star_tt.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was addedssep/keb_optimizer/cost_features/imv_center_curvature_constraint.h
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/sdk/ssep_activation_impl.cc
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was addedssep/ssep_visualizer.cc
The file was modifiedssep/coarse_search/hybrid_a_star_car.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/hybrid_a_star_imv.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/hybrid_a_star_car.cc
The file was modifiedssep/coarse_search/hybrid_a_star_imv.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/coarse_search/hybrid_a_star_tt.cc
The file was addedssep/ssep_visualizer.h
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/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/keb_optimizer/keb_problem.h
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/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/keb_optimizer/cost_features/imv_dynamic_constraint.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit a6dd939259b424d3aa4b8e6672a3c981af2fbe95 by tangwenqing
chore: SSEP: 增加打印信息，修复一些小错误。

The file was modifiedssep/coarse_search/geometric_searcher/evaluator/composite_heuristic_computer.h
The file was modifieddata/ssep/ssep_util.hpp
The file was modifiedssep/coarse_search/geometric_searcher/conditions/along_lane_condition.h
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/search_graph.h
The file was modifiedssep/common/utils/common.hpp
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/reeds_shepp_path.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/coarse_search/geometric_searcher/data_structure.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path_motion_primitive_sampler.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/coarse_search/reeds_shepp_path.cc
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 modifiedtasks/deciders/long_decider/time_path_graph_decider.hpp
The file was modifieddata/app/fsm/motion_fsm/motion_fsm.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_fsm.cpp
The file was modifieddata/app/fsm/task_command_type.cpp
The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_fsm.hpp
The file was modifiedtasks/deciders/other_decider/stop_decider.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_state.hpp
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 modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_fsm.cpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
Commit 1c889f2d1cf1b5736ae5473b81d72bf57f46a95b by wuyanjun110
fix:向后直线步进的bug

The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_fsm.cpp
The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
Commit d0399f8916e45be94a48d1eaf074fe3cd8c9ea64 by wuyanjun110
fix:修复合并的bug

The file was modifieddata/ssep/forward_ec.cpp