[Jenkins]Jenkins

Changes

Summary

  1. Publish og line segments (details)
  2. chore: 重新定义Og line segment msg (details)
  3. feat:在pnc_debug中增加observer_debug (details)
  4. feat_out:增加起步时间 (details)
  5. feat:lonmpc (details)
  6. feat: mass estimation debug (details)
  7. fix:调整pnc_debug观测项 (details)
  8. feat:油门标定消息 (details)
  9. feat:增加观测 (details)
  10. fix:pnc_debug/observer_debug更改 (details)
  11. feat_out:增加剩余续航里程字段 (details)
  12. fix: 统一pnc_debug_msg/ObserverDebug.msg (details)
  13. fix: 统一pnc_debug_msg/ObesrverDebug.msg (details)
  14. feat_out:增加剩余续航里程字段 (details)
  15. feat_out:修改外设cmd消息 (details)
  16. feat_out:添加云端规划消息 (details)
  17. feat_out:添加云端规划消息 (details)
  18. feat_out:add cloud_planning_response (details)
  19. feat_out:增加续航里程字段 (details)
  20. chore(msg):添加是否越过当前边界的标志位 (details)
  21. chore(msg): 添加距离阈值内不避让排队车辆的标志位 (details)
  22. feat: 手动rebase交通管制v2 msg变更 (details)
  23. feat_out:增加沈汽环卫上装控制 (details)
  24. feat_out:补充外设字段 (details)
  25. feat: 手动rebase交通管制v2 msg变更 (details)
  26. feat_out:处理合并冲突 (details)
  27. 添加新消息——跨运车z向抱夹到位 (details)
  28. 添加新消息——跨运车z向抱夹到位 (details)
  29. feat: 手动rebase交通管制v2 msg变更 (details)
  30. feat: 手动rebase交通管制v2 msg变更 (details)
  31. feat: 手动rebase交通管制v2 msg变更 (details)
  32. feat: 手动rebase交通管制v2 msg变更 (details)
  33. feat: 添加ParallelObstacle和ParallelObstacleReport消息定义 (details)
  34. 添加载物状态及其枚举值&&车型错误标志 (details)
  35. feat: 添加货物分段长度字段和逃逸场景类型 (details)
Commit 8164471355763d16bf47ba3b6ba94e6d7655160b by wuyanjun110
Publish og line segments
The file was modifiedpnc_debug_msgs/CMakeLists.txt
The file was addedpnc_debug_msgs/msg/OgLineSegment.msg
The file was addedpnc_debug_msgs/msg/OgLineSegments.msg
Commit 995d2f70d145e971e6b16a086c18503d2882fefc by wuyanjun110
chore: 重新定义Og line segment msg
The file was modifiedpnc_debug_msgs/msg/OgLineSegment.msg
Commit 3334c4581b4794355e678d586eaf5bb46eccefe1 by liuhongshuo
feat:在pnc_debug中增加observer_debug
The file was modifiedpnc_debug_msgs/msg/CtrlDebug.msg
The file was modifiedpnc_debug_msgs/CMakeLists.txt
The file was addedpnc_debug_msgs/msg/ObserverDebug.msg
Commit fe3fc1534c53f91f596b9458776afd6d2364f0a2 by zhaojianfeng2
feat_out:增加起步时间
The file was modifiedplatoon_msgs/msg/Start.msg
Commit bb357d9f55de56ffb8e81a618ae4d17e70403914 by wuyanjun110
feat:lonmpc
The file was addedpnc_debug_msgs/msg/LonMpcDebug.msg
The file was modifiedpnc_debug_msgs/msg/LongitudinalDebug.msg
The file was addedpnc_debug_msgs/msg/MPCReference.msg
The file was modifiedpnc_debug_msgs/CMakeLists.txt
Commit 8a9957037de066d3d4cdf82cbad7fdd3c8959c6a by wuyanjun110
feat: mass estimation debug
The file was modifiedpnc_debug_msgs/msg/ObserverDebug.msg
Commit bda37c1664a0b2e9597e3bccc1de248377a604a9 by wuyanjun110
fix:调整pnc_debug观测项
The file was modifiedpnc_debug_msgs/msg/ObserverDebug.msg
Commit 2b71c0304054364d87f064dcf43f568a81ed11e0 by wuyanjun110
feat:油门标定消息
The file was modifiedpnc_debug_msgs/msg/LonMpcDebug.msg
Commit 3fb873095fdaf1350fb114c2b530852ba9f8924d by wuyanjun110
feat:增加观测
The file was modifiedpnc_debug_msgs/msg/ObserverDebug.msg
The file was modifiedpnc_debug_msgs/msg/LonMpcDebug.msg
Commit e7f6401d46660abe76b1c9237ec98980bc8362f7 by liuhongshuo
fix:pnc_debug/observer_debug更改
The file was modifiedpnc_debug_msgs/msg/ObserverDebug.msg
Commit 96ed1f1aae62978d865c3acf62e16756e9530773 by zhaojianfeng2
feat_out:增加剩余续航里程字段
The file was modifiedperipheral_msgs/msg/VehicleStatus.msg
Commit 4de4986bc8bb6959f1d31983148bf959dd76640d by liuhongshuo
fix: 统一pnc_debug_msg/ObserverDebug.msg
The file was modifiedpnc_debug_msgs/msg/ObserverDebug.msg
Commit fa59a10a56ef4a39aa887ed0e9824a27bdf5f675 by liuhongshuo
fix: 统一pnc_debug_msg/ObesrverDebug.msg
The file was modifiedpnc_debug_msgs/msg/ObserverDebug.msg
Commit 6895a9be22aef5e00689b15840fef864a1262163 by zhaojianfeng2
feat_out:增加剩余续航里程字段
The file was modifiedperipheral_msgs/msg/VehicleStatus.msg
Commit 3e9f6f0cd2346406b4879f68c4910996c8dc821c by zhaojianfeng2
feat_out:修改外设cmd消息
The file was modifiedtos_msgs/msg/PeripheralCmd.msg
Commit 76803290249f1a7498b77dac42c959f2385e72a8 by zhaojianfeng2
feat_out:添加云端规划消息
The file was addedcloud_msgs/msg/CloudPlanning.msg
The file was addedcloud_msgs/msg/CloudPlanningResponse.msg
The file was modifiedcloud_msgs/CMakeLists.txt
The file was addedcloud_msgs/msg/CloudPlanningPoint.msg
Commit b1e42a87435fb81745d25a9d32411056734862b8 by zhaojianfeng2
feat_out:添加云端规划消息
The file was modifiedcloud_msgs/CMakeLists.txt
The file was addedcloud_msgs/msg/CloudPlanningResponse.msg
The file was addedcloud_msgs/msg/CloudPlanning.msg
The file was addedcloud_msgs/msg/CloudPlanningPoint.msg
Commit 23f556d99666ecfa4db447aff433ea4686f25686 by zhaojianfeng2
feat_out:add cloud_planning_response
The file was modifiedcloud_msgs/msg/CloudPlanningResponse.msg
Commit b338fbf811a4f2c0c39e71ee62f18c35757f0b1d by zhaojianfeng2
feat_out:增加续航里程字段
The file was modifiedperipheral_msgs/msg/VehicleStatus.msg
Commit 9e61cf69319a9a472e75f01c8ed741aad6dc7a6f by wuyanjun110
chore(msg):添加是否越过当前边界的标志位
The file was modifiedads_msgs/msg/HfsmState.msg
Commit 0daa1f7f08156df5a55cf90342da631b318e2d3d by wuyanjun110
chore(msg): 添加距离阈值内不避让排队车辆的标志位
The file was modifiedtos_msgs/msg/PncConfiguration.msg
Commit b34e00e37e0d3a5818ba0ebb75422c11ae3b6b28 by zhuxiaolong
feat: 手动rebase交通管制v2 msg变更

The file was modifiedcomm_msgs/msg/Traj.msg
Commit 4c96c8a35f2498ec41691f02e4e5b3f87104d833 by zhaojianfeng2
feat_out:增加沈汽环卫上装控制
The file was modifiedtos_msgs/msg/PeripheralCmd.msg
Commit 2762395f197d1dcc14647d4e7bca0c6a467b69b6 by zhaojianfeng2
feat_out:补充外设字段
The file was modifiedperipheral_msgs/msg/VehicleStatus.msg
Commit aed54f80025d95dc2fa58fadb5f26bd1c46d4b0d by zhuxiaolong
feat: 手动rebase交通管制v2 msg变更

The file was modifiedcomm_msgs/msg/Traj.msg
Commit e1ea7d61508080e52f9048605a18ef6c2037b49e by zhaojianfeng2
feat_out:处理合并冲突
The file was modifiedpnc_debug_msgs/msg/ObserverDebug.msg
Commit 0bf8bca044aa2d9364b02efff468438ff651c1c2 by liuwenjing
添加新消息——跨运车z向抱夹到位
The file was modifiedalign_msgs/CMakeLists.txt
The file was addedalign_msgs/msg/TargetCarStatus.msg
Commit b8f59b921d1a229a9a39dc06f08a35101d710294 by liuwenjing
添加新消息——跨运车z向抱夹到位
The file was addedalign_msgs/msg/TargetCarStatus.msg
The file was modifiedalign_msgs/CMakeLists.txt
Commit bcbc5de637a9a70f2d4a3f32247a71a67dbfd4a0 by zhuxiaolong
feat: 手动rebase交通管制v2 msg变更

The file was modifiedcomm_msgs/msg/Traj.msg
Commit 549daf0fc4e7c8f469ba1807acf334525ddb939b by wuyanjun110
feat: 手动rebase交通管制v2 msg变更

The file was modifiedcomm_msgs/msg/Traj.msg
Commit 28d550621b9b5b7a5c1e61e58845772ff4c1525c by 5081703.cr
feat: 手动rebase交通管制v2 msg变更

The file was modifiedcomm_msgs/msg/Traj.msg
Commit eadbbf60c2f42f9cc816ea239eb5310f19bef058 by wuyanjun110
feat: 手动rebase交通管制v2 msg变更

The file was modifiedcomm_msgs/msg/Traj.msg
Commit 876f0ac7f688fcb989d1343dc7bfac606a98615e by wuyanjun110
feat: 添加ParallelObstacle和ParallelObstacleReport消息定义

The file was modifiedguardian_msgs/CMakeLists.txt
The file was addedguardian_msgs/msg/ParallelObstacle.msg
The file was addedguardian_msgs/msg/ParallelObstacleReport.msg
Commit 4a63c7fafd07ee96114547c4152c16c5b153898f by liuwenjing
添加载物状态及其枚举值&&车型错误标志
The file was modifiedalign_msgs/msg/TargetCarStatus.msg
Commit 063d531a478250750e71384bff10ecd00da9d00f by wuyanjun110
feat: 添加货物分段长度字段和逃逸场景类型
The file was modifiedads_msgs/msg/Target.msg

Summary

  1. feat:适配dead lock force park (details)
  2. feat:进堆场弯道禁停继续发送云端轨迹 (details)
  3. feat:完善变道触发的条件 (details)
  4. fix:变道场景切换的bug (details)
  5. feat:整理云端轨迹的数据结构 (details)
  6. fix:云端轨迹挂转角赋值错误的bug (details)
  7. feat:暂时关闭路口延长的逻辑 (details)
  8. feat:暂时关闭路口延长的逻辑 (details)
  9. feat:功能基本ok (details)
  10. feat:完善云端轨迹v2 (details)
  11. fix:修复代码合并的bug (details)
  12. feat:1.定位无效的时候发送-12.分割号的赋值3.变道车道laneid的赋值 (details)
  13. fix:云端轨迹 is stop没有赋值的bug (details)
  14. fix:修复默认参数 (details)
  15. feat:进堆场云端轨迹正常发送 (details)
  16. fix: SSEP: 修复优化器中起点曲率没有初始化的问题 (details)
  17. refeat:优化云端路径的赋值 (details)
  18. feat:添加忽略死锁标志位的反馈 (details)
  19. feat:merge (details)
  20. feat:修改云端轨迹heading和theta的赋值 (details)
  21. fix:修复编译崩溃的bug (details)
  22. feat: SSEP: 增加场景编辑工具 (details)
  23. chore: SSEP: update scene editor server (details)
  24. fix: SSEP: 改进多段倒车场景的启发项，解决威海更换pass point后搜索成功率低的问题。 (details)
  25. feat: SSEP: 多段倒车忽略终点附近障碍物。提升威海倒车成功率 (details)
  26. chore: SSEP: Fix mult-segment searching params. (details)
  27. feat:修改对准数据的打印 (details)
  28. feat: SSEP: 使用多项式采样器生成变道路径 (details)
  29. fix: lattice wbca velocity reference bug. (details)
  30. fix:杨浦堆场入口重搜索的bug (details)
  31. refactor:优化打印日志 (details)
  32. feat: 添加更多忽略文件到.gitignore (details)
  33. chore: SSEP: 1. 变道场景使用更严格的车挂碰撞判断。2. 过滤超过曲率上限的路径。 (details)
  34. fix: 修复边界约束逻辑并优化障碍物处理代码 (details)
  35. chore: SSEP: merge 集卡进堆场的新改动 (details)
  36. fix: 优化障碍物处理逻辑，过滤不必要的障碍物类型 (details)
  37. fix: 优化OgmPoints序列化，过滤无效点并调整序列化方法 (details)
  38. fix: 杨浦 调整虚拟车道与第一排箱体的距离和左侧后退延伸长度 (details)
  39. fix: 优化SubProcessIdle逻辑，增加对引导线信息可用性的检查，防止没有识别低贝位就进行搜索的bug (details)
  40. fix: SSEP: 修复反向路径拖挂角度错误的问题 (details)
  41. feat: 1.添加OgmCollisionPos绘制功能，增强碰撞检测可视化 2.replayer 添加og碰撞检测的回放功能 (details)
  42. fix: 注释掉日志记录代码以减少输出干扰 (details)
  43. fix:优化动态下码头面搜索终点选取的问题 (details)
  44. feat: SSEP: 完善网页可视化。现在在网页上可以可视化所有元素并任意调整分辨率。 (details)
  45. fix: build bug (details)
  46. fix: Trajectory MatchByt bug. (details)
  47. chore: SSEP: 搜索使用障碍物软约束，提升自卸车进出堆场极限场景的搜索成功率。 (details)
  48. chore: SSEP: 过滤无效的采样轨迹，提高进堆场搜索成功率 (details)
  49. chore: SSEP: 处理掉头场景终点在standby_guideline上的情况 (details)
  50. feat: 添加镜子配置和绘制功能 (details)
  51. feat: 优化JudgeFinishAlign函数，简化FSM接口调用，增强对齐完成判断逻辑 (details)
  52. feat: 优化低贝激活判断逻辑，简化条件判断，提高代码可读性 (details)
  53. fix: 移除不必要的日志警告，优化代码逻辑 (details)
  54. chore: SSEP: 掉头进堆场时增加参考线权重 (details)
  55. refactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bug (details)
  56. fix: 更新YANGPU虚拟车道到第一排箱子的阈值，修正为0.0 (details)
  57. refactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bug (details)
  58. fix: 修正右侧车道拉直点阈值为2.0度 (details)
  59. fix:进堆场终点距离计算的bug (details)
  60. 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)
  61. fix: 优化地图包围体和在线区域轮廓创建逻辑,修复潜在的空指针和多边形合并问题 (details)
  62. fix: 修正OgmCollisionPos函数中的颜色定义注释，确保颜色代码清晰 (details)
  63. feat:添加挂车的上层纵向参数 (details)
  64. fix: 简化UpdateCurLaneData函数中的当前和目标车道索引更新逻辑 (details)
  65. fix: 优化ConstructStartAndEndContour和ConstructEndStraightPosture函数中的逻辑，增加双车道距离补偿 (details)
  66. fix: 调整GetExtendPoint函数中的扩展点计算逻辑，增加扩展距离；优化在线区域轮廓创建逻辑，增加多边形连接性检查和简化处理 (details)
  67. feat: Keb optimizer task 单线程功能完成 (details)
  68. feat: Keb path optimize task 支持异步（多线程）模式。 (details)
  69. feat: 添加核心对象库并优化可执行文件链接逻辑 (details)
  70. feat: 添加PncGraphicsView类以支持图像显示和交互功能；更新相关文件以替换DragImage (details)
  71. fix: 调整ConstructEndPosture函数中的扩展距离逻辑，将TT类型的扩展距离从20.0增加到25.0 (details)
  72. fix: 取消CalRefPtsKappa函数中的注释，启用航向角计算逻辑 (details)
  73. feat: 添加测量功能，支持在PncGraphicsView中显示测量线和文本；更新鼠标事件处理逻辑以支持控制键测量 (details)
  74. fix: 注释掉DrawTargetPath函数中的轮廓生成和绘制逻辑 (details)
  75. fix: 修复EgoExpanding类中VertexExpanding函数的除零错误；更新KinematicBicycleModel类中TrailerPtFromTractorPt函数的代码格式 (details)
  76. fix: 在CreateTrajInfo函数中添加continue语句以优化逻辑 (details)
  77. fix: wbca path fluctuation problem. (details)
  78. fix: 在InterpPtByLinearS函数中添加对s值的有效性检查，避免无效输入导致错误 (details)
  79. chore: Finetune Keb-Path-0ptimize-Task and add warm-start stretagy. (details)
  80. fix: add wbca min_start_velocity (details)
  81. feat: 添加获取弯道前车道ID的功能，并在SwitchData中更新相关逻辑, 解决变道时，参考线跳变的问题 (details)
  82. fix: SSEP: 修复IMV进充电桩方向与现场任务不一致的问题。 (details)
  83. 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)
  84. refactor:优化包略框的合并 ，以及优化耗时 (details)
  85. feat: 在CreateContour中添加时间记录，优化轮廓构建过程 (details)
  86. feat: 更新参数设置，调整前向和侧向扩展长度以优化空间计算 (details)
  87. feat: 增强在线区域轮廓创建失败时的回退逻辑，确保使用基础多边形作为后备 (details)
  88. chore: SSEP: 集卡上下码头面可以在standby_guide_line上任意匹配终点 (details)
  89. fix: del mode=0 (details)
  90. fix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。 (details)
  91. fix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。 (details)
  92. feat: 添加IsAvailable方法以验证轨迹数据的有效性 (details)
  93. fix: 修复StitchSsepReferenceLine方法中的路径段验证逻辑 (details)
  94. fix:进充电桩场景切换的bug (details)
  95. feat: 添加角度显示功能，增强PncGraphicsView的交互性 (details)
  96. fix:修复误进入openspace的bug (details)
  97. fix: 调整最大速度阈值以优化后向Ogm忽略逻辑 (details)
  98. fix: 调整最大速度阈值以优化后向Ogm忽略逻辑 (details)
  99. feat: 添加核心对象库并优化可执行文件链接逻辑 (details)
  100. feat: add smooth_mode_wbca_params (details)
  101. fix: smooth_mode_wbca_params bug (details)
  102. fix: 修复车辆行进过程中，误进routing 方向的更新逻辑的bug (details)
  103. 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)
  104. fix: 调整RefMatch匹配条件的范围以增强灵活性 (details)
  105. fix: 添加禁停区逻辑以避免在倒车路径区域创建禁停区 (details)
  106. fix: SSEP: 解决西联IMV进停车位搜索失败的问题 (details)
  107. fix: l_bfgs optimization. (details)
  108. 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)
  109. 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)
  110. feat: 实现OutYardJunctionFirstStage类中的ExecuteTaskOnReferenceLine方法，增强任务执行逻辑 (details)
  111. fix: keb-path-optimize-task 优化低贝位挂车不直的问题 (details)
  112. fix: 调整ReferenceRoadSection和ReferenceSegment中的位置判断条件，优化边界处理逻辑 (details)
  113. chore: keb-path-optimize-task finetune. (details)
  114. feat: 添加ClearAreaOverlap类及相关逻辑，优化清晰区域处理和绘制功能 (details)
  115. chore: 优化keb-path-optimize-task进堆场效果 (details)
  116. feat: 添加CmdReduceSafeDistance类及相关逻辑，优化安全距离处理功能 (details)
  117. chore: keb param adjust (details)
  118. feat: 优化障碍物处理逻辑，简化多边形构建和碰撞判断 (details)
  119. feat: 优化障碍物处理逻辑，简化多边形构建和碰撞判断 (details)
  120. fix: keb task finetune (details)
  121. chore: keb task 关键参数提取 (details)
  122. fix: SSEP: 进堆场优化用终点硬约束 (details)
  123. chore: keb-task 使用终点约束 (details)
  124. feat: 更新MapEnvelops类，增强路径转换功能，支持备用地图包络处理 (details)
  125. feat:调整指令的类别 (details)
  126. feat:暂时关闭参考线拼接 theta重新计算的逻辑 (details)
  127. 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)
  128. fix: 修复集卡优化器终点可能超过拖挂角度限制的问题 (details)
  129. feat: 添加ClearAreaOverlap类及相关逻辑，优化清晰区域处理和绘制功能 (details)
  130. feat: 添加CmdReduceSafeDistance类及相关逻辑，优化安全距离处理功能 (details)
  131. feat: 更新MapEnvelops类，增强路径转换功能，支持备用地图包络处理 (details)
  132. fix:修复guidelien 中 overlap计算的bug (details)
  133. fix: imv smooth_mode bug (details)
  134. fix: imv start_pt bug (details)
  135. fix:修复拼接ssep结果后，junction overlap 生成的bug (details)
  136. 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)
  137. fix: lock historical cloud point in replayer. (details)
  138. fix: add FORWARD_BEFORE_BACKWARD (details)
  139. fix: ssep replan for  reversing truck. (details)
  140. fix: refine deviation_stop params. (details)
  141. fix: path disapearing issue. (details)
  142. fix: trailer_path_ego match issue. (details)
  143. refactor: 注释掉低贝位作业相关的代码逻辑 (details)
  144. refactor: 注释掉低贝位作业相关的代码逻辑 (details)
  145. refact: straighten then reverse. (details)
  146. fix: using map lane width for single line lane detection (details)
  147. fix: 更新镜子相关参数的命名空间前缀为/pnc_node (details)
  148. fix:修复崩溃的bug (details)
  149. feat: 添加自动获取大谢终点约束的功能 (details)
  150. feat: stop for localization switching. (details)
  151. fix: log msf localization switching status. (details)
  152. feat: 添加搜索起点框的功能并优化车辆框生成逻辑 (details)
  153. fix: 更新GetLatPoint函数以考虑LKA控制模式 (details)
  154. fix:虚拟停止线构建的bug (details)
  155. fix: 修正DrawUpperHead函数中镜子高度计算错误 (details)
  156. fix: 调整自动构建结束直线姿态和终点扩展长度的计算逻辑 (details)
  157. fix: road segment splitting bug. (details)
  158. feat: SSEP: 进堆场添加用专家经验生成的路径，拼接替换原始参考线。 (details)
  159. feat: SSEP: 进堆场跑通无搜索规划 (details)
  160. fix: keb task 修复路径被og点阻挡时轨迹异常的问题 (details)
  161. fix: 修复keb task碰撞检测使用路径长度过长的问题 (details)
  162. refact: GetRoadSegmentFirstSplitPos (details)
  163. fix: road segment splitting bug. (details)
  164. refact: GetRoadSegmentFirstSplitPos (details)
  165. fix: SSEP: 修复无搜索模式可能崩溃的问题 (details)
  166. feat: SSEP: 进堆场添加用专家经验生成的路径，拼接替换原始参考线。 (details)
  167. feat: SSEP: 进堆场跑通无搜索规划 (details)
  168. fix: keb task 修复路径被og点阻挡时轨迹异常的问题 (details)
  169. fix: 修复keb task碰撞检测使用路径长度过长的问题 (details)
  170. fix: SSEP: 修复无搜索模式可能崩溃的问题 (details)
  171. fix: SSEP: 提升新版进堆场搜索的成功率 (details)
  172. fix: SSEP: 提升新版进堆场搜索的成功率 (details)
  173. feat: 普通卡车多段倒车入库时适配拉直点逻辑 (details)
  174. feat: lka deviation after crane (details)
  175. fix: SSEP: 修复变道路径可能有碰撞的问题 (details)
  176. fix: SSEP: 修复变道路径可能有碰撞的问题 (details)
  177. fix: SSEP: 修复变道路径可能有碰撞的问题 (details)
  178. chore: keb task 增加最大转向角余量 (details)
  179. chore: keb task 增加最大转向角余量 (details)
  180. chore: keb task 增加最大转向角余量 (details)
  181. chore: keb实时优化 将转向角余量 提取为配置参数 (details)
  182. fix: (临时处理)注释掉接收目标命令中的拖车标签和大小处理逻辑 (details)
  183. chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹 (details)
  184. feat: keb-task 输出的轨迹保持固定长度，解决轨迹越来越短导致到达不了终点的问题 (details)
  185. feat: 优化overlap s重计算，增加起始和结束点的有效性检查 (details)
  186. fix: keb task ssep_end_s_ 赋值错误 (details)
  187. feat: keb-task 输出的轨迹保持固定长度，解决轨迹越来越短导致到达不了终点的问题 (details)
  188. fix: keb task ssep_end_s_ 赋值错误 (details)
  189. fix: 解决西联IMV进停车位搜索过慢的问题 (details)
  190. fix: 集卡搜索时滤除起点和终点车挂内部的og点 (details)
  191. feat: 添加状态机切换时间参数并优化相关逻辑 (details)
  192. feat: 添加根据堆场内的车道名称扩展安全阈值 (details)
  193. chore: keb实时优化 将转向角余量 提取为配置参数 (details)
  194. chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹 (details)
  195. feat: 对多个范围更新函数添加排序逻辑，确保范围按顺序排列 (details)
  196. feat: 优化 JudgeInStraightLane 方法，重构逻辑以提高可读性和维护性，添加辅助函数以简化任务状态和区域状态的计算 (details)
  197. feat: 优化 转场场桥的判断， 以及 场桥是否进行判断碰撞检测的逻辑 (details)
  198. fix: 解决西联IMV进停车位搜索过慢的问题 (details)
  199. fix: 集卡搜索时滤除起点和终点车挂内部的og点 (details)
  200. feat: 对多个范围更新函数添加排序逻辑，确保范围按顺序排列 (details)
  201. feat: 优化 转场场桥的判断， 以及 场桥是否进行判断碰撞检测的逻辑 (details)
  202. fix: 修正堆垛机特殊区域的横向扩展长度参数加载路径 (details)
  203. fix: 修正堆垛机特殊区域的横向扩展长度参数加载路径 (details)
  204. fix: 解决西联IMV进停车位搜索过慢的问题 (details)
  205. feat: align move 状态下，假如挂的角度大于一定值，不倒车。 倒车的时候限制速度 (details)
  206. feat: align move 状态下，假如挂的角度大于一定值，不倒车。 倒车的时候限制速度 (details)
  207. fix: 集卡搜索时滤除起点和终点车挂内部的og点 (details)
  208. chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹 (details)
  209. fix: keb task 修复路径被og点阻挡时轨迹异常的问题 (details)
  210. feat: 杨浦 B003 B004适配 (details)
  211. chore: SSEP: 自卸车进出散货堆场搜索使用软约束 (details)
  212. feat: yard name verification. (details)
  213. feat: 普通卡车多段倒车入库时适配拉直点逻辑 (details)
  214. fix: 调整对拖车姿态有效性的角度判断阈值 (details)
  215. fix: 调整对拖车姿态有效性的角度判断阈值 (details)
  216. fix: SSEP: 修复集卡进堆场S弯轨迹不合理，及自适应拉直距离失效的问题 (details)
  217. feat: 增加对车道有效性的检查，确保车道ID在实际车道ID列表中 (details)
  218. chore: SSEP: 自卸车进出散货堆场搜索使用软约束 (details)
  219. fix: SSEP: 修复集卡进堆场S弯轨迹不合理，及自适应拉直距离失效的问题 (details)
  220. fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。 (details)
  221. fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。 (details)
  222. fix: 调整路径重叠的起始和结束点设置，确保不超出有效范围 (details)
  223. fix: 调整路径重叠的起始和结束点设置，确保不超出有效范围 (details)
  224. feat: add position check for reversing (details)
  225. feat: Add Keb-Lane-Follow Task (details)
  226. fix: SSEP: 西联进充电桩压线问题修复 (details)
  227. feat: SSEP:  普通卡车搜索增加“final_straight_distance”参数配置项 (details)
  228. fix: disable revsersing deviation. (details)
  229. feat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离 (details)
  230. feat:杨浦低贝位适配 (details)
  231. feat: limit straithen times. (details)
  232. feat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离 (details)
  233. fix: SSEP: 修复苏溪IMV出停车位可能绕大圈的问题 (details)
  234. fix: reversing times bug (details)
  235. fix: SSEP: 解决普通卡车多段倒车进卸料点路径可能跳变的问题 (details)
  236. fix: checkout feat_keb_task (details)
  237. fix: reversing ssep planner bug (details)
  238. fix: reversitong activation position thr 10.0 (details)
  239. feat:合并ssep更改 (details)
  240. fix: SSEP: 精确倒车时不使用历史路径 (details)
  241. feat: 添加车辆姿态设置功能并更新测量和角度显示逻辑 (details)
  242. fix: SSEP: 修复普通卡车搜索拉直段失效的问题 (details)
  243. fix: SSEP: 修复普通卡车搜索拉直段失效的问题 (details)
  244. feat:适配友谊关进停车的拉正距离 (details)
  245. fix: disable default LKA deviation. (details)
  246. feat: SSEP: 增加离线轨迹库功能（包括轨迹库生成与可视化） (details)
  247. fix: lka deviation bug (details)
  248. feat: add lbfgs prevous version. (details)
  249. feat: add lbfgs prevous version. (details)
  250. feat: SSEP: 接入离线轨迹库 (details)
  251. feat: 苏溪调箱门场景适配 (details)
  252. fix: filter bend sceneario for align target. (details)
  253. feat: 添加无效侧通行点检查和虚拟障碍物生成逻辑 (details)
  254. refactor:优化 停止线所属junction的判断逻辑 (details)
  255. fix: SSEP: 修复苏溪集卡进停车位可能停歪的问题 (details)
  256. feat:合并ssep更改 (details)
  257. fix: SSEP: 修复IMV掉头进堆场轨迹绕圈问题，提升搜索成功率，加快搜索速度 (details)
  258. feat:  SSEP: 完善离线轨迹框架，IMV进充电桩场景跑通离线轨迹全流程 (details)
  259. fix: curvature over limit filer. (details)
  260. chore: SSEP: 精准倒车时，搜索器采用更严格的曲率上限，确保优化完不超限 (details)
  261. fix:终点低贝位时， 然后场桥低贝位不重新搜索的bug (details)
  262. feat:合并ssep (details)
  263. fix: filter wbca path by cost (details)
  264. fix: add switch for lbfgs to lbfgs_new (details)
  265. fix: using new l_bfgs (details)
  266. fix: cost filter for imv and truck (details)
  267. fix: align_target to align_done bug (details)
  268. fix: activate wbca smooth mode in align fsm. (details)
  269. feat:直道地图包络构建的优化 (details)
  270. feat: （动态搜索的box框),优化生成平行框的距离计算逻辑 (details)
  271. fix: 更新DrawObject函数中的颜色值注释 (details)
  272. fix: filter wbca cost without collision cost. (details)
  273. fix: LKA deviation for out_yard (details)
  274. Refactor: 重构keb task，提高可读性，梳理参数并与PlanFrame解耦，支持后续构建离线仿真调试。 (details)
  275. feat:优化跨运车的搜索 (details)
  276. feat: Keb-Task: task与algorithm解耦，进一步梳理keb algorithm的模块输入输出。replayer增加KebScene数据提取功能。 (details)
  277. feat:调整换向缩小安全距离的阈值 (details)
  278. fix:修复变道的约束 (details)
  279. fix:修复变道的约束 (details)
  280. feat: 增加ALIGN命令相关错误类型并更新状态处理逻辑 (details)
  281. fix: cloud areas avoidence. (details)
  282. fix: checkout ssep from feat_keb_task (details)
  283. feat: checkout relate_offset from feat_straddle_v2 (details)
  284. feat: add DeviationStatus (details)
  285. chore: keb-task: 完整跑通keb-scene extranction及可视化全流程 (details)
  286. feat: add update_end_position for ssep replan. (details)
  287. feat: deviation for align (details)
  288. refactor:朝海侧，右转横二路，边界优化 (details)
  289. refactor:极限变道约束优化 (details)
  290. refactor:朝海侧，右转横二路，边界优化 (details)
  291. refactor:极限变道约束优化 (details)
  292. fix: ssep replan for bulk align. (details)
  293. fix: reverse bulk offset heading (details)
  294. feat: 添加地图限速膨胀系数并更新速度限制计算 (details)
  295. feat: limit reversing align times (details)
  296. feat: Keb-Task: 完整跑通keb调试数据提取、离线仿真、可视化。 (details)
  297. refactor: openspace中的参考线为pnc引导线 (details)
  298. fix:imv下码头搜索失败的bug (details)
  299. fix: 修复imv普通搜索参考线错误的问题 (details)
  300. fix: 修复imv普通搜索参考线错误的问题 (details)
  301. fix:修复反向出停车位的bug (details)
  302. fix:修复停止线绑定juntion的bug (details)
  303. refactor:优化场桥转场判断 (details)
  304. refctor:优化转场场桥box的使用 (details)
  305. fix: ignore sc_target align_offset during large lateral deviation. (details)
  306. fix: log align info; serialize bulk_align_offset (details)
  307. fix: log stop_deviation_for_algn (details)
  308. fix: SSEP: 提升太阳纸业自卸车出堆场成功率 (details)
  309. fix: SSEP: 提升太阳纸业自卸车出堆场成功率 (details)
  310. fix: pnc_map splitting error. (details)
  311. fix: pnc_map splitting error. (details)
  312. feat: Keb-task: 碰撞检测使用dual-layer双层检测。同步更新仿真与可视化 (details)
  313. chore: SSEP: 集卡多段倒车场景，Replan时加入最后一段拉直逻辑 (details)
  314. fix: SSEP: 提升太阳纸业自卸车出堆场成功率 (details)
  315. chore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度 (details)
  316. chore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度 (details)
  317. chore: SSEP: 集卡多段倒车场景，Replan时加入最后一段拉直逻辑 (details)
  318. chore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度 (details)
  319. fix: SSEP: 提升太阳纸业自卸车出堆场成功率 (details)
  320. fix:极限变道不replan的bug (details)
  321. fix:极限变道不replan的bug (details)
  322. fix: 优化SmoothTask执行逻辑，增加对特定条件的处理 (details)
  323. chore: SSEP: 解决集卡多段倒车可能绕圈的问题 (details)
  324. chore: SSEP: 解决集卡多段倒车可能绕圈的问题 (details)
  325. refactor:优化小地图绘制时间过长的问题 (details)
  326. feat: 添加点云底图加载功能，支持异步加载和清除操作 (details)
  327. feat: 添加虚拟障碍物长度限制，优化创建虚拟障碍物的性能 (details)
  328. fix: SSEP: 修复多段倒车路径异常问题 (details)
  329. fix: SSEP: 修复多段倒车路径异常问题 (details)
  330. feat: keb实时优化 - 双层车体碰撞模型通过离线测试 (details)
  331. feat: set up max_forward_distance (details)
  332. feat: keb-task 仿真工具增加场景扩展功能与基于场景扩展的闭环仿真 (details)
  333. fix: SSEP: 修复自卸车进卸料区路径有点斜的问题 (details)
  334. fix: fiter cost_beta (details)
  335. fix: align to done (details)
  336. feat: trust-region solver based WBCA (details)
  337. fix: max_ref_len 60 (details)
  338. fix: SSEP: 修复自卸车进卸料区路径有点斜的问题 (details)
  339. feat: Keb-Simulation: 3D可视化 (details)
  340. fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 (details)
  341. fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 (details)
  342. feat:fsm interface 里面添加 开始对准是终点距离的接口 (details)
  343. fix:align done 情况下还可以继续走的bug (details)
  344. fix:停车原因赋值错误的bug (details)
  345. feat:合并ssep (details)
  346. fix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题 (details)
  347. fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 (details)
  348. fix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题 (details)
  349. feat: 添加对值阈值和条件，优化对准决策逻辑 (details)
  350. feat: SSEP-offboard: 添加离线路径绘制工具 (details)
  351. fix: 添加路径点数量检查，确保至少有两个点以创建路径 (details)
  352. feat: SSEP-offboard: 离线路径编辑器支持二次编辑、增加路径复制、路径平移等功能 (details)
  353. fix: avoid mask_box for unload (details)
  354. feat: SSEP: 增加跨运车抓车场景 (details)
  355. fix: add passing pt (details)
  356. feat: SSEP 适配烟台跨运车 (details)
  357. chore: SSEP-offboard: 修复bug，增加车体box可视化 (details)
  358. fix: ssep data filter short segs (details)
  359. feat:1.添加耗时显示2.优化绘制界面 map的绘制 (details)
  360. fix:一次规划，单个车道分段时， 路径冲突判断的bug (details)
  361. fix: ignore .codex (details)
  362. refactor: 注释掉不必要的代码，简化判断逻辑 (details)
  363. fix: checkout ssep (details)
  364. fix: merge bug (details)
  365. refactor:优化ssep passing pt的赋值 (details)
  366. feat: rotation mode for SC. (details)
  367. feat: Keb-Task: OGM构造放入Keb算法内部，防止阻塞主线程 (details)
  368. feat: Keb-Task: OGM构造放入Keb算法内部，防止阻塞主线程 (details)
  369. fix: wbca smooth path is exception in align state (details)
  370. fix: wbca smooth path is exception in align state (details)
  371. feat: 添加性能成本详细信息分组显示，优化绘制面板更新逻辑 (details)
  372. refactor: 简化pass_posture_的赋值逻辑 (details)
  373. feat: SSEP: 集卡上下码头面根据pass point构建三次曲线参考线 (details)
  374. feat: 添加对卸载任务的TTC碰撞忽略功能 (details)
  375. feat: 添加对卸载任务的TTC碰撞忽略功能 (details)
  376. Revert "fix: avoid mask_box for unload" (details)
  377. refactor: 注释掉与发送遮罩框到安全模块相关的代码 (details)
  378. refactor: 注释掉与发送遮罩框到安全模块相关的代码 (details)
  379. chore: Keb-task: 重构并适配keb_lane_follow task (details)
  380. fix: straight lane near crane and lock_station (details)
  381. fix: straight lane near crane and lock_station (details)
  382. chore: update gitignore (details)
  383. refactor:优化界面耗时 (details)
  384. feat:调整9861的跟车距离 (details)
  385. feat: sc turn-in-place mode (details)
  386. fix: SSEP: 修复IMV普通搜索在弯道提前结束搜索的问题 (details)
  387. fix: add turn_in_place_threshold (details)
  388. chore: SSEP-Offboard: 提升路径绘制工具自适应调整航向与控制点的准确率。 (details)
  389. fix: stop condition for turn-in-place (details)
  390. fix: boundary bug (details)
  391. feat: 添加对装载任务的TTC碰撞忽略功能 (details)
  392. feat: 添加对装载任务的TTC碰撞忽略功能 (details)
  393. fix: esdf-map bug (details)
  394. fix:调整不可偏移区域生成的起始和结束位置计算 (details)
  395. refactor:优化高度禁停点云的使用的逻辑 (details)
  396. fix: wbca params bug. (details)
  397. feat: 调整卸载和装载任务的最大速度阈值以忽略OGM的TTC碰撞 (details)
  398. feat: 调整卸载和装载任务的最大速度阈值以忽略OGM的TTC碰撞 (details)
  399. fix: avoid smooth_mode in open_space (details)
  400. fix:移除后向OGM忽略距离的冗余计算 (details)
  401. fix: turn-in-place condition exception. (details)
  402. feat:优化routingdata当前段的匹配 (details)
  403. fix: 增加卸货时的最大速度阈值以忽略OGM和TTC碰撞 (details)
  404. fix:修复垂直下码头面，box框生成的bug (details)
  405. fix: ignore claude.md (details)
  406. fix: add switch to control the smooth mode in openspace (details)
  407. fix: travel_out for unloading car (details)
  408. fix: rotation direction bug (details)
  409. feat: 1. 修正AddJunctionBlockRanges函数中的速度考虑逻辑 2. 调整普通路口弯道禁停的停车位置 (details)
  410. feat:董家口1.关闭进堆场的起点约束2.调整进堆场的终点约束 (details)
  411. feat: Keb-Lane-Follow-Task: 适配Car与IMV，并测试验证通过non-SSEP场景的实时优化全流程。 (details)
  412. 优化轮廓合并算法并添加测试支持 (details)
  413. fix: quit openspace (details)
  414. fix: SSEP: 修复跨运车原地自转未分段的问题。 (details)
  415. feat:进堆场时，关闭区域的校验 (details)
  416. fix: SSEP: 修复跨运车原地自转未分段的问题。 (details)
  417. feat: 添加合并包络框功能的配置选项 (details)
  418. fix:西联码头面搜索 引桥搜索 普通路口搜索， 终点选取， 场景触发的bug (details)
  419. fix:洋浦， 修复B004搜索失败的bug (details)
  420. refactor:优化多次禁停的问题 (details)
  421. refactor: 为海南洋浦区域的场桥障碍物增加安全边距 (details)
  422. refactor:有wbca或者keb的场景， ssep搜索成功， pjpo求解失败， 不拼接参考线 (details)
  423. refactor:弯道后目标车道选择，优化在弯道的直道端，拒绝指令的问题 (details)
  424. feat: ssep replan for localization exception. (details)
  425. feat:pnc status 添加车辆真实方向 (details)
  426. fix: 优化发送遮罩框逻辑，增加motion状态检查 (details)
  427. fix: 修复任务类型对应的保留字段，更新为reserved_uint_8_2 (details)
  428. fix: Keb-task: 修复优化可能不收敛的问题，修复OGM异常的问题，使用精确的运动学约束，调参，优化器输出结构化调试信息 (details)
  429. feat: SSEP: 进堆场起点终点距离很近(小于15米)时，使用直连规划器生成路径。 (details)
  430. fix: draw align_target (details)
  431. refactor: Keb-Offboard: 重构data::path的依赖关系，将keb path opt cli 与 pnc 工程解耦 (details)
  432. fix: add rotation type (details)
  433. feat: 实现缓冲区停车功能（Buffer Stop） (details)
  434. fix: turn_in_place mode activation conditions. (details)
  435. chore: SSEP: 适配烟台跨运车的新需求 (details)
  436. feat: 新增 align_move_threshold_ 配置参数并替换 align_3rd_4th_move_threshold_ 在 align1st 阶段的使用 (details)
  437. feat: 新增目的地匹配与路径距离计算功能，支持非终点目的地导航 (details)
  438. feat: 终点和 起点不在一条车道上， 并且 终点在身后就的处理 (details)
  439. chore: SSEP: 适配烟台跨运车的新需求 (details)
  440. fix: params bug (details)
  441. fix:动态下码头面然后进堆场，搜索过早的问题。 (details)
  442. fix: truck wbca type error (details)
  443. fix: sweep exception (details)
  444. fix: sweep exception (details)
  445. fix: sweep exception (details)
  446. fix: wbca path length = 40 in openspace (details)
  447. fix:进堆场触发直连模式的bug (details)
  448. fix:上码头面前， 误入 进堆场场景的bug (details)
  449. fix: wbca path length = 40 in openspace (details)
  450. fix:进堆场触发直连模式的bug (details)
  451. fix:上码头面前， 误入 进堆场场景的bug (details)
  452. fix:一次规划终点匹配失败的bug (details)
  453. fix:在 SeasideSearch 行为中增加对引桥路口区域的判断 (details)
  454. fix: Keb-Task: 修复集卡双层避障优化路径可能震荡/不沿参考线行驶的问题 (details)
  455. feat:<西联>适配Uturn上码头面 (details)
  456. fix: SSEP: 修复进堆场近距离模式判断条件错误 (details)
  457. feat: waiting for lift traile; using heading error for reversing align (details)
  458. fix: checkout feat_keb_v2 ssep (details)
  459. fix: Keb-task: 修复低贝位进堆场轨迹震荡的bug (details)
  460. chore: Keb-task: 提升Keb-IMV轨迹稳定性（时序一致性） (details)
  461. fix: travel_out bug (details)
  462. fix: disable search_end_pt rotation (details)
  463. refactor: 将SLBoundary计算外提并作为参数传入CrashHelper相关函数，优化转场吊车阻挡逻辑 (details)
  464. feat: 添加碰撞但不停车的龙门吊禁停区域记录 (details)
  465. feat: SSEP-KEB: 增加keb优化诊断工具。改进优化后处理的运动学判据 (details)
  466. feat: Keb: 实现rosbag->keb scene的数据转换工具 (details)
  467. chore: Keb-Diagnose: 关闭多初始解诊断 (details)
  468. feat: Keb: 实现rosbag->keb scene的数据转换工具 (details)
  469. fix: 修正AddJunctionBlockRanges函数中的起始位置计算逻辑 (details)
  470. feat: 适配云端障碍物类别的功能 (details)
  471. fix: 修正UpdateBufferRange函数中障碍物遍历逻辑，改为使用历史障碍物数据 (details)
  472. fix: 更新RoutingPath::UpdateDestDistance逻辑，增加对route_indices_大小的检查 (details)
  473. fix: search_start_pt turn in place mode. (details)
  474. chore: snapshot转keb scene的脚本使用流式读取，解决out of memory问题。真实录包验证通过。 (details)
  475. fix: add max_forward_distance_for_straighten_trailer (details)
  476. fix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。 (details)
  477. chore: snapshot转keb scene的脚本使用流式读取，解决out of memory问题。真实录包验证通过。 (details)
  478. fix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。 (details)
  479. fix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。 (details)
  480. feat: SSEP: 增加跨运车普通搜索（单段搜索），自适应起点朝向。 (details)
  481. feat: SSEP: 增加跨运车普通搜索（单段搜索），自适应起点朝向。 (details)
  482. fix: add ssep straddle carrier ssep scene (details)
  483. chore: snapshot to keb scene 增加批量转换功能 (details)
  484. fix:修复进bulk场景中，有一帧场景器不运行的bug (details)
  485. fix: SSEP: ogm为空时退出搜索 (details)
  486. fix: add SC park_in (details)
  487. refactor:上下引桥搜索的时候考虑ogm_lines, 然后删除原有的boundary (details)
  488. fix: cancel wbca task_id verification (details)
  489. fix: cancel wbca task_id verification (details)
  490. feat: Keb: Add keb-foxglove visualization (details)
  491. feat: Keb: Add foxglove remote file server (details)
  492. fix: Keb: 修复keb-foxglove转换脚本 (details)
  493. feat: SSEP: 跨运车车型支持多段路径搜索（可通过参数配置） (details)
  494. feat: SSEP: 跨运车车型支持多段路径搜索（可通过参数配置） (details)
  495. chore: SSEP: 跨运车路径搜索时不考虑终点约束 (details)
  496. fix: deviation_status bug (details)
  497. chore: SSEP: 跨运车路径搜索时不考虑终点约束 (details)
  498. fix: 修复编译依赖关系未指定导致概率性编译失败的问题 (details)
  499. fix: park_in bug (details)
  500. fix: unloading condition (details)
  501. fix: unloading condition bug (details)
  502. fix: masked_box pt (details)
  503. fix: mask_box yaw (details)
  504. chore: Keb: 跑通优化诊断全流程。解决S弯道IMV距离障碍物太近/画龙问题 (details)
  505. fix: 增加判断距离阈值至6.0以优化后向Ogm忽略逻辑 (details)
  506. fix: ignore path optimizor in park_in state. (details)
  507. fix: delete virual cloud points (details)
  508. fix: (跨运车)优化忽略TTC逻辑，调整速度和目标偏移条件 (details)
  509. fix: DeviationForStraighten bug (details)
  510. fix: reverse sc_align offset heading (details)
  511. fix: 增加判断距离阈值至8.0以优化后向Ogm忽略逻辑 (details)
  512. fix: ignore path optimizor in park_in state. (details)
  513. refactor: 优化 CreateRoadSecIdxS 方法中的弯道处理逻辑 (details)
  514. fix: park_in bug; open_space auto start failed (details)
  515. refactor: 重构弯道接续逻辑，提取公共查找函数并简化流程 (details)
  516. fix: bulk_in scene decision bug (details)
  517. chore: SSEP: 集卡多段倒车接挂适配超窄库位 (details)
  518. fix: end position heading for ssep replan (details)
  519. refactor: 优化 CreateRoadSecIdxS 方法中的段匹配逻辑 (details)
  520. fix: 增加最大速度阈值至4.0以优化卸货和装载时的OGM和TTC碰撞忽略逻辑 (details)
  521. refactor: 增强 CenterLineInfo 和 CreateCenterLines 的日志记录，改进错误处理 (details)
  522. feat: 添加上层挂的前后基准距离计算 (details)
  523. fix: 修改后退操作判断逻辑，使用reversing_mode替代is_backward_operation (details)
  524. refact: sc turn_in_place_mode (details)
  525. fix: Task Park时不使用参考线 (details)
  526. feat: 添加限速相关参数和窄障碍过滤逻辑 (details)
  527. feat: 碰撞检测相关修改，支持返回碰撞命中信息及禁行道路类型 (details)
  528. feat: 停车原因相关修改，新增禁行道路 OGM 停车类型 (details)
  529. chore: SSEP: 苏溪IMV支持反向进停车位 (details)
  530. fix: 修复烟台跨运车路径规划未到终点的问题 (details)
  531. fix: 修复烟台跨运车路径规划未到终点的问题 (details)
  532. chore: SSEP: 集卡多段倒车接挂适配超窄库位 (details)
  533. refactor:优化进堆场弯道禁停的忽略的距离 (details)
  534. fix: SSEP: 修复近距离进堆场时先掉2次头再进堆场的问题 (details)
  535. fix: SSEP: 修复途经点在后方时路径异常的问题 (details)
  536. chore: SSEP: IMV增加条件忽略pass point (details)
  537. fix: maxbox bug in task_park (details)
  538. refactor:优化界面耗时 (details)
  539. fix: 调整CreateNoTrajectories中的remain_len逻辑，减少无轨迹停车 (details)
  540. feat:苏溪进停车位场景识别的bug (details)
  541. fix: using straighten replan logic for path_direction_change replan type (details)
  542. 支持通过参数配置堆高机任务完成的纵向安全边距 (details)
  543. feat: 在forsearch搜索中，前港区域，不考虑矿卡障碍物 (details)
  544. fix: Keb: 修复IMV后侧容易被挡停的问题 (details)
  545. fix: IMV: 修复偶发优化失败的问题，修复距离path boundary较近时路径异常的问题 (details)
  546. fix: SSEP: 解决威海多段倒车距离og墙太近的问题 (details)
  547. fix: SSEP: 解决威海多段倒车距离og墙太近的问题 (details)
  548. fix: checkout feat_keb_v2 (details)
  549. fix: SSEP: 跨运车: 1.搜索禁止匹配参考线.  2.末端直线忽略碰撞 (details)
  550. feat: 添加计划运行监视器以跟踪任务执行时间和状态 (details)
  551. fix: add end_posture for ssep (details)
  552. fix: ssep end_posture bug; del redundant params (details)
  553. fix: checkout ssep in feat_keb_v2 (details)
  554. feat:终点在身后的时候 并且车辆没有移动的情况下 不创建停止线。 (details)
  555. feat: 更新云轨迹相关函数以使用引导线替代参考线，并优化相对时间计算 (details)
  556. fix: merge bug (details)
  557. feat: SSEP: 增加运动学约束warm up功能。在优化初期减小运动学约束的代价，并增加逐步衰减的平滑、避障代价。让优化器在优化初期更关注轨迹形态，后期更关注运动学约束。 (details)
  558. fix: merge bug (details)
  559. fix: 修改路径点格式化中的分隔符，从 '&' 改为 '#' (details)
  560. chore: SSEP: 跨运车自转逻辑改进 (details)
  561. fix: openspace search start point (details)
  562. chore: SSEP: 跨运车自转逻辑改进 (details)
  563. feat: 增加对堆场直接进入的判断逻辑，并优化相关功能 (details)
  564. 引入横向规划器选择器与任务条件机制，重构规划器相关逻辑，完善配置与任务调度 (details)
  565. fix: disable replan during car loading (details)
  566. 重构任务选择器与横向规划器选择逻辑，新增窄空间检测功能 (details)
  567. feat: 优化目标点计算逻辑，使用当前车辆目的地与最大预瞄距离的最小值 (details)
  568. feat: SSEP: 支持上下码头面同时进堆场 (details)
  569. feat: 调整运动学可行性检查的最大归一化位置和朝向误差 (details)
  570. fix: SSEP: 修复集卡多段倒车搜索失败的问题 (details)
  571. feat: 添加不可以区域Z层处理逻辑，优化地图绘制功能 (details)
  572. fix: travel_out bug; open_space bug (details)
  573. fix: ignore bacbward ogm bug. (details)
  574. feat: 添加bulk in 堆场前临时停车功能 (details)
  575. fix: open space bug (details)
  576. fix: openspace to bulk_load exception (details)
  577. fix: SSEP: 修复跨运车普通搜索掉头代价太大导致出原地转圈轨迹的问题。 (details)
  578. fix: accidental openspace entry (details)
  579. fix: SSEP: 修复跨运车普通搜索掉头代价太大导致出原地转圈轨迹的问题。 (details)
  580. chore: Keb: 根据前杠窄弯/窄通道数据调整自卸车的优化参数和流程 (details)
  581. feat: clang18 编译优化 (details)
  582. fix:崩溃防护，guide line 有效，但speedlimits为空 (details)
  583. fix: incorrectlly enter park_in state (details)
  584. fix: Keb: 修复终点附近轨迹会有碰撞的问题 (details)
  585. fix: SSEP: fix crashing issue (details)
  586. chore: Keb-sim: 适配终点选取逻辑 (details)
  587. fix: checkout feat_keb_v2 (details)
  588. feat:动态上下码头面 直接进堆场场景的优化 (details)
  589. feat:添加云端轨迹 挂转角的赋值 (details)
  590. fix:堆场前停车，停车原因赋值错误的bug (details)
  591. fix:进堆场前停车，motion状态机错误的bug (details)
  592. fix:修复keb路径跳变的bug (details)
  593. fix: Correct open_space_region condition (details)
  594. feat:ctrl +shift  左键 可以 把车辆移动到 没有lane的位置上 (details)
  595. feat: 添加KEB可视化数据结构及相关功能 (details)
  596. feat: 更新CfgFuncSw类的序列化版本，添加新功能支持 (details)
  597. feat: 岸桥搜索添加黑名单功能 (details)
  598. chore: Keb: 优化IMV的避障效果 (details)
  599. fix: 匹配STOP_DECIDER前移 (details)
  600. feat: 添加异步处理功能以优化地图包围区域的创建 (details)
  601. fix:场景切换的bug (details)
  602. chore: SSEP: 优化集卡上下码头面路径 (details)
  603. chore: SSEP: 提升跨运车抓车搜索成功率 (details)
  604. chore: SSEP: 提升跨运车抓车搜索成功率 (details)
  605. feat:<洋浦>适配洋浦新增区域的搜索 (details)
  606. refactor:包围框合并的优化 (details)
  607. fix: add smooth_mode opt (details)
  608. feat:出堆场搜索异常的bug (details)
  609. feat:洋浦 进（普通堆场的形状）堆高机场的入口限速 (details)
  610. fix: smooth mode optimization (details)
  611. fix: 修复威海车型不匹配的问题 (details)
  612. feat: 添加车辆侵入车道限速功能及相关配置 (details)
  613. feat: 增强边界约束条件，确保在使用侵入限速功能时检查道路边界和引导线可用性 (details)
  614. refeat:重构 障碍物侵入道路后的限速 (details)
  615. feat: 添加 .codewhale 和 .deepseek 到 .gitignore (details)
  616. feat: 增加对特定区域类型的检查，避免在码头面、堆场和堆高机场 判断 场桥禁停 (details)
  617. refctor:风险限速和聚类限速时，限制最大减速度 (details)
  618. feat: 绕行时，沟点不进行膨胀 (details)
  619. fix: cancel wbca smooth_mode for the first frame (details)
  620. fix: cancel wbca smooth_mode for the first frame (details)
  621. chore: SSEP: 减小集卡多段倒车的最大曲率 (details)
  622. chore: SSEP: IMV普通搜索过滤明显存在碰撞的路径。 (details)
  623. feat: 添加功能开关以控制 吊具高度 是不是 切换状态机， 默认打开 (details)
  624. fix: Keb: 延长段路径不验证运动学可行性 (details)
  625. fix: checkout feat_keb_v2 (details)
  626. fix: merge bug (details)
  627. feat: SSEP: 将GPU搜索重写，整合进目前的CPU搜索框架中。目前的搜索框架改进为CPU-GPU混合框架，可以任意配置使用CPU/GPU搜索组件。 (details)
  628. fix:修复路径拼接的bug (details)
  629. feat: 优化判断逻辑，增加起始点方向差异判断以决定是否需要全平滑 (details)
  630. refactor:<PJPO>优化求解的成功率 (details)
  631. chore: Keb: 1. 解决IMV从当前点规划轨迹异常的问题。2. 解决IMV轨迹画龙问题 (details)
  632. fix: 修改锁定站点为狭窄空间的参数默认值为false (details)
  633. fix: park_in bug (details)
  634. refactor: 修改GetOgmSize函数签名，增加车辆状态参数以优化OGM大小计算 (details)
  635. fix: add turn-in-place trajectory to cloud_trajectory (details)
  636. fix: incorrectly absolute_sign stop (details)
  637. feat: 添加NormalizePolygonsForUnion函数以处理多边形归一化，并增加相应的单元测试 (details)
  638. fix: 修改杨浦区域半径值为2000以配置扩大的堆场 (details)
  639. fix: 更新停止标志重叠匹配逻辑，增加对交叉口ID的检查并调整LaneSegment的合并参数 (details)
  640. feat: Keb: 1. 引入clipper2几何运算库处理多边形的膨胀腐蚀操作。解决之前的膨胀逻辑对某些特殊形状处理存在错误的问题。2. 将最近点膨胀代价升级为sdf碰撞检测代价，鲁棒性更高收敛更快。3. 前轮转向约束使用softplus函数建立梯度平滑的约束，解决在极限转弯场景优化时梯度跳变的问题。 (details)
  641. fix: auto heading ajustment in turn_in_place mode (details)
  642. fix: display bulk_align used for ssep end_posture (details)
  643. fix: cloud trajectory heading bug (details)
  644. fix: add virtual cloud points (details)
  645. fix: normal to lock during bulk_load (details)
  646. fix: add sc_taret_deviation_stop (details)
  647. fix: update dist_deviation_stop_thr 0.3, heading_devaition_stop_thr 0.026 (details)
  648. fix: curature over limit stop optimization (details)
  649. fix: curature over limit stop optimization (details)
  650. chore: Keb: 集卡进堆场增加“最后拉直段减小避障半径”的逻辑 (details)
  651. refactor: SSEP: 重构OGM构建流程 (details)
  652. fix: openspace end_posture selection bug (details)
  653. feat: 添加skills到.gitignore以忽略相关文件 (details)
  654. fix: step align状态下，吊具防护，montion状态机切换的bug (details)
  655. fix:修复进充电桩，场景适配错误的bug (details)
  656. fix: Keb: 删除未用到的“BuildKebOGM”方法 (details)
  657. feat(hmi): 新增路径曲线面板 path_curve_detail (details)
  658. refactor:优化引导线曲率跳变的bug (details)
  659. fix: 更新 clang-format 命令的使用说明和检查逻辑 (details)
  660. feat: 添加软约束以支持初始状态的灵活性 (details)
  661. fix: 注释掉停止车辆的初始化日志输出 (details)
  662. fix: Keb: 增加IMV后方碰撞检测距离 (details)
  663. feat:replay界面添加菜单选项 控制是否进行 obj和ogm的碰撞检测 (details)
  664. feat: 添加CloudTrajectoryPoint的赋值运算符重载 (details)
  665. feat: 注释掉OgmCollisionPos函数中的更新检查 (details)
  666. feat:replay界面添加菜单选项 控制是否进行 obj和ogm的碰撞检测 (details)
  667. feat: 注释掉OgmCollisionPos函数中的更新检查 (details)
  668. fix:合并的bug (details)
  669. feat: 重构障碍物风险评估器，另外添加 横路不进行 龙门吊风险限速的功能。 (details)
  670. fix: add lane_change_path_task v2 (details)
  671. fix: add lane_change_path_task v2 (details)
  672. refactor:优化看门狗功能 (details)
  673. fix: 移除不必要的等待调用以优化重置过程 (details)
  674. fix:西联上下引桥 不创建双黄线约束 (details)
  675. fix: SC reversing bug (details)
  676. fix: activate rotation when two points are close to each other (details)
  677. fix: sc_turn_in_place mode to guardian module (details)
  678. fix: SSEP: 修复新版本优化偶发输出异常的问题 (details)
  679. feat: 添加数据和ssep原型的依赖关系到keb_vis_server可执行文件 (details)
  680. fix: SC change lane failed (details)
  681. feat: SSEP: 自卸车/tractor的多段倒车和精确倒车可以接受extra param来设置尾部拉直距离 (details)
  682. fix:修复变道完成后目标车道切换错误的bug (details)
  683. fix: SSEP: 启用硬约束时使用 tunnel_constraints_ogm_ 进行碰撞检测，否则使用 ogm_ (details)
  684. feat: 添加堆高机靠近是否切换状态机的开关参数 (details)
  685. refactor: 1.关闭起始变量的收缩。2.车辆停止时，修改dl和ddl 3.关闭全软约束 (details)
  686. feat: <大谢>进堆场机场忽略终点约束 (details)
  687. refactor:优化出堆场 + 短直线+ 进堆场场景的搜索 (details)
  688. feat: 添加堆场间(BETWEEN_YARD)任务条件, 支持堆场间切换KEB横向规划器 (details)
  689. fix:快照播放崩溃的bug (details)
  690. fix: gitignore bug (details)
  691. fix: imv reversing bug (details)
  692. fix: deviation status bug (details)
  693. refactor: deviation_status (details)
  694. fix: cancel bulk_in bidirectional ssep (details)
  695. fix: repeatly trigger ssep (details)
  696. fix: ssep trigger conditions opt (details)
  697. fix: recal bulk_out end_pt for ssep (details)
Commit 7cfd0f5a0a4831acb2c699e7feb04fd2c800b404 by wuyanjun110
feat:适配dead lock force park

The file was modifieddata/app/cmd/cmd_dead_lock.cpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifiedsink/ros_sink_cloud_trajectory.cpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifiedhmi/node_hmi.cpp
The file was addeddata/app/cmd/cmd_dead_lock_force_park.hpp
The file was modifieddata/app/app_data.hpp
The file was addeddata/app/cmd/cmd_dead_lock_force_park.cpp
The file was modifiedhmi/draw/draw_ssep.cpp
The file was modifiedsink/ros_sink_cloud_trajectory.hpp
The file was modifiedhmi/draw/draw_map.cpp
The file was modifieddata/app/app_data.cpp
The file was modifieddata/app/reaction/app_reaction.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit e0d9e3a37165a0aca857ff70874c1cebf9d81af0 by wuyanjun110
feat:进堆场弯道禁停继续发送云端轨迹

The file was modifieddata/common/trajectory.cpp
Commit 642c01dec961ffc0c39a5b55156b8ad74b12b1fd by wuyanjun110
feat:完善变道触发的条件

The file was modifieddata/scenario/scenario_planner_condition.cpp
The file was modifieddata/scenario/scenario_planner_bt.cpp
Commit 4aa3eb182b35a15d454daf0be12a0ea27ed6db6d by wuyanjun110
fix:变道场景切换的bug

The file was modifieddata/scenario/scenario_planner_bt.cpp
Commit 15068bbc537173a7fcfbe1b0aaee62f371059d72 by wuyanjun110
feat:整理云端轨迹的数据结构

The file was modifieddata/plan_frame.hpp
The file was modifiedsink/ros_sink_cloud_trajectory.cpp
The file was modifiedhmi/draw/draw_path.cpp
The file was modifieddata/lattice/trajectory_combiner.hpp
The file was addeddata/plan/cloud_trajectory.cpp
The file was modifiedsink/module.cpp
The file was modifieddata/lattice/trajectory_combiner.cpp
The file was modifieddata/common/trajectory_point.cpp
The file was modifieddata/common/trajectory_point.hpp
The file was modifiedplan/scenarios/prepare_scenario.cpp
The file was modifieddata/common/trajectory.cpp
The file was removedsink/ros_sink_trajectory_for_prediction.cpp
The file was modifieddata/config/cfg_topic.hpp
The file was removedsink/ros_sink_trajectory_for_prediction.hpp
The file was modifieddata/common/trajectory.hpp
The file was modifieddata/plan_frame.cpp
The file was modifieddata/config/cfg_topic.cpp
The file was addeddata/plan/cloud_trajectory.hpp
Commit a05192db6a24b3348d74f7d50ce0d0bd6b8f7ebc by wuyanjun110
fix:云端轨迹挂转角赋值错误的bug

The file was modifieddata/lattice/trajectory_combiner.cpp
Commit 5b4878a114bd9b04f60443a02d5208c547826795 by wuyanjun110
feat:暂时关闭路口延长的逻辑

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 97808e8bad698ca80d77d28e8ee1c25b811d8abc by wuyanjun110
feat:暂时关闭路口延长的逻辑

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 51b7cd43464c5a1527bfb4fa65dd0971948c4b85 by wuyanjun110
feat:功能基本ok

The file was modifieddata/plan/guide_line_base.cpp
The file was modifiedplan/prepare/prepare_status.hpp
The file was modifieddata/plan_frame.cpp
The file was modifieddata/plan/cloud_trajectory.cpp
The file was modifieddata/plan/guide_line_base.hpp
The file was modifieddata/plan/cloud_trajectory.hpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifiedplan/scenarios/prepare_scenario.cpp
The file was modifiedsink/ros_sink_cloud_trajectory.cpp
The file was modifieddata/vehicle/vehicle_status.hpp
Commit 6684ad1e264a2b994a7c551de3336034a5fad1f0 by wuyanjun110
feat:完善云端轨迹v2

The file was modifieddata/plan/cloud_trajectory.cpp
The file was modifiedsink/ros_sink_cloud_trajectory.cpp
The file was modifieddata/plan/cloud_trajectory.hpp
The file was modifiedhmi/draw/draw_path.cpp
Commit 81594b7b8e3091061176005152fdb46500106197 by wuyanjun110
fix:修复代码合并的bug

The file was modifiedsink/ros_sink_cloud_trajectory.cpp
The file was modifiedsink/ros_sink_cloud_trajectory.hpp
Commit 8b0cb2a242ee6e2847bb9b3ce934a9199aeea02d by wuyanjun110
feat:1.定位无效的时候发送-12.分割号的赋值3.变道车道laneid的赋值

The file was modifieddata/plan/cloud_trajectory.cpp
The file was modifieddata/plan/cloud_trajectory.hpp
Commit 207061ce9e0d5520d8e3aa25e71f15ab72f5af63 by wuyanjun110
fix:云端轨迹 is stop没有赋值的bug

The file was modifiedsink/ros_sink_cloud_trajectory.cpp
Commit c296c42da1532160033f738dd3ac0e10b45fa7c5 by wuyanjun110
fix:修复默认参数

The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/plan/center_line_info.cpp
Commit c90b3f396476d33e57593ea627bfe3b71617a86e by wuyanjun110
feat:进堆场云端轨迹正常发送

The file was modifieddata/plan/cloud_trajectory.cpp
Commit 14a332cffe102d32740e3b66d235c08f95b93deb by tangwenqing
fix: SSEP: 修复优化器中起点曲率没有初始化的问题

The file was modifiedssep/maps/ogm.cc
The file was modifiedssep/keb_optimizer/data_structure.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit c5fe56441cd4975be5cee5f679866cf8c242571e by wuyanjun110
refeat:优化云端路径的赋值

The file was modifieddata/plan/cloud_trajectory.hpp
The file was modifieddata/plan/cloud_trajectory.cpp
Commit ae2c245997ab2cd20bb588d1c5d940c97882286e by wuyanjun110
feat:添加忽略死锁标志位的反馈

The file was modifiedsink/ros_sink_cloud_trajectory.cpp
Commit aab4a1bf245a53d537d67e15908e5537e6712090 by wuyanjun110
feat:merge

The file was modifiedhmi/node_hmi.hpp
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_tt.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/offboard/CMakeLists.txt
The file was modifieddata/app/app_data.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifieddata/obstacle/occupy_grid.hpp
The file was modifieddata/app/cmd/cmd_set_target.hpp
The file was modifieddata/vehicle/related_offset.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifiedreplayer/logic.cpp
The file was modifieddata/ssep/reverse_ec.cpp
The file was modifiedsource/ros_source_ads_command.cpp
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/test/CMakeLists.txt
The file was modifieddata/vehicle/lock_station_data.cpp
The file was modifiedsource/ros_source_ads_target.cpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifieddata/scenario/scenario_manager.hpp
The file was modifieddata/config/cfg_error.cpp
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was modifiedssep/offboard/generate_scene_data/CMakeLists.txt
The file was modifiedreplayer/replayer_data_process/load_snap_data.cpp
The file was modifieddata/map/pnc_map/pnc_map.cpp
The file was modifiedssep/data_structures/map_element_polyline.cc
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifieddata/app/cmd/cmd_nstop.hpp
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_imv.cc
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifiedssep/test/ssep_planner_test.cc
The file was modifiedCMakeLists.txt
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedtasks/other_tasks/create_reference_line.cpp
The file was modified.gitignore
The file was modifieddata/map/reference/reference_road_section.cpp
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedalgorithm/plan/plot_st_graph.cpp
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/test/gpu_ref_line_cost_test.cc
The file was modifiedcommon/behaviour_tree/bt_composite.hpp
The file was modifieddata/plan/reference_line_info.hpp
The file was modifieddata/common/guide_path.cpp
The file was modifiedplan/prepare/prepare_objs.cpp
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifieddata/app/cmd/cmd_fsm/ifsm.hpp
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/data_structures/polyline.h
The file was modifieddata/app/cmd/cmd_cancel_lock.hpp
The file was modifiedssep/offboard/servers/CMakeLists.txt
The file was modifieddata/app/cmd/cmd_cancel_safe.hpp
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifieddata/constrain/longitude_constrain.cpp
The file was modifieddata/common/guide_path.hpp
The file was modifieddata/ssep/ssep_common.hpp
The file was modifieddata/plan/switch_data.cpp
The file was modifieddata/scenario/scenario_manager.cpp
The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/truck_u_turn_planner.h
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifieddata/config/iconfig.hpp
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifieddata/plan/start_point_data.cpp
The file was modifieddata/other/flow_control.hpp
The file was modifiedssep/scenarios/stitching_replanner.h
The file was modifieddata/config/cfg_env_const.cpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedmath/smoothing/fem_pos_deviation_interface.h
The file was modifieddata/app/cmd/cmd_remote.cpp
The file was modifieddata/app/cmd/cmd_set_target.cpp
The file was modifieddata/app/fsm/task_command_type.cpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifieddata/app/cmd/cmd_align.cpp
The file was modifiedssep/scenarios/tractor_trailer_single_segment_parking_planner.h
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was modifiedhmi/widget/distance.cpp
The file was addedssep/coarse_search/evaluator/heading_cost_computer.h
The file was modifieddata/app/cmd/cmd_fsm/fsm_base.hpp
The file was modifiedssep/coarse_search/evaluator/cost_feature_computer.h
The file was modifieddata/app/cmd/cmd_cancel_expand.hpp
The file was modifiedmath/curve2d/icurve.hpp
The file was modifiedssep/offboard/scene_replay/CMakeLists.txt
The file was modifiedssep/coarse_search/topology_analysis/candidate_goals_generator.cc
The file was modifiedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/common/utils/path_utils.h
The file was modifiedhmi/common/status_sign.hpp
The file was modifiedssep/common/utils/path_utils.cc
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifieddata/other/flow_control.cpp
The file was modifiedssep/ssep_planner.cc
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/app/cmd/cmd_traffic_light.hpp
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
The file was modifiedssep/coarse_search/evaluator/shortest_path_heur_table.h
The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
The file was modifieddata/obstacle/obstacle_decider_attr.cpp
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedmath/curve2d/curve2d.hpp
The file was modifieddata/snapshot_data.hpp
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_car.cc
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/scenarios/legacy_planner.h
The file was modifieddata/app/cmd/cmd_dead_lock.hpp
The file was modifiedhmi/draw/draw_perception.cpp
Commit ab46030d67017aca4e24455acacfae894279573e by wuyanjun110
feat:修改云端轨迹heading和theta的赋值
The file was modifieddata/plan/cloud_trajectory.cpp
The file was modifieddata/plan/cloud_trajectory.hpp
Commit 3180b9168c3846ab175fc5900a26ae85dcbf1e5d by wuyanjun110
fix:修复编译崩溃的bug
The file was modifiedsink/ros_sink_cloud_trajectory.cpp
Commit 7be6e8a3557675f4c2d6d633cedadbb2aa178236 by tangwenqing
feat: SSEP: 增加场景编辑工具

The file was addedssep/offboard/servers/scene_editor_server.cc
The file was addedssep/offboard/servers/scene_editor_html_template.cc
The file was addedssep/offboard/servers/scene_editor_html_template.h
The file was modifiedssep/offboard/servers/CMakeLists.txt
Commit 14ae272916e84cc2b0c459eea328af1126f4037c by tangwenqing
chore: SSEP: update scene editor server

The file was modifiedssep/offboard/servers/scene_editor_server.cc
Commit 39d91da2688fad295f61b72e03343113f4b58bec by tangwenqing
fix: SSEP: 改进多段倒车场景的启发项，解决威海更换pass point后搜索成功率低的问题。

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit 202d8a3a5b87a2837990b959e7c9f6dc4ed91937 by tangwenqing
feat: SSEP: 多段倒车忽略终点附近障碍物。提升威海倒车成功率

The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.cc
Commit 9eb6a23d27a51b50abc4551e2f77e805f5f31c2d by tangwenqing
chore: SSEP: Fix mult-segment searching params.

The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/param_loader/param.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
Commit c4de19b7d9d140ad782aef87dc88d7bd43c07a89 by wuyanjun110
feat:修改对准数据的打印
The file was modifiedcommon/util/express.cpp
The file was modifiedsource/ros_source_offset.cpp
Commit a4a70c8cc13449cc12587345ac23584c4cf64b50 by tangwenqing
feat: SSEP: 使用多项式采样器生成变道路径

The file was modifiedssep/coarse_search/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/common/utils/scene_frame_visualization.cc
The file was addedssep/scenarios/tractor_trailer_lane_change_planner.h
The file was addedssep/test/quintic_polynomial_sampler_test.cc
The file was addedssep/coarse_search/conditions/node_level_condition.h
The file was addedssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.h
The file was modifiedssep/coarse_search/search_graph.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was addedssep/coarse_search/motion_primitive_sampler/quintic_polynomial_motion_primitive_sampler.h
The file was addedssep/coarse_search/motion_primitive_sampler/quintic_polynomial_motion_primitive_sampler.cc
The file was addedssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.cc
The file was modifiedssep/test/ssep_planner_test.cc
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/test/CMakeLists.txt
The file was modifiedssep/protos/ssep_scenario_type.proto
The file was modifiedssep/coarse_search/conditions/search_condition_interface.h
The file was modifiedssep/coarse_search/motion_primitive_sampler/motion_primitive_sampler.h
The file was modifiedssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
The file was modifiedssep/coarse_search/stage_transition_controller.h
Commit e20a48ccf907c172cd258badb80770444a39bdc5 by 5081703.cr
fix: lattice wbca velocity reference bug.
The file was modifieddata/lattice/trajectory_evaluator.cpp
Commit f08fc47daa4732107487be5e95cff6c7519c5e76 by wuyanjun110
fix:杨浦堆场入口重搜索的bug
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit 346b3313849cd4c2a92ff2eae1281fefa17c6bdf by wuyanjun110
refactor:优化打印日志
The file was modifiedtasks/deciders/lat_decider/path_bounds_decider.cpp
The file was modifieddata/lattice/trajectory_evaluator.cpp
Commit efb4b5efff5051ea0cb101f63308b3cf96b24f90 by wuyanjun110
feat: 添加更多忽略文件到.gitignore
The file was modified.gitignore
Commit 680d711465338cdb7b63d2fbb55ac8231aa0522b by tangwenqing
chore: SSEP: 1. 变道场景使用更严格的车挂碰撞判断。2. 过滤超过曲率上限的路径。

The file was modifiedssep/scenarios/tractor_trailer_lane_change_planner.h
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.cc
The file was modifiedssep/coarse_search/evaluator/curvature_cost_computer.h
Commit 07eddc3b7ec1ad94417e2dc1bfac5d2a8b76c46d by wuyanjun110
fix: 修复边界约束逻辑并优化障碍物处理代码
The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit 5b23bc622f63cdeb7f9546641b51d620b2b35d22 by tangwenqing
chore: SSEP: merge 集卡进堆场的新改动

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 54a568d284cc21044add53f825e13ffea0c16be0 by wuyanjun110
fix: 优化障碍物处理逻辑，过滤不必要的障碍物类型
The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit d868d505a77a1ca04d496f97347e1060ead1641f by wuyanjun110
fix: 优化OgmPoints序列化，过滤无效点并调整序列化方法
The file was modifieddata/obstacle/ogm.hpp
Commit 3374681c6ddc84be7755c8ebf8e6854e61159f98 by wuyanjun110
fix: 杨浦 调整虚拟车道与第一排箱体的距离和左侧后退延伸长度
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit e347247ce0d00a200574cc5bb25112621e193570 by wuyanjun110
fix: 优化SubProcessIdle逻辑，增加对引导线信息可用性的检查，防止没有识别低贝位就进行搜索的bug
The file was modifiedtasks/deciders/search_decider/into_yard_junction_search_decider.cpp
Commit 66056d9ff0da904e2072d9011666631d41cea52a by tangwenqing
fix: SSEP: 修复反向路径拖挂角度错误的问题

The file was modifiedssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
Commit 29291b95199687e97991d9489d85fad645045654 by wuyanjun110
feat: 1.添加OgmCollisionPos绘制功能，增强碰撞检测可视化 2.replayer 添加og碰撞检测的回放功能
The file was modifiedhmi/draw/draw_collision_detection.hpp
The file was modifiedhmi/draw/draw_collision_detection.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.hpp
Commit c72005d662d95de7153c7a15d40b4505c7b69771 by wuyanjun110
fix: 注释掉日志记录代码以减少输出干扰
The file was modifiedtasks/deciders/lat_decider/side_pass_decider.cpp
Commit f5e3048bcd0597ca0e618895de5849192cd169ec by wuyanjun110
fix:优化动态下码头面搜索终点选取的问题
The file was modifieddata/ssep/open_space_ec.cpp
Commit b9e7010a6647b88f2d1b7ccbf0a107796c00420d by tangwenqing
feat: SSEP: 完善网页可视化。现在在网页上可以可视化所有元素并任意调整分辨率。

The file was modifiedssep/offboard/servers/scene_vis_html_template.cc
The file was modifiedssep/offboard/servers/scene_vis_html_template.h
The file was modifiedssep/offboard/servers/scene_vis_server.cc
Commit db6b2998c7b19ac262faae5ce406b6bb1c0300f6 by chenran
fix: build bug
The file was modifieddata/config/cfg_env_const.hpp
Commit 857f4abd0e008f86dea5d5880f2a4ab903f6110b by chenran
fix: Trajectory MatchByt bug.
The file was modifieddata/common/trajectory_point.cpp
Commit b3d8e7f1b8a0f4f404506eb060e6f56f37d35cae by tangwenqing
chore: SSEP: 搜索使用障碍物软约束，提升自卸车进出堆场极限场景的搜索成功率。

The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/common/utils/path_utils.cc
The file was modifiedssep/common/utils/path_utils.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
Commit dac7c89094f1f75b409fb7ea12870735e8c44f3e by tangwenqing
chore: SSEP: 过滤无效的采样轨迹，提高进堆场搜索成功率

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 3300e1a9daf69673daac19ea5fbe0039afcbc115 by tangwenqing
chore: SSEP: 处理掉头场景终点在standby_guideline上的情况

The file was modifiedssep/scenarios/scenario_planner_factory.h
Commit ec15472120f3d67d5bcf92713ca0ab7847c5809f by wuyanjun110
feat: 添加镜子配置和绘制功能
The file was modifieddata/config/cfg_static.hpp
The file was modifieddata/config/cfg_static.cpp
The file was modifiedhmi/draw/draw_ego.cpp
Commit 17c3f62191f31f60680819b599f7c257ba28af42 by wuyanjun110
feat: 优化JudgeFinishAlign函数，简化FSM接口调用，增强对齐完成判断逻辑
The file was modifiedplan/prepare/prepare_status.cpp
Commit 8baf0a211150128214102de2d4e3261838b09944 by wuyanjun110
feat: 优化低贝激活判断逻辑，简化条件判断，提高代码可读性
The file was modifiedtasks/deciders/search_decider/into_yard_junction_search_decider.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit 51180b0d25c6387ef489de1a8ff39f49bcb37f58 by wuyanjun110
fix: 移除不必要的日志警告，优化代码逻辑
The file was modifieddata/lattice/trajectory_combiner.cpp
Commit 828b79a882767843680f05395f4f8cc73f01d28e by tangwenqing
chore: SSEP: 掉头进堆场时增加参考线权重

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit b49664473025df194c4e99e8a592283933351183 by wuyanjun110
refactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bug
The file was modifiedsink/ros_sink_ctrl_reference.cpp
Commit 06f00af19d0f07a9c4ebfb1a14a0adf834e0725e by wuyanjun110
fix: 更新YANGPU虚拟车道到第一排箱子的阈值，修正为0.0
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit cbe867251847661f335028397456bf5e9d017e89 by wuyanjun110
refactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bug
The file was modifiedsink/ros_sink_ctrl_reference.cpp
Commit 1ae44720a335293b49d9d198cd6dee924fa28138 by wuyanjun110
fix: 修正右侧车道拉直点阈值为2.0度
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 422d0cd121bf66362cb39f51b2a52a4de9002038 by wuyanjun110
fix:进堆场终点距离计算的bug
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 8949f783ad1beb73ef96d65dafc77bf62970853e by tangwenqing
feat: 增加keb optimize task (baseline version)，仿真可以运行。剩余工作：1. 多线程运行 2. 无SSEP轨迹时fallback为pjpo task。

The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedtasks/task_factory.cpp
The file was modifiedssep/data_structures/path.h
The file was addedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was addedtasks/plan/keb_path_optimize_task.cpp
The file was modifieddata/config/cfg_stage.hpp
The file was modifieddata/config/cfg_stage.cpp
Commit c224b5b2ad8ef6113c9c822ea496bde7e9219ea3 by wuyanjun110
fix: 优化地图包围体和在线区域轮廓创建逻辑,修复潜在的空指针和多边形合并问题
The file was modifieddata/ssep/online_region_contour_creator.cpp
The file was modifieddata/map/envelop/map_envelop.cpp
Commit ed0b322e870556662db2c272f6cca28d3b2505cf by wuyanjun110
fix: 修正OgmCollisionPos函数中的颜色定义注释，确保颜色代码清晰
The file was modifiedhmi/draw/draw_collision_detection.cpp
Commit 9958c4fb244203a16577ebb183946313ac4902b3 by wuyanjun110
feat:添加挂车的上层纵向参数
The file was modifiedhmi/draw/draw_ego.cpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifiedcommon/util/crash_helper.cpp
The file was modifiedalgorithm/vehicle_model/kinematic_bicycle_model.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/lattice/collision_checker.cpp
The file was modifiedhmi/draw/draw_constrain.cpp
The file was modifieddata/config/cfg_static.cpp
The file was modifiedalgorithm/wbca/truck_wbca_manager.cpp
The file was modifiedalgorithm/plan/ego_expanding.cpp
The file was modifiedalgorithm/plan/sweep_area.cpp
The file was modifieddata/config/cfg_static.hpp
The file was modifieddata/ssep/ssep_activation.cpp
Commit 9236dd6181e0b7c771e63db307356296e789dbf2 by wuyanjun110
fix: 简化UpdateCurLaneData函数中的当前和目标车道索引更新逻辑
The file was modifieddata/plan/switch_data.cpp
Commit 1500480102eebfe23dc08f22baee8e8a5e45c038 by wuyanjun110
fix: 优化ConstructStartAndEndContour和ConstructEndStraightPosture函数中的逻辑，增加双车道距离补偿
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 1b3e1d627380950b922bf794cd8f9b9160f4a6e0 by wuyanjun110
fix: 调整GetExtendPoint函数中的扩展点计算逻辑，增加扩展距离；优化在线区域轮廓创建逻辑，增加多边形连接性检查和简化处理
The file was modifieddata/ssep/online_region_contour_creator.cpp
The file was modifieddata/map/envelop/map_envelop.cpp
Commit 978096f8d9bd68740c1cc23d1d60ea5ce1fa09e4 by tangwenqing
feat: Keb optimizer task 单线程功能完成

The file was modifiedssep/data_structures/path_utils.h
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
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 ab65d3bc4ea9b19ca8a03e9090432de03b66bc73 by wuyanjun110
feat: 添加核心对象库并优化可执行文件链接逻辑
The file was modifiedCMakeLists.txt
Commit 8c79ea9cf0d58a434b38c9fd839eba62571b8eeb by wuyanjun110
feat: 添加PncGraphicsView类以支持图像显示和交互功能；更新相关文件以替换DragImage
The file was modifiedhmi/common/image_viewer.cpp
The file was addedhmi/common/pnc_graphics_view.hpp
The file was modifiedhmi/node_hmi.cpp
The file was modifiedhmi/replayer_hmi.cpp
The file was modifiedhmi/widget/pnc_mat.hpp
The file was modifiedCMakeLists.txt
The file was modifiedhmi/widget/replayer_pnc_mat.hpp
The file was modifiedhmi/widget/pnc_mat.cpp
The file was addedhmi/common/pnc_graphics_view.cpp
The file was modifiedhmi/widget/replayer_pnc_mat.cpp
Commit 596962e10fec144af58b2e0fd7b089fca8661440 by wuyanjun110
fix: 调整ConstructEndPosture函数中的扩展距离逻辑，将TT类型的扩展距离从20.0增加到25.0
The file was modifieddata/ssep/open_space_ec.cpp
Commit f6df47fe7a095d203cffc46df3eec57303915643 by wuyanjun110
fix: 取消CalRefPtsKappa函数中的注释，启用航向角计算逻辑
The file was modifieddata/map/reference/reference_segment.cpp
Commit 6c6c78a4cb5ad24627297a27ec668ab5e3913a37 by wuyanjun110
feat: 添加测量功能，支持在PncGraphicsView中显示测量线和文本；更新鼠标事件处理逻辑以支持控制键测量
The file was modifiedhmi/common/pnc_graphics_view.cpp
The file was modifiedhmi/replayer_hmi.cpp
The file was modifiedhmi/common/pnc_graphics_view.hpp
The file was modifiedhmi/draw/draw_ssep.cpp
Commit 174fffc20a252707cccc80f830bd65304bdef169 by wuyanjun110
fix: 注释掉DrawTargetPath函数中的轮廓生成和绘制逻辑
The file was modifiedhmi/draw/draw_ssep.cpp
Commit 65a7777d7c662ac049366c24e60b684062dae23d by wuyanjun110
fix: 修复EgoExpanding类中VertexExpanding函数的除零错误；更新KinematicBicycleModel类中TrailerPtFromTractorPt函数的代码格式
The file was modifiedalgorithm/plan/ego_expanding.cpp
The file was modifiedalgorithm/vehicle_model/kinematic_bicycle_model.cpp
Commit 2a3c11f3986d0c8c71aea388f19bb0cc1ef03230 by wuyanjun110
fix: 在CreateTrajInfo函数中添加continue语句以优化逻辑
The file was modifieddata/plan/cloud_trajectory.cpp
Commit 993c574f08c46cf65f6b891f0e920b196809a7f3 by chenran
fix: wbca path fluctuation problem.
The file was modifieddata/plan/start_point_data.cpp
The file was modifieddata/plan/start_point_data.hpp
Commit 8724ebfc9392edaa35d0827ba5f4eeea7642e316 by wuyanjun110
fix: 在InterpPtByLinearS函数中添加对s值的有效性检查，避免无效输入导致错误
The file was modifieddata/common/trajectory_point.cpp
Commit 19551aed1c4d603d6af3351db48ca4c83b6c67cf by tangwenqing
chore: Finetune Keb-Path-0ptimize-Task and add warm-start stretagy.

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
Commit ca574be78a4a5b22d2531926384d5f1ece21d0ee by chenran
fix: add wbca min_start_velocity
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifieddata/plan/start_point_data.hpp
Commit 64250345071c2bdf4003a45d557cab9fb0e31f7a by wuyanjun110
feat: 添加获取弯道前车道ID的功能，并在SwitchData中更新相关逻辑, 解决变道时，参考线跳变的问题
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifieddata/plan/switch_data.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.hpp
The file was modifieddata/plan/reference_line_info.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/path_utils.h
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/data_structures/polyline.cc
The file was modifiedssep/data_structures/polyline.h
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit d2c0739f3014c96356d8396559abdf5bd6491812 by wuyanjun110
refactor:优化包略框的合并 ，以及优化耗时
The file was modifieddata/ssep/online_region_contour_creator.cpp
The file was modifieddata/map/envelop/map_envelop.cpp
The file was modifieddata/map/envelop/map_envelops.cpp
The file was modifieddata/map/envelop/map_envelops.hpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/ssep/ex_lane_change_ec.cpp
The file was modifieddata/ssep/seaside_junction_ec.cpp
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifiedhmi/draw/draw_map_envelpos.cpp
The file was modifieddata/ssep/ssep_util.cpp
The file was modifieddata/ssep/online_region_contour_creator.hpp
The file was modifieddata/ssep/ssep_ec.cpp
Commit 43f11b859819fd7f30c9c0dbfc7d138350fe3086 by wuyanjun110
feat: 在CreateContour中添加时间记录，优化轮廓构建过程
The file was modifieddata/ssep/online_region_contour_creator.cpp
Commit 5c4212a16790c1e956baf2553bece33826d8e699 by wuyanjun110
feat: 更新参数设置，调整前向和侧向扩展长度以优化空间计算
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/plan/guide_line.cpp
Commit 743127a9723c20065292b4105dcdb172f6c5eff3 by wuyanjun110
feat: 增强在线区域轮廓创建失败时的回退逻辑，确保使用基础多边形作为后备
The file was modifieddata/ssep/online_region_contour_creator.cpp
The file was modifieddata/ssep/open_space_ec.cpp
Commit 6751b29aa1f63012d68615b08fd675060fe76c28 by tangwenqing
chore: SSEP: 集卡上下码头面可以在standby_guide_line上任意匹配终点

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit c54def98283c4ec7dc783b3c6e037641d990d3be by chenran
fix: del mode=0
The file was modifieddata/lattice/trajectory_evaluator.cpp
Commit d725454ddae3355ba0c05e4ed9600f230ab6153b by tangwenqing
fix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/imv_general_planner.h
Commit 5da516f1b19b13f65a0d9c3f6041cdb4c9226f11 by wuyanjun110
fix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/imv_general_planner.h
Commit 4a08ca557e16b33f5b439f97aeed655588af18ca by wuyanjun110
feat: 添加IsAvailable方法以验证轨迹数据的有效性
The file was modifieddata/lattice/piecewise_acc_traj1d.hpp
The file was modifiedmath/curve1d/curve1d.hpp
The file was modifieddata/lattice/piecewise_acc_traj1d.cpp
The file was modifieddata/lattice/trajectory_combiner.cpp
Commit 6c3476ae1785ffcc0e72a44ab5a39ec14f926234 by wuyanjun110
fix: 修复StitchSsepReferenceLine方法中的路径段验证逻辑
The file was modifiedtasks/other_tasks/stitch_path_to_reference_line.cpp
Commit 6edf9f81cfd8d34ef20271ac92b2c4e0b3a486cc by wuyanjun110
fix:进充电桩场景切换的bug
The file was modifiedplan/prepare/prepare_status.cpp
Commit c8e821186992f60df26f209fe665bd2582a060f3 by wuyanjun110
feat: 添加角度显示功能，增强PncGraphicsView的交互性
The file was modifiedhmi/common/pnc_graphics_view.cpp
The file was modified.clangd
The file was modifiedhmi/common/pnc_graphics_view.hpp
Commit 140041f723b7605ba0c3f541cf93137b952dcb5b by wuyanjun110
fix:修复误进入openspace的bug
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 937254808f46c55561908ecdcb1bc38c60fc631f by wuyanjun110
fix: 调整最大速度阈值以优化后向Ogm忽略逻辑
The file was modifieddata/other/flow_control.cpp
Commit 6b4cad426da64472bce0a1b42ba5414c4d02a0d1 by wuyanjun110
fix: 调整最大速度阈值以优化后向Ogm忽略逻辑
The file was modifieddata/other/flow_control.cpp
Commit df7f1ef3c7e632393236c47384f40942fc30f964 by wuyanjun110
feat: 添加核心对象库并优化可执行文件链接逻辑
The file was modifiedCMakeLists.txt
Commit 9139b2a6a7d5a69cee55395a332187bbf2a096fb by chenran
feat: add smooth_mode_wbca_params
The file was modifieddata/wbca/wbca_data.hpp
The file was modified.clangd
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 986293b15a5974c620ba0a521a5d167f82a50119 by chenran
fix: smooth_mode_wbca_params bug
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
Commit bcbdf46ad462f619475c1fdf3fb71e834a30d778 by wuyanjun110
fix: 修复车辆行进过程中，误进routing 方向的更新逻辑的bug
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 4b50a49607424665f8acfd256ac9e1dbd1baea94 by tangwenqing
fix: Keb Path Optimize Task解决方向盘抖动的问题（启用warm start）。改善低贝位挂车拉不直的问题。

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/data_structures/path.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit b4c8509dc59d5b832c6f297fbea4cb1161112772 by wuyanjun110
fix: 调整RefMatch匹配条件的范围以增强灵活性
The file was modifieddata/map/reference/reference_segment.cpp
Commit a73b8f4d7d8f7e5659d3be56c8f20f13c3e3ba9b by wuyanjun110
fix: 添加禁停区逻辑以避免在倒车路径区域创建禁停区
The file was modifieddata/constrain/block_data.cpp
Commit 676d5a425b2d7245cc5964a500bba444c3e2007e by tangwenqing
fix: SSEP: 解决西联IMV进停车位搜索失败的问题

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 modifiednode/main.cpp
The file was modifiedCMakeLists.txt
The file was modifiedcommon/other/version.hpp
The file was modifiedreplayer/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.cpp
The file was modifiedscenarios/scenario.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedscenarios/scenario_interface.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.hpp
The file was modifiedscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cpp
Commit 26f67573d71e96ade8fcb594cdcff81a75d1e006 by tangwenqing
fix: keb-path-optimize-task 优化低贝位挂车不直的问题

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 modifiedtasks/plan/keb_path_optimize_task.cpp
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 bdf1ef7712f7e5b5ed7747856466c73e81e90765 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 modifieddata/map/pnc_map/path_overlap.cpp
The file was modifiedhmi/draw/draw_map.cpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/map/pnc_map/path_overlap.hpp
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifieddata/constrain/disable_stop_range.cpp
Commit 68884d9316d33b45fc13365f4ffaf29e9a7e481e by tangwenqing
chore: 优化keb-path-optimize-task进堆场效果

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifieddata/config/cfg_lat_plan.cpp
Commit 823980e823db5df3c886893d6f87f528f9fb2db6 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.cpp
The file was modifieddata/app/reaction/app_reaction.hpp
The file was addeddata/app/cmd/cmd_reduce_safe_distance.cpp
The file was addeddata/app/cmd/cmd_reduce_safe_distance.hpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/app/app_data.hpp
The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifieddata/constrain/longitude_constrain.cpp
The file was modifieddata/app/app_data.cpp
Commit aafa159991f4a48c9ef692f1a8e047e7c424afb6 by tangwenqing
chore: keb param adjust

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit de884128bc0875b3d57de275946de95f2cd8b3e0 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 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 modifieddata/config/cfg_lat_plan.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifieddata/config/cfg_lat_plan.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 8eafd16a9aeb91372cbbeb9b45ed48da8f9af4e3 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.cpp
The file was modifieddata/ssep/online_region_contour_creator.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifieddata/map/envelop/map_envelops.hpp
The file was modifieddata/plan_frame.hpp
The file was modifiedplan/prepare/prepare_map_related.cpp
The file was modifieddata/map/envelop/map_envelops.cpp
The file was modifieddata/ssep/open_space_ec.hpp
Commit 88d62ee670ee5f633ebb48441a4bd2b2404fef60 by wuyanjun110
feat:调整指令的类别

The file was modifieddata/app/fsm/task_command_type.hpp
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.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
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 modifieddata/map/pnc_map/path_overlap.hpp
The file was modifieddata/constrain/disable_stop_range.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifieddata/constrain/block_data.cpp
The file was modifiedhmi/draw/draw_map.cpp
The file was modifieddata/map/pnc_map/path_overlap.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 addeddata/app/cmd/cmd_reduce_safe_distance.cpp
The file was modifieddata/app/fsm/task_command_type.hpp
The file was addeddata/app/cmd/cmd_reduce_safe_distance.hpp
The file was modifieddata/app/app_data.hpp
The file was modifieddata/app/app_data.cpp
The file was modifieddata/app/reaction/app_reaction.cpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/constrain/longitude_constrain.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit fe45ba157988b615c24bae4fe43d8b3302254918 by wuyanjun110
feat: 更新MapEnvelops类，增强路径转换功能，支持备用地图包络处理
The file was modifieddata/map/envelop/map_envelops.cpp
The file was modifieddata/map/envelop/map_envelops.hpp
The file was modifieddata/plan_frame.hpp
The file was modifieddata/ssep/online_region_contour_creator.cpp
The file was modifiedplan/prepare/prepare_map_related.cpp
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifieddata/ssep/open_space_ec.hpp
Commit 58293034061f9aa3edd075764961740dcf23e6c8 by wuyanjun110
fix:修复guidelien 中 overlap计算的bug
The file was modifieddata/plan/guide_line.cpp
The file was modifieddata/common/path.cpp
Commit 419f75f12ec66fbea96fb469cb3cd0e5e4c742c3 by chenran
fix: imv smooth_mode bug
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
The file was modifiedalgorithm/wbca/occupancy_grid_map/data_render.cpp
The file was modifieddata/wbca/grid_map/esdf_map.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifieddata/wbca/grid_map/esdf_map.hpp
Commit 2026f2b99af4241f05203d6d6a354eafc69ebbe9 by chenran
fix: imv start_pt bug
The file was modifieddata/plan/start_point_data.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.hpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 035e2cf830ba61ee63048e0e129dea20231d8af5 by chenran
fix: lock historical cloud point in replayer.

The file was modifieddata/config/cfg_hmi.cpp
The file was modifiedreplayer/logic.cpp
The file was modifiedhmi/replayer_hmi.cpp
The file was modifieddata/config/cfg_hmi.hpp
Commit dbd2812127d276e7ad1f968f358529e0ae53a5a1 by chenran
fix: add FORWARD_BEFORE_BACKWARD
The file was modifiedCMakeLists.txt
The file was modified.gitignore
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedtasks/deciders/search_decider/forward_search_decider.cpp
The file was modifieddata/decide/decide_reaction.hpp
Commit 448aee47e245f190381c830773c7a318c6b12374 by chenran
fix: ssep replan for  reversing truck.
The file was modifieddata/config/cfg_env_const.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.hpp
Commit 76b3a0eb6a03df0be0286a166616b28bfc5ccf5a by chenran
fix: refine deviation_stop params.
The file was modifieddata/config/cfg_env_const.cpp
Commit be714f29c973f94c63c32603e269273a23c7bfdd by chenran
fix: path disapearing issue.
The file was modifieddata/vehicle/request_routing_data.cpp
Commit ad4d815f1b2950b84c190c02d925b7debb42e282 by chenran
fix: trailer_path_ego match issue.
The file was modifiedplan/prepare/prepare_status.cpp
Commit f2e9dde3e2a7a459695b595cd8cc740d5d924eb7 by wuyanjun110
refactor: 注释掉低贝位作业相关的代码逻辑
The file was modifieddata/boundary/road_boundary.cpp
Commit 06ce627159426497944ccf43a460d672bea1611b by wuyanjun110
refactor: 注释掉低贝位作业相关的代码逻辑
The file was modifieddata/boundary/road_boundary.cpp
Commit 05cba2ab21ded99ccdfcb7f96508ea2873e8ccbd by chenran
refact: straighten then reverse.
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit a106c054091a39f8e38cabb78e45cec62f98e14d by chenran
fix: using map lane width for single line lane detection
The file was modifieddata/vehicle/lane_detection.cpp
Commit a9c9de3aebb610e9e0c105d0a9edb79f48aab9c8 by wuyanjun110
fix: 更新镜子相关参数的命名空间前缀为/pnc_node
The file was modifieddata/config/cfg_static.cpp
Commit 75ace1b4dce8a4dddcf1d6d3ceecc7810c013742 by wuyanjun110
fix:修复崩溃的bug
The file was modifieddata/other/flow_control.cpp
Commit 42eda6dd35e959268a2c138d1e7f238bb63f02e6 by wuyanjun110
feat: 添加自动获取大谢终点约束的功能
The file was modifieddata/ssep/into_yard_junction_ec.hpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 974f2e41451a6a980c4c8c2a9045fe75f2fc0490 by chenran
feat: stop for localization switching.
The file was modifieddata/plan/start_point_data.cpp
The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/vehicle/vehicle_state.hpp
Commit 66668fce0521286d4f78c74c849dadea94895432 by chenran
fix: log msf localization switching status.
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 09680d0ab04914754cc2ad5548709fa7a6706021 by wuyanjun110
feat: 添加搜索起点框的功能并优化车辆框生成逻辑
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit b04d7ce3f4cd18f062c3a4d858cf4ad39f3b1ab2 by wuyanjun110
fix: 更新GetLatPoint函数以考虑LKA控制模式
The file was modifieddata/plan/start_point_data.cpp
Commit d4b8b915fc9ba0e5f6f01e879c815c72750a0b12 by wuyanjun110
fix:虚拟停止线构建的bug
The file was modifieddata/plan/guide_line.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifiedhmi/draw/draw_guide_line.cpp
Commit 965f5fede6e0d702f94fc03e5949631fa39c590b by wuyanjun110
fix: 修正DrawUpperHead函数中镜子高度计算错误
The file was modifiedhmi/draw/draw_ego.cpp
Commit 9e80ba1dd25ec991530e8a553d3091634c647c0f by wuyanjun110
fix: 调整自动构建结束直线姿态和终点扩展长度的计算逻辑
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 7c94361ecd0a6331ad51d2fd135e9408b5638289 by chenran
fix: road segment splitting bug.
The file was modifieddata/map/pnc_map/pnc_map.cpp
Commit 883b412a5a96493f584d7058fabe6533c8e1c498 by wuyanjun110
feat: SSEP: 进堆场添加用专家经验生成的路径，拼接替换原始参考线。

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was addedssep/common/utils/reference_line_stitcher.cc
The file was modifiedssep/data_structures/path.h
The file was addedssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.cc
The file was addedssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.h
The file was modifiedssep/data_structures/path.cc
The file was modifiedssep/test/ssep_planner_test.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was addedssep/common/utils/reference_line_stitcher.h
Commit 33080cb2d7b4baef6313b23ed6f72c926954f829 by wuyanjun110
feat: SSEP: 进堆场跑通无搜索规划

The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/data_structures/path.cc
The file was modifiedssep/common/utils/reference_line_stitcher.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/data_structures/path.h
Commit ff3983e85440eec20a8d71008f9c044361eed42b by wuyanjun110
fix: keb task 修复路径被og点阻挡时轨迹异常的问题

The file was modifiedssep/common/utils/path_utils.h
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/common/utils/path_utils.cc
Commit d10baa56499a6a39ce844c37382b8dcb7886e5b5 by wuyanjun110
fix: 修复keb task碰撞检测使用路径长度过长的问题

The file was modifiedssep/data_structures/path.cc
The file was modifiedssep/data_structures/path.h
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 94045a905e6e7064aa83d3535b9a67e6f06bb3b3 by chenran
refact: GetRoadSegmentFirstSplitPos
The file was modifieddata/map/pnc_map/pnc_map.cpp
Commit 6602d54db962af381c83bd63f4d23cecef6f9642 by chenran
fix: road segment splitting bug.
The file was modifieddata/map/pnc_map/pnc_map.cpp
Commit 5ea473b606083edbe4736f0a0cb6fbf6bb141762 by chenran
refact: GetRoadSegmentFirstSplitPos
The file was modifieddata/map/pnc_map/pnc_map.cpp
Commit c423432f6f465d4814e1b8c6f5f102c54d077d0a by wuyanjun110
fix: SSEP: 修复无搜索模式可能崩溃的问题

The file was modifiedssep/common/utils/reference_line_stitcher.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
Commit 3fb22d781dee9b445918726ac70ab53834e032cf by tangwenqing
feat: SSEP: 进堆场添加用专家经验生成的路径，拼接替换原始参考线。

The file was modifiedssep/test/ssep_planner_test.cc
The file was addedssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.h
The file was modifiedssep/data_structures/path.cc
The file was modifiedssep/data_structures/path.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was addedssep/common/utils/reference_line_stitcher.h
The file was addedssep/common/utils/reference_line_stitcher.cc
The file was addedssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit c3a7a1c91bcb80596ed9371ab46d60af714681a3 by tangwenqing
feat: SSEP: 进堆场跑通无搜索规划

The file was modifiedssep/common/utils/reference_line_stitcher.cc
The file was modifiedssep/data_structures/path.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/data_structures/path.cc
Commit 943dbcf65482786bf0ae78eea7f6d02eca589b85 by tangwenqing
fix: keb task 修复路径被og点阻挡时轨迹异常的问题

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/common/utils/path_utils.cc
The file was modifiedssep/common/utils/path_utils.h
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
Commit d46b28a4575ad474b7b4fc9acf007636214fdaf6 by tangwenqing
fix: 修复keb task碰撞检测使用路径长度过长的问题

The file was modifiedssep/data_structures/path.h
The file was modifiedssep/data_structures/path.cc
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 55d35d7507cd3c3d289168dac7882b5db37d7bfb by tangwenqing
fix: SSEP: 修复无搜索模式可能崩溃的问题

The file was modifiedssep/common/utils/reference_line_stitcher.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
Commit 40be2a376bfdeb10ac8ac64ea311727ec8779caf by tangwenqing
fix: SSEP: 提升新版进堆场搜索的成功率

The file was modifiedssep/common/utils/path_utils.h
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
The file was modifiedssep/common/utils/path_utils.cc
Commit 1bdae8ae7d8ca3cd49b96dab5d54998d211a6f8c by wuyanjun110
fix: SSEP: 提升新版进堆场搜索的成功率

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/common/utils/path_utils.cc
The file was modifiedssep/common/utils/path_utils.h
Commit 8f68653b9d125843b6051233fc17eaaff5b7d41b by tangwenqing
feat: 普通卡车多段倒车入库时适配拉直点逻辑

The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/planner_utils.h
The file was modifiedssep/scenarios/planner_utils.cc
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit 935d321f793e198615189b481385443adda4536a by chenran
feat: lka deviation after crane
The file was modifieddata/ctrl/lka_start_up.cpp
The file was modifieddata/ctrl/lka_start_up.hpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifiedhmi/widget/diagnose.cpp
Commit 2a4a3514b4d6189f853259a0bb514c214ed33381 by tangwenqing
fix: SSEP: 修复变道路径可能有碰撞的问题

The file was modifiedssep/scenarios/tractor_trailer_lane_change_planner.h
Commit fd557192f4bb94e7e7313318315cfd0bd92abbde by wuyanjun110
fix: SSEP: 修复变道路径可能有碰撞的问题

The file was modifiedssep/scenarios/tractor_trailer_lane_change_planner.h
Commit f86bed86caa62e3d5c1390726a2b301711f4f61c by wuyanjun110
fix: SSEP: 修复变道路径可能有碰撞的问题

The file was modifiedssep/scenarios/tractor_trailer_lane_change_planner.h
Commit 5c74f7713ddb7866d189e49484343f797d0ea008 by tangwenqing
chore: keb task 增加最大转向角余量

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 848e7e9667e7e592c8ed63ddffe0a6fe77666f13 by wuyanjun110
chore: keb task 增加最大转向角余量

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 3e1daf4d64dbd6153996f3473694c915343be10d by wuyanjun110
chore: keb task 增加最大转向角余量

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 0ba658ed3f927a6d0b3dee0373a90b1c01086574 by tangwenqing
chore: keb实时优化 将转向角余量 提取为配置参数

The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 908911bfca576244174f10e54cd725ab9f30dd0e by wuyanjun110
fix: (临时处理)注释掉接收目标命令中的拖车标签和大小处理逻辑
The file was modifieddata/app/app_data.cpp
Commit 781cd4cf9b7ce57bc5c663fbdca5d7e6b0ce556c by tangwenqing
chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit 70d37c4b05efead9836daae68422a009780d7c02 by tangwenqing
feat: keb-task 输出的轨迹保持固定长度，解决轨迹越来越短导致到达不了终点的问题

The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit e728ba79f6b5a2662364a9ec29e3b0d0f1cb99e2 by wuyanjun110
feat: 优化overlap s重计算，增加起始和结束点的有效性检查
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
Commit 4759524e88de1ad03ab5db3fd72d4c61c2d1b352 by tangwenqing
fix: keb task ssep_end_s_ 赋值错误

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 4d8e13ea46ae52a342d5c9c904776950f10f37c3 by tangwenqing
feat: keb-task 输出的轨迹保持固定长度，解决轨迹越来越短导致到达不了终点的问题

The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 84511bc52b02c727f9da034c0684d9bdc6f35ac0 by tangwenqing
fix: keb task ssep_end_s_ 赋值错误

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 270076048affadcc2efda531703271bf59bdf934 by tangwenqing
fix: 解决西联IMV进停车位搜索过慢的问题

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
Commit 4c5d87ca4d81f80b640ece8b32e0037bd9d2907a by tangwenqing
fix: 集卡搜索时滤除起点和终点车挂内部的og点

The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/maps/ogm_builder.h
The file was modifiedssep/maps/ogm_builder.cc
Commit bb8ff43e7286899e0c671a7550fb06a6b551c13d by wuyanjun110
feat: 添加状态机切换时间参数并优化相关逻辑
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/vehicle/spreader_protect.cpp
The file was modifieddata/config/cfg_safe_const.hpp
Commit 9276281ddd0799eed3e58febe0b78a605e0fc179 by wuyanjun110
feat: 添加根据堆场内的车道名称扩展安全阈值
The file was modifiedsink/ros_sink_pnc_status.cpp
Commit b47fe07fc71e78f3f8434b8744c9dc847d63eba1 by wuyanjun110
chore: keb实时优化 将转向角余量 提取为配置参数

The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
Commit a02846152de185a088c757d3986eb904e1a4e17a by wuyanjun110
chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit bd3a0cd23b9935933c797ca80fb7e28c8dbabe97 by wuyanjun110
feat: 对多个范围更新函数添加排序逻辑，确保范围按顺序排列
The file was modifieddata/constrain/block_data.cpp
Commit 489a31b19ece7734f23e580bd9daf4025f81ad72 by wuyanjun110
feat: 优化 JudgeInStraightLane 方法，重构逻辑以提高可读性和维护性，添加辅助函数以简化任务状态和区域状态的计算
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifiedplan/prepare/prepare_status.hpp
Commit e47c3c07b6831723cd6fcec51d822e6a93b9c686 by wuyanjun110
feat: 优化 转场场桥的判断， 以及 场桥是否进行判断碰撞检测的逻辑
The file was modifieddata/obstacle/obstacle.cpp
The file was modifiedplan/prepare/prepare_objs.cpp
Commit b1675dfe8c52a2bf186d6788cc254920710cd40d by wuyanjun110
fix: 解决西联IMV进停车位搜索过慢的问题

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/scenarios/imv_enter_station_planner.h
Commit c3c9fddb6caedd6c3f73c42b6fc14e9e6bb61998 by wuyanjun110
fix: 集卡搜索时滤除起点和终点车挂内部的og点

The file was modifiedssep/maps/ogm_builder.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/maps/ogm_builder.h
Commit 63ac7fb6eefe80e06ffb73c9a9a7a339bf5c63b2 by wuyanjun110
feat: 对多个范围更新函数添加排序逻辑，确保范围按顺序排列
The file was modifieddata/constrain/block_data.cpp
Commit 259f597964ce71051e685f9b61fa3a14f9540303 by wuyanjun110
feat: 优化 转场场桥的判断， 以及 场桥是否进行判断碰撞检测的逻辑
The file was modifieddata/obstacle/obstacle.cpp
The file was modifiedplan/prepare/prepare_objs.cpp
Commit 57789ddab86ba54d6cfba72af2518081b6b5d509 by wuyanjun110
fix: 修正堆垛机特殊区域的横向扩展长度参数加载路径
The file was modifieddata/config/cfg_safe_const.cpp
Commit 394231d157e32897752b57338f4ce7005c15cbba by wuyanjun110
fix: 修正堆垛机特殊区域的横向扩展长度参数加载路径
The file was modifieddata/config/cfg_safe_const.cpp
Commit 67094e46383a0b33d5c95997caedc423eace3014 by wuyanjun110
fix: 解决西联IMV进停车位搜索过慢的问题

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/scenarios/imv_enter_station_planner.h
Commit bc071e41f2a92b8798ca568a10d6d7ebe6a4cb02 by wuyanjun110
feat: align move 状态下，假如挂的角度大于一定值，不倒车。 倒车的时候限制速度
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/plan/path_direction_data.cpp
Commit 64d386ad766bd636bab93766fb2da25c04a45378 by wuyanjun110
feat: align move 状态下，假如挂的角度大于一定值，不倒车。 倒车的时候限制速度
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/plan/path_direction_data.cpp
Commit b4d00b792d4bb9e71da250164808250583acf73c by wuyanjun110
fix: 集卡搜索时滤除起点和终点车挂内部的og点

The file was modifiedssep/maps/ogm_builder.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/maps/ogm_builder.cc
Commit b99a6ef817f1b8c94f2aea6df788b676e1a3bdc3 by wuyanjun110
chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit 66fa765b858984a42c41669ae4b2c8ee600e000d by wuyanjun110
fix: keb task 修复路径被og点阻挡时轨迹异常的问题

The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/common/utils/path_utils.h
The file was modifiedssep/common/utils/path_utils.cc
Commit 9da2dbb539fbd9991221ecec7ed1b5ab5dcf5756 by wuyanjun110
feat: 杨浦 B003 B004适配
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit a55b1d4a04856902abcc98cb26e679a7322b4031 by tangwenqing
chore: SSEP: 自卸车进出散货堆场搜索使用软约束

The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
Commit c184036c04cbd54cbf2d38a50522c261f87a91bc by chenran
feat: yard name verification.
The file was modifieddata/ctrl/lka_start_up.cpp
Commit bce64a9fb9bed66c594b0a207511d989c4039b9f by tangwenqing
feat: 普通卡车多段倒车入库时适配拉直点逻辑
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/planner_utils.cc
The file was modifiedssep/scenarios/planner_utils.h
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit 678aa94ed48bdae8222f00caa2159d3a4f765e93 by wuyanjun110
fix: 调整对拖车姿态有效性的角度判断阈值
The file was modifieddata/plan/path_direction_data.cpp
Commit 14b080ef741e8924a6badc3e3895b8fcadb83c99 by wuyanjun110
fix: 调整对拖车姿态有效性的角度判断阈值
The file was modifieddata/plan/path_direction_data.cpp
Commit 7d345fe068388c5cfcafa2b5146f647344bd4239 by tangwenqing
fix: SSEP: 修复集卡进堆场S弯轨迹不合理，及自适应拉直距离失效的问题

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 6150b7d1445ee5be72794b493d46d708742e1b2f by wuyanjun110
feat: 增加对车道有效性的检查，确保车道ID在实际车道ID列表中
The file was modifiedplan/prepare/prepare_objs.cpp
Commit f73f14c1abecb7d72ead16573ba2801d4688ec3b by wuyanjun110
chore: SSEP: 自卸车进出散货堆场搜索使用软约束

The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
Commit 83543a38fe864a91b8574d0637c45ef2d8533bfe by wuyanjun110
fix: SSEP: 修复集卡进堆场S弯轨迹不合理，及自适应拉直距离失效的问题

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit cf69665bcc958500349e2fa758f961203e97ac62 by tangwenqing
fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。

The file was modifiedssep/common/utils/path_utils.cc
Commit 88fe599342bb3d5e99b4f73b388d3a36f9f7d320 by wuyanjun110
fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。

The file was modifiedssep/common/utils/path_utils.cc
Commit 989199e3abcea69d8f2c3a5b02eea5fed4b5f2e5 by wuyanjun110
fix: 调整路径重叠的起始和结束点设置，确保不超出有效范围
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
Commit eb8b675d5b80921a05bcf7cfd6d9c37677c0398b by wuyanjun110
fix: 调整路径重叠的起始和结束点设置，确保不超出有效范围
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
Commit 46589607901cc2599655efe869c7b40651bcffc8 by chenran
feat: add position check for reversing
The file was modifieddata/config/cfg_env_const.hpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/config/cfg_env_const.cpp
Commit 219b35a8cff152c0d01f914ba16d1ee88c9c26dc by tangwenqing
feat: Add Keb-Lane-Follow Task

The file was modifieddata/config/cfg_stage.hpp
The file was modifieddata/config/cfg_stage.cpp
The file was modifiedtasks/task_factory.cpp
The file was addedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedssep/ssep_planner.cc
The file was addedtasks/plan/keb_lane_follow_path_task.hpp
Commit fb9f4cef0ec26de180bbc86b8707a4d98ffa9aaf by tangwenqing
fix: SSEP: 西联进充电桩压线问题修复

The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/common/utils/path_utils.cc
Commit 6f21bc5a6c0ac05e0ab717fe7bad09c38ee1a2f0 by tangwenqing
feat: SSEP:  普通卡车搜索增加“final_straight_distance”参数配置项

The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/truck_general_planner.h
Commit cd315a7c5379a39b970324c059728920143fa523 by chenran
fix: disable revsersing deviation.
The file was modifieddata/config/cfg_env_const.cpp
Commit b53f0a1cd6255d70b5f57042afbb4c5b5e5a1cd5 by tangwenqing
feat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离

The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
Commit d7b38ac92fd4feea0f081ba7b8d1bdf9ef6d74c4 by wuyanjun110
feat:杨浦低贝位适配
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit d8c6278e4447d5e4f9d4ce98f9acd13dc367adcf by chenran
feat: limit straithen times.
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifiedplan/prepare/prepare_status.hpp
The file was modifiedplan/prepare/prepare_status.cpp
Commit 1158a27743ae3cbb4a0c1095e7850143daf14aea by chenran
feat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离

The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
Commit 0ac0111c82d8bb79499fdd3ea8f5ae49ea41a38d by tangwenqing
fix: SSEP: 修复苏溪IMV出停车位可能绕大圈的问题

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
Commit 1af3c8f1db01d0693586e98cad36c87580ac5c56 by chenran
fix: reversing times bug
The file was modifiedplan/prepare/prepare_status.cpp
Commit 98ceb2ee4254cb399a4a3bb1901cc13987cfbbc8 by tangwenqing
fix: SSEP: 解决普通卡车多段倒车进卸料点路径可能跳变的问题

The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
Commit 9e70c8344cefa2dce322bdebaded279a165ebaed by chenran
fix: checkout feat_keb_task
The file was modifiedssep/common/utils/path_utils.cc
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/scenarios/truck_general_planner.h
Commit 89102f4e856e982cd6a002d274678e2f0e19dff8 by chenran
fix: reversing ssep planner bug
The file was modifiedssep/ssep_planner.cc
Commit a29eb1c83bacb6b66111a68719a9a3937fa350d1 by chenran
fix: reversitong activation position thr 10.0
The file was modifiedplan/prepare/prepare_status.cpp
Commit 78b03829ca619e234632e08ef4a2fec031ee502a by wuyanjun110
feat:合并ssep更改
The file was modifiedssep/common/utils/path_utils.cc
The file was modifiedssep/scenarios/planner_utils.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/planner_utils.h
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
Commit cd4d9dd354b21917814376879733624be88f3dbd by tangwenqing
fix: SSEP: 精确倒车时不使用历史路径

The file was modifiedssep/ssep_planner.cc
Commit 0790824356c822d73ea7452ea501676bdf42445f by wuyanjun110
feat: 添加车辆姿态设置功能并更新测量和角度显示逻辑
The file was modifiedhmi/widget/replayer_pnc_mat.cpp
The file was modifiedhmi/common/pnc_graphics_view.hpp
The file was modifiedhmi/widget/pnc_mat.cpp
The file was modifiedhmi/common/pnc_graphics_view.cpp
Commit f2e8e1e7d82d9f4cfa9d95d99fac30edcd26d961 by tangwenqing
fix: SSEP: 修复普通卡车搜索拉直段失效的问题

The file was modifiedssep/scenarios/truck_general_planner.h
Commit 2bf315098c6338d37740c7d9754ae76a47e91a51 by wuyanjun110
fix: SSEP: 修复普通卡车搜索拉直段失效的问题

The file was modifiedssep/scenarios/truck_general_planner.h
Commit e77b10f61749b6e9afd05a75fdfafd11a38f7b37 by wuyanjun110
feat:适配友谊关进停车的拉正距离
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/ssep/forward_ec.hpp
Commit e6b92869883057da0681b03f5113122025ef0983 by chenran
fix: disable default LKA deviation.
The file was modifieddata/ctrl/lka_start_up.cpp
Commit 882808fccb8e2b57410240ce996fd01f871924aa by tangwenqing
feat: SSEP: 增加离线轨迹库功能（包括轨迹库生成与可视化）

The file was addedssep/protos/path_repository.proto
The file was modifiedssep/offboard/servers/CMakeLists.txt
The file was addedssep/offboard/servers/path_repository_vis_html_template.cc
The file was addedssep/offboard/generate_path_repository/generate_path_repository_cli.cc
The file was addedssep/offboard/servers/path_repository_vis_html_template.h
The file was addedssep/offboard/generate_path_repository/CMakeLists.txt
The file was addedssep/protos/state_match_condition.proto
The file was addedssep/offboard/servers/path_repository_vis_server.cc
The file was modifiedssep/CMakeLists.txt
Commit fa455161c9a61091ea7b4aa829a89ce4ac9fed36 by chenran
fix: lka deviation bug
The file was modifieddata/ctrl/lka_start_up.cpp
The file was modifieddata/ctrl/lka_start_up.hpp
Commit 86499e111872b1d3d1c5d563a19973150c47adc5 by chenran
feat: add lbfgs prevous version.
The file was modifiedthirdparty/lbfgs/lbfgs.hpp
Commit bce6bb1dbfa57b881faf7ad6886f49a37230adc9 by chenran
feat: add lbfgs prevous version.
The file was modifiedthirdparty/lbfgs/lbfgs.hpp
Commit c40f17e705fcd22d588f509e223b97afd6f94701 by tangwenqing
feat: SSEP: 接入离线轨迹库

The file was addedssep/data_structures/path_repository_manager.cc
The file was addedssep/data_structures/state_match_condition.cc
The file was modifiedssep/ssep_planner.h
The file was addedssep/data_structures/state_match_condition.h
The file was modifiedssep/protos/path_repository.proto
The file was modifiedssep/offboard/generate_path_repository/generate_path_repository_cli.cc
The file was modifiedssep/ssep_planner.cc
The file was addedssep/data_structures/path_repository_manager.h
Commit a08b0d9eda7192187c98b20f94d44a8b82adff81 by wuyanjun110
feat: 苏溪调箱门场景适配
The file was modifieddata/ssep/normal_junction_ec.cpp
Commit dcd2450448bb377cf40c303ca4fd20ff96970bb2 by chenran
fix: filter bend sceneario for align target.
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
Commit 1613b12c1f873e85b5db4546d718acc3f000a041 by wuyanjun110
feat: 添加无效侧通行点检查和虚拟障碍物生成逻辑
The file was modifieddata/obstacle/ogm.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/boundary/driving_corridor.cpp
The file was modifieddata/obstacle/ogm.hpp
Commit fb8de5cde2aa0863bec4b2fcbdcbd5efea6a3e07 by wuyanjun110
refactor:优化 停止线所属junction的判断逻辑
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
Commit 73643888aac8b5f7b0a28de66d6b9dae5c35014e by tangwenqing
fix: SSEP: 修复苏溪集卡进停车位可能停歪的问题

The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 6561aae642b08a5f52f0e42603e97e44a5bb95b7 by wuyanjun110
feat:合并ssep更改
The file was addedssep/data_structures/path_repository_manager.cc
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was addedssep/offboard/generate_path_repository/CMakeLists.txt
The file was modifiedssep/offboard/servers/CMakeLists.txt
The file was addedssep/data_structures/state_match_condition.h
The file was addedssep/protos/path_repository.proto
The file was addedssep/offboard/servers/path_repository_vis_server.cc
The file was addedssep/offboard/generate_path_repository/generate_path_repository_cli.cc
The file was addedssep/data_structures/path_repository_manager.h
The file was addedssep/offboard/servers/path_repository_vis_html_template.cc
The file was modifiedssep/ssep_planner.cc
The file was addedssep/offboard/servers/path_repository_vis_html_template.h
The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
The file was addedssep/protos/state_match_condition.proto
The file was modifiedssep/ssep_planner.h
The file was addedssep/data_structures/state_match_condition.cc
Commit d75a79ff291255b2073946e678d0ef4e69c69c4a by tangwenqing
fix: SSEP: 修复IMV掉头进堆场轨迹绕圈问题，提升搜索成功率，加快搜索速度

The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
Commit 71318654777a1d34b5e432c05012dcba1defbcf9 by tangwenqing
feat:  SSEP: 完善离线轨迹框架，IMV进充电桩场景跑通离线轨迹全流程

The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/offboard/servers/path_repository_vis_html_template.cc
The file was modifiedssep/protos/scene.proto
The file was modifieddata/config/cfg_ssep.hpp
The file was modifiedssep/CMakeLists.txt
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/data_structures/path_repository_manager.h
The file was modifiedssep/protos/path_repository.proto
The file was modifiedssep/data_structures/path_repository_manager.cc
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifiedssep/offboard/servers/path_repository_vis_server.cc
The file was addedssep/protos/operation_mode.proto
The file was modifieddata/config/cfg_ssep.cpp
The file was modifiedssep/offboard/generate_path_repository/generate_path_repository_cli.cc
The file was modifiedssep/offboard/scene_replay/CMakeLists.txt
Commit 7083a00f7acd9d060708d1f01df5c82a7e6537f5 by chenran
fix: curvature over limit filer.
The file was modifieddata/constrain/block_data.cpp
Commit 2c034f89e04c6b63b9a9b3325f0114aa3d23c67c by tangwenqing
chore: SSEP: 精准倒车时，搜索器采用更严格的曲率上限，确保优化完不超限

The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
Commit 0fee299f74d88e995f954a18306383d3d5d47e65 by wuyanjun110
fix:终点低贝位时， 然后场桥低贝位不重新搜索的bug
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit add9f556e95b2608a803429926180a9f8765565b by wuyanjun110
feat:合并ssep

The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
The file was addedssep/offboard/generate_path_repository/generate_path_repository_cli.cc
The file was addedssep/data_structures/state_match_condition.cc
The file was modifiedssep/protos/scene.proto
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was addedssep/protos/operation_mode.proto
The file was modifiedssep/offboard/scene_replay/CMakeLists.txt
The file was addedssep/protos/state_match_condition.proto
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/ssep_planner.h
The file was addedssep/data_structures/path_repository_manager.h
The file was addedssep/protos/path_repository.proto
The file was addedssep/offboard/servers/path_repository_vis_server.cc
The file was modifiedssep/scenarios/truck_general_planner.h
The file was addedssep/data_structures/path_repository_manager.cc
The file was addedssep/offboard/generate_path_repository/CMakeLists.txt
The file was modifiedssep/offboard/servers/CMakeLists.txt
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was addedssep/data_structures/state_match_condition.h
The file was addedssep/offboard/servers/path_repository_vis_html_template.h
The file was addedssep/offboard/servers/path_repository_vis_html_template.cc
Commit e5b729ff7d0611bdbb69ddcee59054dda48c439b by chenran
fix: filter wbca path by cost
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifiedhmi/widget/diagnose.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedalgorithm/wbca/path_optimization/car_path_optimization.cpp
Commit 6dcf15351db344dcd55fc9aab5b4752d79ece05c by chenran
fix: add switch for lbfgs to lbfgs_new
The file was modifiedthirdparty/lbfgs/lbfgs.hpp
The file was modifiedalgorithm/wbca/path_optimization/car_path_optimization.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/truck_path_optimization.cpp
Commit 4b8fd569d6e9e0b2fce5f82fcc1492a931254c13 by chenran
fix: using new l_bfgs
The file was modifieddata/config/cfg_lat_plan.cpp
Commit 43b5f43e081e3fcb19611dabd32690bbb038433f by chenran
fix: cost filter for imv and truck
The file was modifiedalgorithm/wbca/path_optimization/truck_path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit 2a5ee030a1f09fe7ea1a0acb1ad907cc7a2ee8fa by chenran
fix: align_target to align_done bug
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
Commit 0afabfef75fe9e5647647d2c76ff30a5a8462dcf by chenran
fix: activate wbca smooth mode in align fsm.
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit dd3cd4ffa16307ef8ec1e14b7c9d54612569cec7 by wuyanjun110
feat:直道地图包络构建的优化
The file was modifieddata/map/envelop/map_envelop.cpp
Commit 0cb819d21bf799329879a48cde4521ad3d9ee993 by wuyanjun110
feat: （动态搜索的box框),优化生成平行框的距离计算逻辑
The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 0cea97bb59690e21b8c78f6f57dba06bc21bb1f5 by wuyanjun110
fix: 更新DrawObject函数中的颜色值注释
The file was modifiedhmi/draw/draw_map.cpp
Commit 2d88b884ef5a90f28725b9ee8a903052746dae20 by chenran
fix: filter wbca cost without collision cost.
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
The file was modifiedalgorithm/wbca/path_optimization/truck_path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/car_path_optimization.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 16c1b08fd90dfbe96d6c19eee677e0c277106059 by chenran
fix: LKA deviation for out_yard
The file was modifieddata/ctrl/lka_start_up.cpp
Commit 419575f0bc72c58284e15eeb174aeac24f3654e1 by tangwenqing
Refactor: 重构keb task，提高可读性，梳理参数并与PlanFrame解耦，支持后续构建离线仿真调试。

The file was addedalgorithm/plan/keb_optimizer.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifieddata/common/path.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedssep/data_structures/path_utils.h
The file was addedalgorithm/plan/keb_optimizer.cpp
Commit 4de10bd1f7623353d9d60d08794d4ec1a46f5ec5 by wuyanjun110
feat:优化跨运车的搜索
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/vehicle/vehicle_destination.cpp
Commit f0150e3d3ab34ee7357c0d80af6d509b2deb1cd4 by tangwenqing
feat: Keb-Task: task与algorithm解耦，进一步梳理keb algorithm的模块输入输出。replayer增加KebScene数据提取功能。

The file was modifieddata/common/path_point.cpp
The file was modifiedCMakeLists.txt
The file was addedproto/data_path.proto
The file was modifiedreplayer/main.cpp
The file was addedproto/CMakeLists.txt
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedhmi/replayer_hmi.hpp
The file was modifiedreplayer/logic.cpp
The file was addedproto/keb_scene.proto
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifieddata/common/path_point.hpp
The file was modifiedreplayer/logic.hpp
The file was modifiedssep/maps/ogm.cc
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.hpp
The file was modifiedssep/CMakeLists.txt
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was modifiedssep/maps/ogm.h
The file was modifieddata/common/path.cpp
The file was addedtasks/plan/keb_utils.hpp
The file was addedtasks/plan/keb_utils.cpp
The file was addedssep/protos/ogm.proto
The file was modifieddata/common/path.hpp
The file was modifiedssep/maps/ogm_builder.cc
The file was modifiedhmi/replayer_hmi.cpp
Commit b908866bb5fc622e0b5c38abb054065846fac533 by wuyanjun110
feat:调整换向缩小安全距离的阈值
The file was modifieddata/config/cfg_long_plan.cpp
Commit 9166b6f5cf02de41c7d254793596e93b4095b8d7 by wuyanjun110
fix:修复变道的约束
The file was modifieddata/ssep/ex_lane_change_ec.cpp
Commit 03835a6edefc7751fa29c0afa94c963e61ef852e by wuyanjun110
fix:修复变道的约束
The file was modifieddata/ssep/ex_lane_change_ec.cpp
Commit 59a8b4953c0034a76e4621e903299f15a73ee06e by wuyanjun110
feat: 增加ALIGN命令相关错误类型并更新状态处理逻辑
The file was modifiedhmi/widget/command.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/app/cmd/cmd_align.cpp
The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifieddata/app/fsm/task_command_type.cpp
The file was modifieddata/vehicle/vehicle_status.hpp
The file was modifieddata/vehicle/vehicle_status.cpp
Commit 485ee6c90f4b6efd1d8e6ac773ad61e1f3b27331 by chenran
fix: cloud areas avoidence.
The file was modifieddata/obstacle/ogm.cpp
The file was added.codex
Commit 5492d6800ec62aba7edeff396c22e32c2367048a by chenran
fix: checkout ssep from feat_keb_task
The file was modifiedssep/maps/ogm.h
The file was modifiedssep/data_structures/path_repository_manager.cc
The file was modifiedssep/data_structures/path_repository_manager.h
The file was addedssep/protos/ogm.proto
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/maps/ogm_builder.cc
The file was modifiedssep/offboard/servers/path_repository_vis_server.cc
The file was modifiedssep/data_structures/path_utils.h
The file was modifiedssep/maps/ogm.cc
The file was modifiedssep/offboard/servers/path_repository_vis_html_template.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/protos/path_repository.proto
The file was modifiedssep/offboard/generate_path_repository/generate_path_repository_cli.cc
Commit 49256fc5857617c9ec947e1e70e59a7fe592a985 by chenran
feat: checkout relate_offset from feat_straddle_v2
The file was modifieddata/vehicle/related_offset.hpp
The file was modifieddata/vehicle/related_offset.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifiedplan/prepare/prepare_offset.cpp
The file was modifiedsource/ros_source_offset.cpp
The file was modifieddata/config/cfg_env_const.hpp
Commit 44df58cea3903417a9131a306456a68dbbdce578 by chenran
feat: add DeviationStatus
The file was modifieddata/plan_frame.cpp
The file was modifieddata/plan_frame.hpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was addeddata/vehicle/deviation_status.cpp
The file was addeddata/vehicle/deviation_status.hpp
Commit f8e0a36c66f5040d93ab15f3eea8eedecc5d9f92 by tangwenqing
chore: keb-task: 完整跑通keb-scene extranction及可视化全流程

The file was addedoffboard/keb_vis_server/keb_vis_html_template.h
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was addedoffboard/keb_vis_server/CMakeLists.txt
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifiedssep/protos/ogm.proto
The file was modifieddata/plan/start_point_data.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was addedoffboard/keb_vis_server/keb_vis_server.cc
The file was modifiedssep/maps/ogm.cc
The file was modifiedssep/maps/ogm.h
The file was addedoffboard/keb_vis_server/keb_vis_html_template.cc
Commit a1a26f2d57ce4bf6557d71580132ced3c17bf8a6 by chenran
feat: add update_end_position for ssep replan.
The file was modifieddata/decide/decide_reaction.hpp
Commit e0b3376c588f78e040bd3b0bf6df8a204be651dc by chenran
feat: deviation for align
The file was modifieddata/vehicle/deviation_status.hpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/vehicle/deviation_status.cpp
Commit a2dea387ad7cf18e899b5e4fad9f818ccfea8fae by wuyanjun110
refactor:朝海侧，右转横二路，边界优化
The file was modifieddata/ssep/normal_junction_ec.cpp
Commit ec4d35f41324aa76809ec6751edbe77100865758 by wuyanjun110
refactor:极限变道约束优化
The file was modifieddata/ssep/ex_lane_change_ec.cpp
Commit 09c794cf8bb7f149f81d16444d7530994c976e9d by wuyanjun110
refactor:朝海侧，右转横二路，边界优化
The file was modifieddata/ssep/normal_junction_ec.cpp
Commit 730037190ab095ff3004718347429c4e827549c3 by wuyanjun110
refactor:极限变道约束优化
The file was modifieddata/ssep/ex_lane_change_ec.cpp
Commit 8fb3cc2a97083c3f930ec6dc668b4defbb7c3726 by chenran
fix: ssep replan for bulk align.
The file was modifieddata/vehicle/deviation_status.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/vehicle/related_offset.cpp
The file was modifiedhmi/draw/draw_ego.cpp
The file was modifieddata/decide/decide_reaction.cpp
The file was modifiedplan/prepare/prepare_offset.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit 9c32cddd4754aeba740e36ba349aab4e24f2d3e8 by chenran
fix: reverse bulk offset heading
The file was modifieddata/vehicle/related_offset.cpp
Commit 03a16b1951a8759def877fa6f2567a4a8ff87ea4 by wuyanjun110
feat: 添加地图限速膨胀系数并更新速度限制计算
The file was modifieddata/plan/guide_line.cpp
The file was modifieddata/plan/guide_line_base.hpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/config/cfg_long_plan.hpp
Commit d4e913f216407576df39fab3f728b07e6282b424 by chenran
feat: limit reversing align times
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/vehicle/deviation_status.cpp
Commit 52abfb30b6c58693392fbab9c7aa288e231a3901 by tangwenqing
feat: Keb-Task: 完整跑通keb调试数据提取、离线仿真、可视化。

The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifieddata/ssep/field_junction_ec.hpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/cost_features/dynamic_constraint.h
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifiedCMakeLists.txt
The file was modifiedproto/keb_scene.proto
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifiedoffboard/keb_vis_server/keb_vis_html_template.cc
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was addedoffboard/keb_path_opt_cli/keb_path_opt_cli.cc
Commit 6862fa7baf3e2ea29901804dc68811836d0a2ec5 by wuyanjun110
refactor: openspace中的参考线为pnc引导线
The file was modifiedssep/scenarios/scenario_planner_factory.h
Commit 872795a1a0f295bc2a654f87ac3d581f7d5ed224 by wuyanjun110
fix:imv下码头搜索失败的bug
The file was modifieddata/ssep/open_space_ec.cpp
Commit a8a77d0c941af4a95bc3670a81a607e4ab3ed093 by tangwenqing
fix: 修复imv普通搜索参考线错误的问题

The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/imv_general_planner.h
Commit 1bfa73de87f15d05a5d6a4ce6b7567405c3a65d9 by tangwenqing
fix: 修复imv普通搜索参考线错误的问题

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/scenarios/scenario_planner_factory.h
Commit 52b5cdfbedb852982b4aee273b9ec123661e2492 by wuyanjun110
fix:修复反向出停车位的bug
The file was modifieddata/other/flow_control.cpp
Commit 573112a5fff58141b971f584de3609204f935a3f by wuyanjun110
fix:修复停止线绑定juntion的bug
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
Commit ebbb633c102e5c17cf27904916b01b96810d114e by wuyanjun110
refactor:优化场桥转场判断
The file was modifieddata/constrain/block_data.cpp
The file was modifiedplan/prepare/prepare_objs.cpp
Commit 15e9e4cee79dce43e032ac44ce5a5ee6b43a671e by wuyanjun110
refctor:优化转场场桥box的使用
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/plan/predict_path.cpp
Commit 8a1ed37652a79a30555595042f30db1bd61076fb by chenran
fix: ignore sc_target align_offset during large lateral deviation.
The file was modifiedplan/prepare/prepare_offset.cpp
The file was modifieddata/vehicle/related_offset.cpp
Commit 62b89686f4a1c19ee1e01cb9728e75cd45b20c18 by chenran
fix: log align info; serialize bulk_align_offset
The file was modifieddata/plan_frame.cpp
The file was modifieddata/vehicle/deviation_status.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit 823ba5df56c967431bdf659641beb1b5f8e94fe5 by chenran
fix: log stop_deviation_for_algn
The file was modifieddata/vehicle/deviation_status.cpp
Commit 8ccf5f548cd0e4131c1b82954c2adecdac06c3e2 by tangwenqing
fix: SSEP: 提升太阳纸业自卸车出堆场成功率

The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
Commit 0dc5d5a34dfaca3c7c3379062c47c16c69b64365 by wuyanjun110
fix: SSEP: 提升太阳纸业自卸车出堆场成功率

The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
Commit 9271ccec604819e8591030767febe7b72acc8052 by chenran
fix: pnc_map splitting error.
The file was modifieddata/map/pnc_map/pnc_map.cpp
Commit 480404c57f2a071947cc17402c0420e4c885f35a by chenran
fix: pnc_map splitting error.
The file was modifieddata/map/pnc_map/pnc_map.cpp
Commit cb4d9f128e3c5f9691bbeb42c422b23711f7aa61 by tangwenqing
feat: Keb-task: 碰撞检测使用dual-layer双层检测。同步更新仿真与可视化

The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was addedssep/keb_optimizer/cost_features/dual_layer_disk_collision_cost.h
The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was modifiedoffboard/keb_path_opt_cli/keb_path_opt_cli.cc
The file was modifiedtasks/plan/keb_utils.hpp
The file was modifiedssep/param_loader/param.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/maps/ogm.h
The file was modifiedproto/keb_scene.proto
The file was modifiedssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
The file was modifiedtasks/plan/keb_utils.cpp
The file was addedssep/keb_optimizer/cost_features/dual_layer_trailer_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedoffboard/keb_vis_server/CMakeLists.txt
The file was modifiedssep/protos/params.proto
The file was modifiedoffboard/keb_vis_server/keb_vis_html_template.cc
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
Commit 78cecf1ba9ad4a0ecc14fb30756722d7d294ec61 by tangwenqing
chore: SSEP: 集卡多段倒车场景，Replan时加入最后一段拉直逻辑

The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/scenarios/stitching_replanner.h
Commit 417c0854f98abcc3a27da26348c4ca5116b2fb97 by tangwenqing
fix: SSEP: 提升太阳纸业自卸车出堆场成功率

The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
Commit cf9ba1f557eaf34408610eb1ee0cce4be1e897ee by tangwenqing
chore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度

The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
Commit c3744d5c2226e5ec04a54249deca78e4abaa48d9 by tangwenqing
chore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度

The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
Commit a37db28239f7ff646e2cfd4741956d0931f16012 by wuyanjun110
chore: SSEP: 集卡多段倒车场景，Replan时加入最后一段拉直逻辑

The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/scenarios/stitching_replanner.h
Commit c056957f24f960655444350738b1f87cfd43dfee by wuyanjun110
chore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度

The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 6689b96da152ff775738a4d8549f63c3a4006ef5 by wuyanjun110
fix: SSEP: 提升太阳纸业自卸车出堆场成功率

The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
Commit bc123663a2b96f1de8212916ac10b2311921b2ea by wuyanjun110
fix:极限变道不replan的bug
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedtasks/deciders/search_decider/ex_lane_change_search_decider.cpp
Commit 03c0657ce15b2d36b9b7db1be30a799619f63c7b by wuyanjun110
fix:极限变道不replan的bug
The file was modifiedtasks/deciders/search_decider/ex_lane_change_search_decider.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit da89721cf51cc043236212892929ab5f695057cd by wuyanjun110
fix: 优化SmoothTask执行逻辑，增加对特定条件的处理
The file was modifiedtasks/plan/smooth_task.cpp
Commit 9fd0e87b9539412176f5438b4cf8fa2c4353941a by tangwenqing
chore: SSEP: 解决集卡多段倒车可能绕圈的问题

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 8e49862c79f39612bfc375ccd4713261e70a0418 by wuyanjun110
chore: SSEP: 解决集卡多段倒车可能绕圈的问题

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
Commit d666a45ca3767b4b91105fb1fb0f7d32135b68cf by wuyanjun110
refactor:优化小地图绘制时间过长的问题
The file was modifiedhmi/widget/map.cpp
The file was modifiedhmi/widget/replayer_map.cpp
The file was modifiedhmi/common/image_viewer.cpp
The file was modifiedhmi/common/image_viewer.hpp
The file was modifiedhmi/widget/map.hpp
The file was modifiedhmi/widget/replayer_map.hpp
Commit a37d003f3d78285b1caa441cbe8d88a4cb213a04 by wuyanjun110
feat: 添加点云底图加载功能，支持异步加载和清除操作
The file was modifiedhmi/draw/draw_map.hpp
The file was modifiedhmi/node_hmi.cpp
The file was modifiedhmi/replayer_hmi.cpp
The file was modifiedhmi/draw/draw_map.cpp
Commit 4276d18dd2fdd47232479f7a347a05597563a7cc by wuyanjun110
feat: 添加虚拟障碍物长度限制，优化创建虚拟障碍物的性能
The file was modifiedhmi/common/pnc_graphics_view.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit 7f9930f514e94f399ae91826d94469b8c4543ac7 by tangwenqing
fix: SSEP: 修复多段倒车路径异常问题

The file was modifiedssep/ssep_planner.cc
Commit c60e0265ea92e647e55b5f4eb78622385dbc7dd0 by tangwenqing
fix: SSEP: 修复多段倒车路径异常问题

The file was modifiedssep/ssep_planner.cc
Commit 37980ff352590504416c64de985244f7000d8da5 by tangwenqing
feat: keb实时优化 - 双层车体碰撞模型通过离线测试

The file was removedssep/keb_optimizer/cost_features/dual_layer_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/param_loader/param.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/cost_features/trailer_disk_collision_cost.h
The file was removedssep/keb_optimizer/cost_features/dual_layer_trailer_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
The file was modifiedoffboard/keb_vis_server/keb_vis_html_template.cc
The file was modifiedssep/protos/params.proto
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedCMakeLists.txt
Commit c0ec70f60f70c13f1633236b6113eceef4924922 by chenran
feat: set up max_forward_distance
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_env_const.hpp
Commit 8d0a9328235149cea3ae87be7d21efde5c8a236a by tangwenqing
feat: keb-task 仿真工具增加场景扩展功能与基于场景扩展的闭环仿真

The file was addedoffboard/keb_path_opt_cli/closed_loop_utils.hpp
The file was addedoffboard/keb_path_opt_cli/closed_loop_utils.cc
The file was modifiedCMakeLists.txt
The file was addedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was addedoffboard/keb_path_opt_cli/keb_scene_converter.hpp
The file was modifiedoffboard/keb_path_opt_cli/keb_path_opt_cli.cc
The file was addedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was addedoffboard/keb_path_opt_cli/keb_simulator.hpp
Commit eabb10afdc35e185d27771aac7ba24bd61889764 by tangwenqing
fix: SSEP: 修复自卸车进卸料区路径有点斜的问题

The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/stitching_replanner.h
Commit 64ef83d02cb4ee10b6552d567e1250eeeb5ced6d by chenran
fix: fiter cost_beta
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 8c49f9003629be806d9bcb5d3d56368d2ca44315 by chenran
fix: align to done
The file was modifiedplan/prepare/prepare_status.cpp
Commit 28b808307c8011970b2cdff7fa66961de6217668 by chenran
feat: trust-region solver based WBCA
The file was modifiedalgorithm/wbca/path_optimization/truck_path_optimization.cpp
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/path_optimization.hpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was addedthirdparty/trust-region/truncated_cg_trust_region.hpp
Commit 8ac969a8781279ff5844967394890d8214fff0a7 by chenran
fix: max_ref_len 60
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 2490554ec1ffd26960e68a6b577d38b19e90a56d by chenran
fix: SSEP: 修复自卸车进卸料区路径有点斜的问题

The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/stitching_replanner.h
Commit 8667ab96d09a1370c69066ea1ffe91c989e814f5 by tangwenqing
feat: Keb-Simulation: 3D可视化

The file was modifiedoffboard/keb_vis_server/keb_vis_html_template.cc
Commit d71f84f7a302a3f5eceb0fcf5b867f77b33e6435 by tangwenqing
fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题

The file was modifiedssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
Commit ef0bf75759f63fadc53235a7a657a8ab7a9768f1 by chenran
fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题

The file was modifiedssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
Commit 819284d803105345130b63c9b6bd545af273446f by wuyanjun110
feat:fsm interface 里面添加 开始对准是终点距离的接口
The file was modifieddata/app/fsm/task_fsm/task_fsm.hpp
The file was modifieddata/app/fsm_interface.hpp
The file was modifieddata/app/fsm/task_motion_fsm.cpp
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.hpp
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
The file was modifieddata/app/fsm/task_motion_fsm.hpp
The file was modifieddata/app/fsm_interface.cpp
Commit 8c45894813ba6649234716d03a0f8db3819c13fd by wuyanjun110
fix:align done 情况下还可以继续走的bug
The file was modifieddata/app/fsm/motion_fsm/motion_fsm.cpp
Commit 1103882d593a0c4891581b5d3ce213d8c472bbf4 by wuyanjun110
fix:停车原因赋值错误的bug
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/module.cpp
The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
The file was modifieddata/app/cmd/cmd_align.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifiedhmi/widget/command.cpp
Commit 711ae84b63603a37fd75db06de659795e77678fa by wuyanjun110
feat:合并ssep

The file was modifiedssep/scenarios/stitching_replanner.h
The file was modifiedssep/protos/path_repository.proto
The file was modifiedssep/offboard/servers/path_repository_vis_server.cc
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifiedssep/protos/params.proto
The file was modifiedssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
The file was modifiedssep/offboard/scene_replay/CMakeLists.txt
The file was modifiedssep/maps/ogm.cc
The file was modifiedssep/maps/ogm.h
The file was modifiedssep/protos/scene.proto
The file was modifiedssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was addedssep/protos/operation_mode.proto
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
The file was modifiedssep/offboard/generate_path_repository/generate_path_repository_cli.cc
The file was modifiedssep/offboard/servers/path_repository_vis_html_template.cc
The file was modifiedssep/keb_optimizer/cost_features/dynamic_constraint.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/param_loader/param.h
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/data_structures/path_utils.h
The file was modifiedssep/keb_optimizer/cost_features/trailer_disk_collision_cost.h
The file was modifiedssep/maps/ogm_builder.cc
The file was addedssep/protos/ogm.proto
The file was modifiedssep/data_structures/path_repository_manager.cc
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/data_structures/path_repository_manager.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
Commit 4b4d21aeba2a5465e2532f017b9f5725d703037a by tangwenqing
fix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题

The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit dd3a65f56ad6005b79c090dbef03d481368e3f67 by chenran
fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题

The file was modifiedssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
Commit 7488347a486bc1348df9d3f239f9f43ce79ba4d4 by chenran
fix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题

The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
Commit 8ba0710732b2cc129b93b855484552d35aac311c by wuyanjun110
feat: 添加对值阈值和条件，优化对准决策逻辑
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifiedplan/prepare/prepare_status.cpp
Commit 28c58b5889385d77f87b0a147fa930b0cf793cc9 by tangwenqing
feat: SSEP-offboard: 添加离线路径绘制工具

The file was addedssep/offboard/path_drawing_tool/CMakeLists.txt
The file was addedssep/offboard/path_drawing_tool/hermite_path_generator.cc
The file was addedssep/offboard/path_drawing_tool/path_drawing_html_template.cc
The file was addedssep/offboard/path_drawing_tool/hermite_path_generator.h
The file was addedssep/offboard/path_drawing_tool/path_drawing_html_template.h
The file was addedssep/offboard/path_drawing_tool/path_drawing_tool_main.cc
Commit b9301900bfe01801aee8ab789b9f37e9ee58fea1 by wuyanjun110
fix: 添加路径点数量检查，确保至少有两个点以创建路径
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
Commit 333b3ebc6cdbb5cbdcbebecd0b9959bb8cf63045 by tangwenqing
feat: SSEP-offboard: 离线路径编辑器支持二次编辑、增加路径复制、路径平移等功能

The file was modifiedssep/offboard/path_drawing_tool/path_drawing_html_template.cc
The file was modifiedssep/offboard/path_drawing_tool/path_drawing_tool_main.cc
Commit 4327a58bb182bf742255fc5127078406b871600c by chenran
fix: avoid mask_box for unload
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit 19d43f16047fee154f24f14a80002e88dcf82d7f by tangwenqing
feat: SSEP: 增加跨运车抓车场景

The file was modifiedssep/common/utils/scene_frame_visualization.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was addedssep/scenarios/straddle_carrier_pick_vehicle_planner.h
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/protos/ssep_scenario_type.proto
Commit cb1ae31231335f267f8638fb771d1a05b7734b57 by chenran
fix: add passing pt
The file was modifieddata/ssep/open_space_ec.cpp
Commit fd1f1d7c543b45c5a4b536c7ace5f0eba56dc35f by tangwenqing
feat: SSEP 适配烟台跨运车

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
The file was modifiedssep/scenarios/stitching_replanner.h
The file was modifiedssep/offboard/scene_replay/CMakeLists.txt
The file was addedssep/scenarios/straddle_carrier_pick_vehicle_planner.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was addedssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was addedssep/common/utils/reference_line_stitcher.h
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was addedssep/offboard/path_drawing_tool/path_drawing_html_template.cc
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was addedssep/common/utils/reference_line_stitcher.cc
The file was modifiedssep/protos/scene.proto
The file was modifiedssep/offboard/servers/CMakeLists.txt
The file was addedssep/offboard/servers/path_repository_vis_server.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was addedssep/offboard/path_drawing_tool/path_drawing_html_template.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was addedssep/coarse_search/motion_primitive_sampler/quintic_polynomial_motion_primitive_sampler.h
The file was modifiedssep/keb_optimizer/cost_features/state_constraint.h
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.cc
The file was addedssep/offboard/generate_path_repository/generate_path_repository_cli.cc
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/common/utils/path_utils.cc
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was addedssep/offboard/path_drawing_tool/hermite_path_generator.h
The file was modifiedssep/coarse_search/motion_primitive_sampler/motion_primitive_sampler.h
The file was addedssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.h
The file was modifiedssep/keb_optimizer/cost_features/trailer_disk_collision_cost.h
The file was modifiedssep/protos/ssep_scenario_type.proto
The file was modifiedssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
The file was modifiedssep/maps/ogm.h
The file was addedssep/coarse_search/conditions/node_level_condition.h
The file was modifiedssep/data_structures/path.h
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/keb_optimizer/cost_features/dynamic_constraint.h
The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
The file was modifiedssep/offboard/servers/scene_vis_html_template.h
The file was modifiedssep/test/CMakeLists.txt
The file was modifiedssep/common/utils/scene_frame_visualization.cc
The file was addedssep/protos/ogm.proto
The file was addedssep/data_structures/path_repository_manager.h
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/data_structures/polyline.h
The file was modifiedssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
The file was addedssep/offboard/servers/scene_editor_server.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
The file was modifiedssep/maps/ogm.cc
The file was addedssep/offboard/path_drawing_tool/hermite_path_generator.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/test/ssep_planner_test.cc
The file was addedssep/data_structures/state_match_condition.h
The file was addedssep/offboard/servers/path_repository_vis_html_template.cc
The file was modifiedssep/offboard/servers/scene_vis_html_template.cc
The file was addedssep/data_structures/path_repository_manager.cc
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was addedssep/offboard/generate_path_repository/CMakeLists.txt
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was addedssep/offboard/path_drawing_tool/CMakeLists.txt
The file was addedssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.h
The file was modifiedssep/data_structures/path.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/coarse_search/conditions/search_condition_interface.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/protos/params.proto
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/coarse_search/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/scenarios/planner_utils.h
The file was modifiedssep/offboard/servers/scene_vis_server.cc
The file was modifiedssep/common/utils/path_utils.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/param_loader/param.h
The file was addedssep/protos/state_match_condition.proto
The file was addedssep/offboard/servers/path_repository_vis_html_template.h
The file was addedssep/coarse_search/motion_primitive_sampler/quintic_polynomial_motion_primitive_sampler.cc
The file was modifiedssep/coarse_search/stage_transition_controller.h
The file was modifiedssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was addedssep/offboard/path_drawing_tool/path_drawing_tool_main.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/ssep_planner.cc
The file was addedssep/protos/path_repository.proto
The file was modifiedssep/data_structures/path_utils.h
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was addedssep/protos/operation_mode.proto
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was addedssep/offboard/servers/scene_editor_html_template.h
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/coarse_search/search_graph.h
The file was addedssep/data_structures/state_match_condition.cc
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/maps/ogm_builder.h
The file was modifiedssep/scenarios/truck_general_planner.h
The file was addedssep/offboard/servers/scene_editor_html_template.cc
The file was addedssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.cc
The file was modifiedssep/data_structures/polyline.cc
The file was addedssep/test/quintic_polynomial_sampler_test.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
The file was modifiedssep/maps/ogm_builder.cc
The file was modifieddata/plan/ssep_data.cpp
The file was modifiedssep/scenarios/planner_utils.cc
The file was modifiedssep/coarse_search/evaluator/curvature_cost_computer.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was addedssep/scenarios/tractor_trailer_lane_change_planner.h
Commit 30e6bf3d7c6cfe92ad1634c56514020972a93f0d by tangwenqing
chore: SSEP-offboard: 修复bug，增加车体box可视化

The file was modifiedssep/offboard/path_drawing_tool/hermite_path_generator.h
The file was modifiedssep/offboard/path_drawing_tool/path_drawing_html_template.cc
The file was modifiedssep/offboard/path_drawing_tool/hermite_path_generator.cc
The file was modifiedssep/offboard/path_drawing_tool/path_drawing_tool_main.cc
Commit 17a5ab4f50b070741b448d6961885fb68c03c7f3 by tangwenqing
fix: ssep data filter short segs

The file was modifieddata/plan/ssep_data.cpp
Commit d30d6299d2fb251ac8aee52fca49b70da0214e63 by wuyanjun110
feat:1.添加耗时显示2.优化绘制界面 map的绘制
The file was modifiedhmi/replayer_hmi.hpp
The file was modifiedreplayer/main.cpp
The file was modifiedhmi/draw/draw_map.hpp
The file was modifiedreplayer/logic.hpp
The file was modifieddata/hmi_frame.hpp
The file was modifiedhmi/draw/draw_map.cpp
The file was addedhmi/widget/pnc_mat_shared.cpp
The file was addedhmi/widget/perf_cost_detail.hpp
The file was modifiednode/main.cpp
The file was modifiedreplayer/logic.cpp
The file was modifieddata/plan_frame.hpp
The file was modifiedhmi/widget/replayer_pnc_mat.cpp
The file was modifiedhmi/node_hmi.cpp
The file was modifiedCMakeLists.txt
The file was modifiedhmi/widget/pnc_mat.cpp
The file was modifiedhmi/replayer_hmi.cpp
The file was modifiedhmi/widget/pnc_mat.hpp
The file was addedhmi/widget/perf_cost_detail.cpp
The file was modifiednode/logic.hpp
The file was modifiedhmi/widget/replayer_pnc_mat.hpp
The file was modifiedhmi/node_hmi.hpp
The file was addedhmi/widget/pnc_mat_shared.hpp
The file was modifiednode/logic.cpp
Commit 3421d2be0ff961c640228f3b8f049880a1ea10d6 by wuyanjun110
fix:一次规划，单个车道分段时， 路径冲突判断的bug
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit dc3008e13d516eaab559fe5e5d0cc94d3cb73de2 by chenran
fix: ignore .codex
The file was modified.gitignore
Commit 68dc456383bcadb79d2867775c57e5b14742dae0 by wuyanjun110
refactor: 注释掉不必要的代码，简化判断逻辑
The file was modifieddata/ssep/open_space_ec.cpp
Commit 2f1779ca78376c007b5480b7837e5c018dc516b6 by chenran
fix: checkout ssep
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/maps/ogm.h
The file was modifiedssep/maps/ogm.cc
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
Commit 552c635bd69183b4ae8c52fb7ab08585b83d450e by chenran
fix: merge bug
The file was modifiedcommon/util/express.cpp
The file was modifieddata/config/cfg_env_const.hpp
Commit b63375377c7e33d1f9b90bf0e4d35ca8059bdddc by wuyanjun110
refactor:优化ssep passing pt的赋值
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifieddata/ssep/ssep_ec.cpp
Commit 89f6bcb1f385d5afd9912becba990015ec5f259a by chenran
feat: rotation mode for SC.
The file was modifieddata/vehicle/vehicle_status.hpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifiedsink/ros_sink_ctrl_reference.cpp
The file was modifieddata/plan/start_point_data.cpp
The file was modifiedplan/prepare/prepare_status.hpp
Commit e506b961c19a089454f59fe4fe26dcda7e6910d8 by tangwenqing
feat: Keb-Task: OGM构造放入Keb算法内部，防止阻塞主线程

The file was modifiedproto/keb_scene.proto
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifiedtasks/plan/keb_utils.hpp
The file was modifiedoffboard/keb_vis_server/keb_vis_html_template.cc
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedoffboard/keb_path_opt_cli/closed_loop_utils.cc
Commit 532974338bfb34db8cb80624fa8e6a81ccef32e9 by tangwenqing
feat: Keb-Task: OGM构造放入Keb算法内部，防止阻塞主线程

The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedproto/keb_scene.proto
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifiedoffboard/keb_path_opt_cli/closed_loop_utils.cc
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifiedoffboard/keb_vis_server/keb_vis_html_template.cc
The file was modifiedtasks/plan/keb_utils.hpp
Commit 42b099371f6e8a99b001977dbb062ad6d7e8d5ad by chenran
fix: wbca smooth path is exception in align state
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 1e376fed0cf72f9d441fd65936a3f32d639e9a5e by 5081703.cr
fix: wbca smooth path is exception in align state
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 28bbba1eee60507ba6de0414eb33da590f7d0b29 by wuyanjun110
feat: 添加性能成本详细信息分组显示，优化绘制面板更新逻辑
The file was modifiedhmi/node_hmi.cpp
The file was modifiedhmi/widget/perf_cost_detail.cpp
Commit 62e19231bf61aa89eb3cdda3e31b9c4b109d844d by wuyanjun110
refactor: 简化pass_posture_的赋值逻辑
The file was modifieddata/ssep/ssep_ec.cpp
Commit 6bc50a6714be053d17ee070e2fe82c5b858df708 by tangwenqing
feat: SSEP: 集卡上下码头面根据pass point构建三次曲线参考线

The file was modifiedssep/scenarios/planner_utils.cc
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/scenarios/planner_utils.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/data_structures/pose.h
Commit a6ecf6234cbb918d2db613e8d4f3d752215889b7 by wuyanjun110
feat: 添加对卸载任务的TTC碰撞忽略功能
The file was modifiedsink/ros_sink_pnc_status.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/other/flow_control.cpp
Commit d5a17f63719f27d657b4da9a49ef14db8408c915 by wuyanjun110
feat: 添加对卸载任务的TTC碰撞忽略功能
The file was modifieddata/other/flow_control.cpp
The file was modifiedsink/ros_sink_pnc_status.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_func_sw.hpp
Commit b53567588e36b319a48cb91e4dddbb00cf529d6f by wuyanjun110
Revert "fix: avoid mask_box for unload"

This reverts commit 4327a58bb182bf742255fc5127078406b871600c.
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit 96d5a35929de61582cfbff119dc375473334ee53 by wuyanjun110
refactor: 注释掉与发送遮罩框到安全模块相关的代码
The file was modifiedsink/ros_sink_pnc_status.cpp
Commit efd4c4d0617638382413729e51c5657819bdd071 by wuyanjun110
refactor: 注释掉与发送遮罩框到安全模块相关的代码
The file was modifiedsink/ros_sink_pnc_status.cpp
Commit 6d0b3d30c4d7c182792259dc8efb60945ebce0d6 by tangwenqing
chore: Keb-task: 重构并适配keb_lane_follow task

The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedoffboard/keb_vis_server/keb_vis_html_template.cc
The file was modifiedproto/keb_scene.proto
The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedtasks/plan/keb_lane_follow_path_task.hpp
The file was modifiedoffboard/keb_path_opt_cli/closed_loop_utils.hpp
The file was modifiedoffboard/keb_path_opt_cli/closed_loop_utils.cc
The file was modifiedalgorithm/plan/keb_optimizer.cpp
Commit 953da3561df41d78a5c16c24cf4e1fdd591c0457 by chenran
fix: straight lane near crane and lock_station
The file was modifiedplan/prepare/prepare_status.hpp
The file was modifiedplan/prepare/prepare_status.cpp
Commit a17bb25611f78771eee83b455fdfbc8e51ad2e70 by 5081703.cr
fix: straight lane near crane and lock_station
The file was modifiedplan/prepare/prepare_status.hpp
The file was modifiedplan/prepare/prepare_status.cpp
Commit 30f38647c7749669d247e8f727e07ba616917798 by tangwenqing
chore: update gitignore

The file was modified.gitignore
Commit 61bd292727204c41639f5511192a8efb5a4dfa4c by wuyanjun110
refactor:优化界面耗时
The file was modifiedhmi/widget/perf_cost_detail.hpp
The file was modifiedhmi/widget/velocity_chart.hpp
The file was modifiedhmi/widget/diagnose.hpp
The file was modifiedhmi/widget/throttle_chart.cpp
The file was modifiedhmi/widget/command.hpp
The file was modifiedhmi/widget/brake_chart.cpp
The file was modifiedhmi/widget/throttle_chart.hpp
The file was modifiedhmi/widget/command.cpp
The file was modifiedhmi/widget/steer_chart.cpp
The file was modifiedhmi/widget/velocity_chart.cpp
The file was modifiedhmi/widget/perf_cost_detail.cpp
The file was modifiedhmi/common/chart.hpp
The file was modifiedhmi/widget/brake_chart.hpp
The file was modifiedhmi/widget/diagnose.cpp
The file was modifiedhmi/common/chart.cpp
The file was modifiedhmi/widget/steer_chart.hpp
Commit 791937e15aff1522260893b084824b63772b081e by wuyanjun110
feat:调整9861的跟车距离
The file was modifieddata/constrain/longitude_constrain.cpp
The file was modifieddata/constrain/longitude_constrain.hpp
Commit 5a083a1c556ac850b4588246fa1f1aff510f4cf0 by chenran
feat: sc turn-in-place mode
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifiedsink/ros_sink_ctrl_reference.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/vehicle/deviation_status.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp
The file was modifieddata/plan/start_point_data.cpp
The file was modifieddata/ssep/open_space_ec.cpp
Commit 63cda91be69689b2039cb7aa69790f39ac64b9eb by tangwenqing
fix: SSEP: 修复IMV普通搜索在弯道提前结束搜索的问题

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
Commit cbe3a379981e342fc1de594868b24a1b282d8630 by chenran
fix: add turn_in_place_threshold
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifieddata/config/cfg_env_const.hpp
Commit 35da80b42556c3c13bd67f001e9ddf94e3233371 by tangwenqing
chore: SSEP-Offboard: 提升路径绘制工具自适应调整航向与控制点的准确率。

The file was modifiedssep/offboard/path_drawing_tool/hermite_path_generator.cc
The file was addedssep/offboard/path_drawing_tool/curvature_auto_adjuster.h
The file was modifiedssep/offboard/path_drawing_tool/CMakeLists.txt
The file was modifiedssep/offboard/path_drawing_tool/path_drawing_html_template.cc
The file was modifiedssep/offboard/path_drawing_tool/path_drawing_tool_main.cc
The file was addedssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.cc
The file was addedssep/offboard/path_drawing_tool/curvature_auto_adjuster.cc
The file was modifiedssep/offboard/path_drawing_tool/hermite_path_generator.h
Commit 5a4747bbecf6ac5cd9275a426501f544bf01919f by chenran
fix: stop condition for turn-in-place
The file was modifieddata/plan/start_point_data.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/vehicle/vehicle_status.hpp
The file was modifieddata/vehicle/deviation_status.cpp
The file was modifiedsink/ros_sink_ctrl_reference.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp
Commit df579f5b7d3300adbf486e2e4d4ce5229e39daf6 by chenran
fix: boundary bug
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/plan/ssep_data.cpp
Commit 9af066878815f4ff1fc3007248c12af589e070a1 by wuyanjun110
feat: 添加对装载任务的TTC碰撞忽略功能
The file was modifieddata/other/flow_control.cpp
Commit e6ac51321d9b8d79b1d60685ce1db938a0bff924 by wuyanjun110
feat: 添加对装载任务的TTC碰撞忽略功能
The file was modifieddata/other/flow_control.cpp
Commit b7958b0eb715b7b9484380c07b4f72317b6f0366 by chenran
fix: esdf-map bug
The file was modifiedalgorithm/wbca/occupancy_grid_map/data_render.cpp
Commit 4f2a845f81ce16009d0953d7cd45cdfa02785154 by wuyanjun110
fix:调整不可偏移区域生成的起始和结束位置计算
The file was modifieddata/boundary/road_boundary.cpp
Commit 656cd3b9c04bf95305ef002f48505622048bda1d by wuyanjun110
refactor:优化高度禁停点云的使用的逻辑
The file was modifiedsource/ros_source_forbidden_road_og.cpp
Commit ce1d657cf723387ffddf6566dfcdb7586e3e93ad by chenran
fix: wbca params bug.
The file was modifieddata/config/cfg_lat_plan.cpp
Commit e180855de92fc66cd3e2aee319cbebd516b301fb by wuyanjun110
feat: 调整卸载和装载任务的最大速度阈值以忽略OGM的TTC碰撞
The file was modifieddata/other/flow_control.cpp
Commit 39340b8d50e9c4bfa92967b6eea2d93ef9b617ad by wuyanjun110
feat: 调整卸载和装载任务的最大速度阈值以忽略OGM的TTC碰撞
The file was modifieddata/other/flow_control.cpp
Commit 10e56fa2d5e3149f0dae359180b59158557f04c0 by chenran
fix: avoid smooth_mode in open_space
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit ed6f9befc81f6aa9e2b30c1bed32c20ad23cc605 by wuyanjun110
fix:移除后向OGM忽略距离的冗余计算
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit d2fcfdc6357e3be465b7c4aa63a541bc331ddc7a by chenran
fix: turn-in-place condition exception.
The file was modifiedplan/prepare/prepare_status.cpp
Commit 143fa35683a4db16eba88eed88405c18d326b508 by wuyanjun110
feat:优化routingdata当前段的匹配
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 ae3c9a4b5f0217ca06d14c6ae66aa88ee031689b by wuyanjun110
fix: 增加卸货时的最大速度阈值以忽略OGM和TTC碰撞
The file was modifieddata/other/flow_control.cpp
Commit 2485ed4412c0a64a72bf8691c22f067c1da396e6 by wuyanjun110
fix:修复垂直下码头面，box框生成的bug
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit ae1fb5d9056a95dd2535b50ffe3a56df59e45eeb by chenran
fix: ignore claude.md
The file was modified.gitignore
Commit 47a45bc5a8a2b6b150fed4d5de0106494a96baf2 by chenran
fix: add switch to control the smooth mode in openspace
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifieddata/config/cfg_func_sw.cpp
Commit 4e6a9459942e05c6dac2e488ef67a07ded8f6830 by chenran
fix: travel_out for unloading car
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/config/cfg_env_const.cpp
Commit e8f989c0aed27323b87243738d55bf3e6089dcc5 by chenran
fix: rotation direction bug
The file was modifiedplan/prepare/prepare_status.cpp
Commit 0535e013c34f55e1d20f2fdf92025a54d6f0391c by wuyanjun110
feat: 1. 修正AddJunctionBlockRanges函数中的速度考虑逻辑 2. 调整普通路口弯道禁停的停车位置
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/constrain/disable_stop_range.cpp
Commit 978c1b3169e28cb1538b2a86699738ad88cff6fc by wuyanjun110
feat:董家口1.关闭进堆场的起点约束2.调整进堆场的终点约束
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 0d4fca04b4d74907d809808b3b30bed64c93ab53 by tangwenqing
feat: Keb-Lane-Follow-Task: 适配Car与IMV，并测试验证通过non-SSEP场景的实时优化全流程。

The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was modifiedtasks/plan/keb_utils.hpp
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/data_structures/path.h
The file was modifiedssep/keb_optimizer/keb_utils.cc
The file was modifiedproto/keb_scene.proto
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedtasks/plan/keb_lane_follow_path_task.hpp
The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifieddata/plan/ssep_data.hpp
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifiedoffboard/keb_vis_server/keb_vis_html_template.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/keb_optimizer/keb_utils.h
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
Commit e227d850087b14ab33edb73b94d5b2059cc9149f by wuyanjun110
优化轮廓合并算法并添加测试支持
The file was modifiedCMakeLists.txt
The file was addedscripts/run_contour_union_case_test.sh
The file was modifieddata/ssep/online_region_contour_creator.cpp
The file was modifieddata/ssep/online_region_contour_creator.hpp
The file was addeddata/ssep/online_region_contour_creator_test.cpp
Commit a2f98807fcb087b0ce0c18c6bc6c9c2a13e4f180 by chenran
fix: quit openspace
The file was modifieddata/scenario/scenario_region_condition.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 2da20d45beb0b522882ca22b1dfdec19fc89657f by tangwenqing
fix: SSEP: 修复跨运车原地自转未分段的问题。

The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/ssep_planner.h
Commit 10463e123097bc52d7217d576b79852a1b792929 by wuyanjun110
feat:进堆场时，关闭区域的校验
The file was modifieddata/ssep/region_builder.cpp
Commit e20f6fcb59e425469cfb27978d03fb23c5fc5a9a by chenran
fix: SSEP: 修复跨运车原地自转未分段的问题。

The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/ssep_planner.h
Commit 038e3a9a16edd662ac1889b1454eaab64843c79d by wuyanjun110
feat: 添加合并包络框功能的配置选项
The file was modifieddata/map/envelop/map_envelops.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_func_sw.hpp
Commit a749d4457e306896416f3e50bfa67d33f8439885 by wuyanjun110
fix:西联码头面搜索 引桥搜索 普通路口搜索， 终点选取， 场景触发的bug

Co-authored-by: Copilot <copilot@github.com>
The file was modifieddata/ssep/normal_junction_ec.cpp
The file was modifieddata/scenario/scenario_planner_condition.cpp
The file was modifieddata/ssep/bridge_junction_ec.cpp
The file was modifieddata/scenario/scenario_planner_bt.cpp
The file was modifieddata/ssep/seaside_junction_ec.cpp
Commit c82d7c75adc8a4ffe39435a20b495fc6ea78afaf by wuyanjun110
fix:洋浦， 修复B004搜索失败的bug
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit a685fcbefdd9384cdc97b90451f6757e6d35ae50 by wuyanjun110
refactor:优化多次禁停的问题

Co-authored-by: Copilot <copilot@github.com>
The file was modifieddata/constrain/temporary_stop_data.cpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/constrain/disable_stop_range.cpp
Commit 85e0e4776a8c5da790dce4e0b7db1d7ea4c2a020 by wuyanjun110
refactor: 为海南洋浦区域的场桥障碍物增加安全边距

Co-authored-by: Copilot <copilot@github.com>
The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit 219926ab23efaddf2f7dbc384e0dc63ba6c94df2 by wuyanjun110
refactor:有wbca或者keb的场景， ssep搜索成功， pjpo求解失败， 不拼接参考线
The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
Commit a42c2e0092ef295bd319f068f91dc031233e5530 by wuyanjun110
refactor:弯道后目标车道选择，优化在弯道的直道端，拒绝指令的问题
The file was modifieddata/map/reference/bends_decider/bend_decider.cpp
Commit 2ee5acf4036f04c2432f15a073512013a5a996a7 by chenran
feat: ssep replan for localization exception.
The file was modifiedtasks/deciders/other_decider/replan_decider.hpp
The file was modifieddata/vehicle/vehicle_state.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/vehicle/vehicle_state.cpp
Commit 872c19133a3e169c8cbd46d7a58bfdf654edb584 by wuyanjun110
feat:pnc status 添加车辆真实方向

Co-authored-by: Copilot <copilot@github.com>
The file was modifiedsink/ros_sink_pnc_status.cpp
Commit 11cf7fe596445627fd8a13e39ae3019a71dfdb24 by wuyanjun110
fix: 优化发送遮罩框逻辑，增加motion状态检查
The file was modifiedsink/ros_sink_pnc_status.cpp
Commit 990dcabe6c12f2741a27e0f322736f61de0db7c6 by wuyanjun110
fix: 修复任务类型对应的保留字段，更新为reserved_uint_8_2
The file was modifiedsink/ros_sink_pnc_status.cpp
Commit ab3c49bf513e32124fee4f8cc0896f2e6af2fbad by tangwenqing
fix: Keb-task: 修复优化可能不收敛的问题，修复OGM异常的问题，使用精确的运动学约束，调参，优化器输出结构化调试信息

The file was addedoffboard/keb_vis_server/crow/returnable.h
The file was addedoffboard/keb_vis_server/crow/compression.h
The file was addedoffboard/keb_vis_server/crow/logging.h
The file was addedoffboard/keb_vis_server/crow/mime_types.h
The file was addedoffboard/keb_vis_server/crow/mustache.h
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was addedoffboard/keb_vis_server/crow/query_string.h
The file was addedoffboard/keb_vis_server/crow/app.h
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was addedoffboard/keb_vis_server/crow/http_response.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was addedoffboard/keb_vis_server/crow/middleware_context.h
The file was addedoffboard/keb_vis_server/crow/middleware.h
The file was addedoffboard/keb_vis_server/crow/middlewares/cors.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was addedoffboard/keb_vis_server/crow/exceptions.h
The file was modifiedssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
The file was modifiedCMakeLists.txt
The file was addedoffboard/keb_vis_server/crow/http_connection.h
The file was modifiedssep/keb_optimizer/keb_utils.cc
The file was modifiedssep/maps/ogm.h
The file was addedoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.hpp
The file was addedoffboard/keb_vis_server/crow/http_server.h
The file was addedoffboard/keb_vis_server/crow/json.h
The file was addedoffboard/keb_vis_server/crow/TinySHA1.hpp
The file was addedoffboard/keb_vis_server/crow/utility.h
The file was addedoffboard/keb_vis_server/crow/version.h
The file was modifiedssep/data_structures/path.cc
The file was addedoffboard/keb_vis_server/crow/middlewares/session.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was addedoffboard/keb_vis_server/crow/websocket.h
The file was addedoffboard/keb_vis_server/crow/socket_adaptors.h
The file was addedoffboard/keb_vis_server/crow/settings.h
The file was addedoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.cc
The file was addedoffboard/keb_vis_server/crow/multipart_view.h
The file was modifiedssep/param_loader/param.h
The file was addedoffboard/keb_vis_server/crow/ci_map.h
The file was addedssep/keb_optimizer/cost_features/imv_steer_constraint.h
The file was addedoffboard/keb_vis_server/crow/multipart.h
The file was addedoffboard/keb_vis_server/crow/task_timer.h
The file was addedoffboard/keb_vis_server/crow/http_parser_merged.h
The file was modifiedoffboard/keb_path_opt_cli/keb_path_opt_cli.cc
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.hpp
The file was modifiedssep/maps/ogm.cc
The file was addedoffboard/keb_vis_server/crow/routing.h
The file was modifiedtasks/plan/keb_utils.hpp
The file was addedoffboard/keb_vis_server/crow/common.h
The file was addedoffboard/keb_vis_server/crow/socket_acceptors.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifieddata/config/cfg_ssep.cpp
The file was addedoffboard/keb_vis_server/crow.h
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was addedoffboard/keb_vis_server/crow/http_request.h
The file was addedoffboard/keb_vis_server/crow/middlewares/utf-8.h
The file was modifiedtasks/plan/keb_utils.cpp
The file was addedoffboard/keb_vis_server/crow/middlewares/cookie_parser.h
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.hpp
The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was addedoffboard/keb_vis_server/crow/parser.h
The file was modifiedssep/keb_optimizer/cost_features/ref_line_cost.h
Commit f21b829b78b40da6565facea5ad6adb4047f7c2b by tangwenqing
feat: SSEP: 进堆场起点终点距离很近(小于15米)时，使用直连规划器生成路径。

The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was addedssep/scenarios/tractor_trailer_short_distance_planner.h
Commit 00cf0d9f6ccda108c6f661ec2f22209ec182a560 by chenran
fix: draw align_target
The file was modifiedhmi/draw/draw_ego.cpp
Commit d11b0a6d75dfd1ffc35b9d2318a4f3d4696be90c by tangwenqing
refactor: Keb-Offboard: 重构data::path的依赖关系，将keb path opt cli 与 pnc 工程解耦

The file was modifiedCMakeLists.txt
The file was modifiedtasks/plan/keb_utils.hpp
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifieddata/common/guide_path.cpp
The file was modifieddata/common/path.cpp
The file was modifieddata/common/path.hpp
The file was addedoffboard/keb_path_opt_cli/CMakeLists.txt
The file was addedtasks/plan/keb_utils_core.cpp
The file was modifiedalgorithm/decision/path_turn_type.cpp
The file was modifieddata/semantic/collision_position.hpp
The file was modifieddata/obstacle/occupy_grid.hpp
The file was modifiedmath/curve2d/curve2d.hpp
The file was modifieddata/common/path_point.hpp
The file was modifieddata/common/path_point.cpp
The file was addedtasks/plan/keb_utils_core.hpp
The file was modifieddata/semantic/vehicle.cpp
Commit 6740dc1133464c4a7a60767c6ed462aa68dfb87f by chenran
fix: add rotation type
The file was modifieddata/ssep/open_space_ec.cpp
Commit 6b0c4ec35fdc890ca61c9287f53f5ef1aa90eea7 by wuyanjun110
feat: 实现缓冲区停车功能（Buffer Stop）
The file was modifieddata/app/fsm/task_fsm/task_buffer_fsm/task_buffer_fsm.hpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/scenario/scenario_planner_action.cpp
The file was modifieddata/vehicle/lock_station_data.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/vehicle/lock_station_data.cpp
The file was modifieddata/app/fsm/task_fsm/task_buffer_fsm/task_buffer_fsm.cpp
The file was modifieddata/constrain/block_data.cpp
Commit 8a80e7f1051d0d9f603f8cd428d1e9b463ccf5de by chenran
fix: turn_in_place mode activation conditions.
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/scenario/scenario_region_condition.cpp
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/config/cfg_env_const.hpp
Commit de88c099a7d7c1516cee194407392871901a23e7 by tangwenqing
chore: SSEP: 适配烟台跨运车的新需求

The file was modifiedssep/scenarios/straddle_carrier_pick_vehicle_planner.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/scenarios/truck_general_planner.h
Commit b15c67058b9dfb1389ea050d136a2fa3d51e5e3b by wuyanjun110
feat: 新增 align_move_threshold_ 配置参数并替换 align_3rd_4th_move_threshold_ 在 align1st 阶段的使用
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
The file was modifieddata/config/cfg_env_const.hpp
Commit 4cf4dcdb24ee9abd37eaa8ddd3ed8d819018cf3b by wuyanjun110
feat: 新增目的地匹配与路径距离计算功能，支持非终点目的地导航
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 0eb726db69d5b18d103d14937896e4e0988de476 by wuyanjun110
feat: 终点和 起点不在一条车道上， 并且 终点在身后就的处理

Co-authored-by: Copilot <copilot@github.com>
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 2a5b90d912e4aad9bc1b524992a5d5a5ec88ec68 by chenran
chore: SSEP: 适配烟台跨运车的新需求

The file was modifiedssep/scenarios/straddle_carrier_pick_vehicle_planner.h
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/ssep_planner.cc
Commit 08120a3ce834d228994cb10b723cd67733f4927a by chenran
fix: params bug
The file was modifieddata/ssep/forward_ec.cpp
Commit e49db8875d89b72d8e7f3236a4de6a02a61dd237 by wuyanjun110
fix:动态下码头面然后进堆场，搜索过早的问题。
The file was modifieddata/scenario/scenario_region_condition.cpp
Commit b04591094d766d342ab56449c449f7b7e767217f by chenran
fix: truck wbca type error
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 46cae49eb3940ac39c2a42b0e5e8991595399e9c by chenran
fix: sweep exception
The file was modifiedalgorithm/plan/sweep_area.cpp
Commit 53d5cb0217fc32e3efa1e81c8e69beb8f9fac676 by chenran
fix: sweep exception
The file was modifiedalgorithm/plan/sweep_area.cpp
Commit 5d4eb86bd0400691a024c1d3198f99dff970a322 by chenran
fix: sweep exception
The file was modifiedalgorithm/plan/sweep_area.cpp
Commit c606fdbf358d2f4ada4529ab7d896951bfa50e72 by chenran
fix: wbca path length = 40 in openspace
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit cdba3fef027f65b2762343f58883fe0974ee0dcb by wuyanjun110
fix:进堆场触发直连模式的bug

Co-authored-by: Copilot <copilot@github.com>
The file was modifiedssep/scenarios/scenario_planner_factory.h
Commit dfd1996fcc1c321137668c2fec1bebd8475d8e73 by wuyanjun110
fix:上码头面前， 误入 进堆场场景的bug

Co-authored-by: Copilot <copilot@github.com>
The file was modifieddata/scenario/scenario_planner_action.cpp
Commit a1d6c4e0bfcef0f9ee935eed46ed4ca693207727 by wuyanjun110
fix: wbca path length = 40 in openspace
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit 6d68160f633ecaf79f5d10bdd429fed96109a16e by wuyanjun110
fix:进堆场触发直连模式的bug

Co-authored-by: Copilot <copilot@github.com>
The file was modifiedssep/scenarios/scenario_planner_factory.h
Commit 33f73e9d8145c622051b09954603c6f272ca2149 by wuyanjun110
fix:上码头面前， 误入 进堆场场景的bug

Co-authored-by: Copilot <copilot@github.com>
The file was modifieddata/scenario/scenario_planner_action.cpp
Commit aa1eca55157864ba12c7c386766cee95ae0c9fc3 by wuyanjun110
fix:一次规划终点匹配失败的bug
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit ca275eebb8203a2f179f188e4297eb50b166773a by wuyanjun110
fix:在 SeasideSearch 行为中增加对引桥路口区域的判断
The file was modifieddata/scenario/scenario_planner_action.cpp
Commit ccd6eed8c77e3d2f3b794161ca61c0126dcab706 by tangwenqing
fix: Keb-Task: 修复集卡双层避障优化路径可能震荡/不沿参考线行驶的问题

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedtasks/plan/keb_utils.hpp
The file was modifiedtasks/plan/keb_utils_core.cpp
The file was modifiedtasks/plan/keb_utils_core.hpp
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedalgorithm/plan/keb_optimizer.cpp
Commit 91b2d5debb78a3b28f9934cf7ae71c34979cb931 by wuyanjun110
feat:<西联>适配Uturn上码头面
The file was modifieddata/scenario/scenario_planner_bt.cpp
The file was modifieddata/scenario/scenario_planner_condition.cpp
Commit 412605b9dfe0a1cd8cad47d0c06df1cad91fec06 by tangwenqing
fix: SSEP: 修复进堆场近距离模式判断条件错误

The file was modifiedssep/scenarios/scenario_planner_factory.h
Commit bdbdf07ffee3dd483a3574814cc002af158221e1 by chenran
feat: waiting for lift traile; using heading error for reversing align
The file was modifieddata/vehicle/deviation_status.cpp
The file was modifieddata/vehicle/deviation_status.hpp
The file was modifieddata/vehicle/related_offset.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_env_const.hpp
Commit ede04268280e71eeaafcd23f5f2844f5f072cc24 by chenran
fix: checkout feat_keb_v2 ssep
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/keb_optimizer/cost_features/dynamic_constraint.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/data_structures/pose.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was addedssep/offboard/path_drawing_tool/curvature_auto_adjuster.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/keb_optimizer/cost_features/trailer_disk_collision_cost.h
The file was modifiedssep/protos/ogm.proto
The file was addedssep/offboard/path_drawing_tool/path_drawing_html_template.cc
The file was modifiedssep/ssep_planner.h
The file was addedssep/offboard/path_drawing_tool/hermite_path_generator.cc
The file was modifiedssep/keb_optimizer/keb_utils.h
The file was addedssep/offboard/path_drawing_tool/path_drawing_html_template.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/common/utils/scene_frame_visualization.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was addedssep/scenarios/tractor_trailer_short_distance_planner.h
The file was modifiedssep/data_structures/path.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
The file was addedssep/offboard/path_drawing_tool/CMakeLists.txt
The file was addedssep/offboard/path_drawing_tool/curvature_auto_adjuster.cc
The file was addedssep/scenarios/straddle_carrier_pick_vehicle_planner.h
The file was modifiedssep/protos/params.proto
The file was modifiedssep/protos/ssep_scenario_type.proto
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/param_loader/param.h
The file was modifiedssep/scenarios/planner_utils.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was addedssep/offboard/path_drawing_tool/path_drawing_tool_main.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/scenarios/planner_utils.cc
The file was modifiedssep/keb_optimizer/keb_utils.cc
The file was addedssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.cc
The file was modifiedssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was addedssep/offboard/path_drawing_tool/hermite_path_generator.h
The file was modifiedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
The file was modifiedssep/maps/ogm.h
The file was modifiedssep/data_structures/path.h
The file was modifiedssep/maps/ogm.cc
The file was addedssep/keb_optimizer/cost_features/imv_steer_constraint.h
Commit 66e4f9d2007bbf032c0f0b7d745dfd22bffd430a by tangwenqing
fix: Keb-task: 修复低贝位进堆场轨迹震荡的bug

The file was addedssep/keb_optimizer/cost_features/temporal_consistency_cost.h
The file was modifiedtasks/plan/keb_utils_core.cpp
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
Commit 85a5b9891b746c13236e27215b13a470491d83e9 by tangwenqing
chore: Keb-task: 提升Keb-IMV轨迹稳定性（时序一致性）

The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifiedssep/keb_optimizer/cost_features/imv_dynamic_constraint.h
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedssep/keb_optimizer/cost_features/imv_steer_constraint.h
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
Commit bb302a40a969177cbbfd30e28cbdd7d2403d8904 by chenran
fix: travel_out bug
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit 506abf79f6c6a0c46f8260a85510018751f1687a by chenran
fix: disable search_end_pt rotation
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/config/cfg_env_const.cpp
Commit dd6f2887eff14c5672e36024b0813714c5934550 by wuyanjun110
refactor: 将SLBoundary计算外提并作为参数传入CrashHelper相关函数，优化转场吊车阻挡逻辑
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.cpp
The file was modifieddata/obstacle/block.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/constrain/block_data.cpp
The file was modifiedcommon/util/crash_helper.hpp
The file was modifieddata/obstacle/block.hpp
The file was modifiedcommon/util/crash_helper.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_safe_const.hpp
Commit ceaca35f06fdd7ca19c7d1c2f7904d164ae48bb6 by wuyanjun110
feat: 添加碰撞但不停车的龙门吊禁停区域记录

Co-authored-by: Copilot <copilot@github.com>
The file was modifieddata/constrain/block_data.hpp
The file was modifieddata/constrain/block_data.cpp
Commit 07aee2a74e0684ef85d9b7056ba0a6e99e82a8cd by tangwenqing
feat: SSEP-KEB: 增加keb优化诊断工具。改进优化后处理的运动学判据

The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was addedssep/keb_optimizer/keb_problem_diagnostic.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was addedscripts/keb_diagnostic_vis.py
The file was addedssep/keb_optimizer/keb_problem_diagnostic.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modified.gitignore
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
Commit 388add416c723ad59840b0b866aae8993959bf1a by tangwenqing
feat: Keb: 实现rosbag->keb scene的数据转换工具

The file was addedoffboard/bag_to_keb_scene/README.md
The file was addedoffboard/bag_to_keb_scene/bag_to_keb_scene.cc
The file was modifiedCMakeLists.txt
The file was addedoffboard/bag_to_keb_scene/bag_reader.hpp
The file was addedoffboard/bag_to_keb_scene/CMakeLists.txt
The file was addedoffboard/bag_to_keb_scene/bag_reader.cc
Commit c291f23eaf81a12b77b9dfc825f868bd5a3f4519 by tangwenqing
chore: Keb-Diagnose: 关闭多初始解诊断

The file was modifiedssep/keb_optimizer/keb_problem_diagnostic.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/keb_problem_diagnostic.h
Commit 7a7e1113cb2032a9b4154567f9428355baf3e979 by tangwenqing
feat: Keb: 实现rosbag->keb scene的数据转换工具

The file was addedoffboard/bag_to_keb_scene/bag_to_keb_scene.cc
The file was addedoffboard/bag_to_keb_scene/README.md
The file was addedoffboard/bag_to_keb_scene/bag_reader.hpp
The file was modifiedCMakeLists.txt
The file was addedoffboard/bag_to_keb_scene/CMakeLists.txt
The file was addedoffboard/bag_to_keb_scene/bag_reader.cc
Commit ff306a5a442fa8945cdce677a6c549f1c0695ef5 by wuyanjun110
fix: 修正AddJunctionBlockRanges函数中的起始位置计算逻辑
The file was modifieddata/constrain/block_data.cpp
Commit b7412fd21a316b1ef3703cc93d759282d4540fe8 by wuyanjun110
feat: 适配云端障碍物类别的功能

Co-authored-by: Copilot <copilot@github.com>
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedplan/prepare/prepare_ogm.hpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/scenario/scenario_planner_condition.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/vehicle/cloud_pnc_config.cpp
The file was modifieddata/vehicle/cloud_pnc_config.hpp
The file was modifiedhmi/draw/draw_map.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedhmi/draw/draw_intersection.cpp
Commit 86de8210ee68e6329f32cc1a35868b69ed2a94b7 by wuyanjun110
fix: 修正UpdateBufferRange函数中障碍物遍历逻辑，改为使用历史障碍物数据
The file was modifieddata/vehicle/lock_station_data.cpp
Commit 2b509a221cdd64b1c693b51a550bdfdec8bfa437 by wuyanjun110
fix: 更新RoutingPath::UpdateDestDistance逻辑，增加对route_indices_大小的检查
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 82f1e85a323463ba80fd4fcdf8da1bb2a0d8d970 by chenran
fix: search_start_pt turn in place mode.
The file was modifieddata/plan/start_point_data.cpp
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedplan/prepare/prepare_status.cpp
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 8b78c5bcbf315994e7b6238c1d5185cab419aad9 by tangwenqing
chore: snapshot转keb scene的脚本使用流式读取，解决out of memory问题。真实录包验证通过。

The file was modifiedoffboard/bag_to_keb_scene/bag_reader.cc
The file was modifiedoffboard/bag_to_keb_scene/bag_to_keb_scene.cc
The file was modifiedoffboard/bag_to_keb_scene/bag_reader.hpp
The file was modifiedoffboard/bag_to_keb_scene/README.md
Commit 033ce6e23fb3f58b179636b2c92f34900c2326ff by chenran
fix: add max_forward_distance_for_straighten_trailer
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/decide/decide_reaction.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/decide/decide_reaction.hpp
Commit c0c14c2d3b302d1ece6e57277f25e32b0028e45a by tangwenqing
fix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。

The file was modifiedtasks/plan/keb_utils.cpp
Commit 44f7b48f99c518652479d5e51bea85b3e35d6de8 by tangwenqing
chore: snapshot转keb scene的脚本使用流式读取，解决out of memory问题。真实录包验证通过。

The file was modifiedoffboard/bag_to_keb_scene/README.md
The file was modifiedoffboard/bag_to_keb_scene/bag_reader.hpp
The file was modifiedoffboard/bag_to_keb_scene/bag_reader.cc
The file was modifiedoffboard/bag_to_keb_scene/bag_to_keb_scene.cc
Commit 70f22cdfbe6f4f6d176a40d97091accaf3f47740 by tangwenqing
fix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。

The file was modifiedtasks/plan/keb_utils.cpp
Commit c5db948fe5fb7098173c070809482e128577b495 by tangwenqing
fix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。

The file was modifiedtasks/plan/keb_utils.cpp
Commit 91fdc35083c9b02c48101419fd07aa48aa141b66 by tangwenqing
feat: SSEP: 增加跨运车普通搜索（单段搜索），自适应起点朝向。

The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/protos/ssep_scenario_type.proto
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was addedssep/scenarios/straddle_carrier_general_planner.h
Commit 7546606efefdee904b8fdc6cc039a25d8a589ffb by chenran
feat: SSEP: 增加跨运车普通搜索（单段搜索），自适应起点朝向。

The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/protos/ssep_scenario_type.proto
The file was addedssep/scenarios/straddle_carrier_general_planner.h
Commit 4516372f928ed74c94a724349891f238da1b4368 by chenran
fix: add ssep straddle carrier ssep scene
The file was modifieddata/ssep/forward_ec.cpp
Commit b7fd0ea445d47529917a4cbfbe8dbc1007c7c789 by tangwenqing
chore: snapshot to keb scene 增加批量转换功能

The file was modifiedoffboard/bag_to_keb_scene/bag_to_keb_scene.cc
The file was modifiedoffboard/bag_to_keb_scene/README.md
Commit c536333cacc14cfa6409a6c3cbce88b8046073ef by wuyanjun110
fix:修复进bulk场景中，有一帧场景器不运行的bug
The file was modifiedscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
Commit 6fbef3aa974bd5ef568ccbc99974572aed2ebaad by tangwenqing
fix: SSEP: ogm为空时退出搜索

The file was modifieddata/ssep/ssep_activation.cpp
Commit 6aa3f68532d1f8a80546591f2d8f4c39a060dc41 by chenran
fix: add SC park_in
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/vehicle/deviation_status.cpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/vehicle/deviation_status.hpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/config/cfg_env_const.hpp
Commit f52484d31ef770116289c6501ba45ac3c0800d1a by wuyanjun110
refactor:上下引桥搜索的时候考虑ogm_lines, 然后删除原有的boundary
The file was modifieddata/ssep/bridge_junction_ec.cpp
The file was modifieddata/ssep/field_junction_ec.cpp
Commit 15fdefe6f2086ec0cdb4a9f04ee9db7606a0e50e by chenran
fix: cancel wbca task_id verification
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 223d3a6d63e5dc946bb54f6ff62014329fdf54e3 by chenran
fix: cancel wbca task_id verification
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 61ad307f176a1e2ecec7b94d5a63764d73c65e24 by tangwenqing
feat: Keb: Add keb-foxglove visualization

The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/CubePrimitive.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/TextPrimitive.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Quaternion.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/ArrowPrimitive.proto
The file was addedoffboard/keb_vis_server/foxglove/README.md
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/KeyValuePair.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Point3.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneUpdate.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Pose.proto
The file was addedoffboard/keb_vis_server/foxglove/keb_to_mcap.py
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/CylinderPrimitive.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/ModelPrimitive.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneEntity.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneEntityDeletion.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Vector3.proto
The file was modified.gitignore
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/TriangleListPrimitive.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Color.proto
The file was addedoffboard/keb_vis_server/foxglove/requirements.txt
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SpherePrimitive.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/LinePrimitive.proto
Commit 3d0d0fca081f967e21bb815c2b190c89ac9284c9 by tangwenqing
feat: Keb: Add foxglove remote file server

The file was addedoffboard/keb_vis_server/foxglove/serve_mcap.py
The file was modifiedoffboard/keb_vis_server/foxglove/README.md
Commit 0f11ae0bab1008819526bd858df4337cf40a65e0 by tangwenqing
fix: Keb: 修复keb-foxglove转换脚本

The file was addedoffboard/keb_vis_server/foxglove/generate_protos.sh
The file was modifiedoffboard/keb_vis_server/foxglove/README.md
Commit 44c2b4b85df795417ffb726444c32293dbc1f123 by tangwenqing
feat: SSEP: 跨运车车型支持多段路径搜索（可通过参数配置）

The file was modifiedssep/scenarios/straddle_carrier_general_planner.h
Commit ea647e7930cb15e48c1e18e0c9bf1d7a2721fc15 by chenran
feat: SSEP: 跨运车车型支持多段路径搜索（可通过参数配置）

The file was modifiedssep/scenarios/straddle_carrier_general_planner.h
Commit 0c8a011f5420723cb66ac58914844eccfc48aeee by tangwenqing
chore: SSEP: 跨运车路径搜索时不考虑终点约束

The file was modifiedssep/ssep_planner.cc
Commit bdb5bd2633a80a481ed68bb6ae1d2f97276503c4 by chenran
fix: deviation_status bug
The file was modifieddata/vehicle/deviation_status.cpp
Commit f4a02d54a5e4da1de4d7a159b3693717c88fe980 by chenran
chore: SSEP: 跨运车路径搜索时不考虑终点约束

The file was modifiedssep/ssep_planner.cc
Commit 9194eea41c71b4fbb0224dba9be07f7ce477d675 by tangwenqing
fix: 修复编译依赖关系未指定导致概率性编译失败的问题

The file was modifiedproto/CMakeLists.txt
Commit 6ae1e0861946f1de98dfbfaa30b42758d3a5faaa by chenran
fix: park_in bug
The file was modifieddata/vehicle/deviation_status.cpp
The file was modifieddata/ssep/forward_ec.cpp
Commit 7bfb4249dcb858e80c1af3b72970d45443a22490 by chenran
fix: unloading condition
The file was modifieddata/other/flow_control.cpp
Commit cb30d4216f289aabc5300227fadd4e94c5ecf7de by chenran
fix: unloading condition bug
The file was modifieddata/other/flow_control.cpp
Commit 0d2c6f40d627c5c46e66c8d32a0aadb40e09e2af by chenran
fix: masked_box pt
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit 6631d0074b5c90b75b43d3d90f0db69c4da3750b by chenran
fix: mask_box yaw
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit 1b925974d34136dcea854939e67007dde1243e2f by tangwenqing
chore: Keb: 跑通优化诊断全流程。解决S弯道IMV距离障碍物太近/画龙问题

The file was modifiedssep/CMakeLists.txt
The file was modifiedoffboard/keb_vis_server/foxglove/generate_protos.sh
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedoffboard/keb_vis_server/foxglove/keb_to_mcap.py
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedproto/CMakeLists.txt
The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedoffboard/keb_path_opt_cli/keb_path_opt_cli.cc
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
The file was modifiedssep/keb_optimizer/keb_problem_diagnostic.h
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifiedproto/keb_scene.proto
The file was addedssep/protos/diagnostic.proto
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedoffboard/keb_path_opt_cli/CMakeLists.txt
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.hpp
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/keb_problem_diagnostic.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
Commit 6e3b4edde4ae9b53d89aea77edf4b1bd1d01d5fe by wuyanjun110
fix: 增加判断距离阈值至6.0以优化后向Ogm忽略逻辑
The file was modifieddata/other/flow_control.cpp
Commit b73c2202a26ccc333c2a607a5c3b89fd5c674be2 by chenran
fix: ignore path optimizor in park_in state.
The file was modifiedscenarios/scenario.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
The file was modifieddata/config/cfg_func_sw.hpp
Commit 0946b3acaee02badd118f9a63f3ee2dda3c4623f by chenran
fix: delete virual cloud points
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit 7c59ad39501afd7694f4aec8bd4ca280f84b305a by wuyanjun110
fix: (跨运车)优化忽略TTC逻辑，调整速度和目标偏移条件
The file was modifieddata/other/flow_control.cpp
Commit 31ea1ad3975dc3d9f35a4cc57a5a73811f5aa989 by chenran
fix: DeviationForStraighten bug
The file was modifieddata/vehicle/deviation_status.cpp
Commit 42d39b57a664237a1cfd0e25d7b7c12367dfa461 by chenran
fix: reverse sc_align offset heading
The file was modifieddata/vehicle/related_offset.cpp
Commit 93b1c2b17efa1f3f609886d3ab438e305a762523 by wuyanjun110
fix: 增加判断距离阈值至8.0以优化后向Ogm忽略逻辑
The file was modifieddata/other/flow_control.cpp
Commit ddeddd5a13755415baf3d06e7ede03bd44af4dbf by chenran
fix: ignore path optimizor in park_in state.
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifiedscenarios/scenario.cpp
Commit 016c1c47dab8fedb1d3a7577ac83684b561c844e by wuyanjun110
refactor: 优化 CreateRoadSecIdxS 方法中的弯道处理逻辑
The file was modified.gitignore
The file was modifieddata/map/reference/reference_road_section.cpp
Commit 8716d506735d2e7cda673a5214bf9d50d8af9cce by chenran
fix: park_in bug; open_space auto start failed
The file was modifieddata/vehicle/request_routing_data.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/other/flow_control.cpp
Commit 2cae818e72a83c101ee324a77186f5866a191365 by wuyanjun110
refactor: 重构弯道接续逻辑，提取公共查找函数并简化流程
The file was modifieddata/map/reference/reference_road_section.cpp
Commit 948279d94f5619f9911016636d57808488c528ca by chenran
fix: bulk_in scene decision bug
The file was modifieddata/other/flow_control.cpp
Commit 4b38573f9ff8b061484c81feef8f75803377cfbf by tangwenqing
chore: SSEP: 集卡多段倒车接挂适配超窄库位

The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
Commit f6bd6b0ad121a8e7a28289b642a8242d4b89bf4f by chenran
fix: end position heading for ssep replan
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit e58ed555388809334c87ab9fdc55fbef1dd89898 by wuyanjun110
refactor: 优化 CreateRoadSecIdxS 方法中的段匹配逻辑
The file was modifieddata/map/reference/reference_road_section.cpp
Commit 1cce69fd11b22b884e91b60e1a2751fd468d8a93 by wuyanjun110
fix: 增加最大速度阈值至4.0以优化卸货和装载时的OGM和TTC碰撞忽略逻辑
The file was modifieddata/other/flow_control.cpp
Commit f5b95a7b89d7da92fddc7d2ad89ae3877d53cce3 by wuyanjun110
refactor: 增强 CenterLineInfo 和 CreateCenterLines 的日志记录，改进错误处理
The file was modifiedtasks/other_tasks/create_center_lines.cpp
The file was modifieddata/plan/center_line_info.cpp
Commit 1d2ccec91a4d5d55ee1a8628b7aa6157da8d8837 by wuyanjun110
feat: 添加上层挂的前后基准距离计算
The file was modifieddata/config/cfg_static.cpp
Commit a5195a2ef347ac29f81feeecd98b2fd347d12ac1 by wuyanjun110
fix: 修改后退操作判断逻辑，使用reversing_mode替代is_backward_operation
The file was modifiedsink/ros_sink_pnc_status.cpp
Commit ca5b7d4561c500589945b9d4f9c76ee82dd33397 by chenran
refact: sc turn_in_place_mode
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was addeddata/vehicle/sc_turn_in_place_mode.hpp
The file was modifieddata/plan_frame.hpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/plan/start_point_data.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.hpp
The file was modifieddata/ssep/open_space_ec.cpp
The file was addeddata/vehicle/sc_turn_in_place_mode.cpp
Commit f594d4056c9db95adf15b608d615499907d9b9fb by tangwenqing
fix: Task Park时不使用参考线

The file was modifieddata/ssep/ssep_ec.cpp
Commit b3e0c232de1806c24d09b1438c4efd253fc72e33 by wuyanjun110
feat: 添加限速相关参数和窄障碍过滤逻辑
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/obstacle/occupy_grid.cpp
The file was modifieddata/obstacle/occupy_grid.hpp
The file was modifieddata/config/cfg_safe_const.hpp
Commit 049e471c60e56c09ca7c2223d5d1186b8d2dc541 by wuyanjun110
feat: 碰撞检测相关修改，支持返回碰撞命中信息及禁行道路类型
The file was modifieddata/constrain/longitude_constrain.hpp
The file was modifieddata/lattice/ogm_crash_data.cpp
The file was modifieddata/plan/predict_path.hpp
The file was modifiedhmi/draw/draw_collision_detection.cpp
The file was modifieddata/constrain/longitude_constrain.cpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifiedcommon/util/crash_helper.hpp
The file was modifiedcommon/util/crash_helper.cpp
The file was modifieddata/constrain/long_target.cpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/lattice/ogm_crash_data.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/plan/predict_path.cpp
The file was modifiedhmi/draw/draw_constrain.cpp
Commit f681eb8a15aaa2e1619d4f531bfe86654aedf63c by wuyanjun110
feat: 停车原因相关修改，新增禁行道路 OGM 停车类型
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
The file was modifieddata/app/fsm/stop_reason.cpp
The file was modifieddata/app/fsm/stop_reason.hpp
The file was modifiedcommon/util/express.cpp
The file was modifieddata/plan/ssep_data.cpp
Commit 0e93f151e668b0c0573195d94b688ce9e0eb52e9 by tangwenqing
chore: SSEP: 苏溪IMV支持反向进停车位

The file was modifiedssep/scenarios/imv_enter_station_planner.h
Commit ad378825194056a8803f5af5bccb0b0e7a1dc0aa by tangwenqing
fix: 修复烟台跨运车路径规划未到终点的问题

The file was modifiedssep/scenarios/straddle_carrier_pick_vehicle_planner.h
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/scenarios/straddle_carrier_general_planner.h
The file was modifieddata/ssep/ssep_ec.cpp
Commit f1dcea4d0988b65d8637d720f7eba169ba759e73 by chenran
fix: 修复烟台跨运车路径规划未到终点的问题

The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/scenarios/straddle_carrier_general_planner.h
The file was modifiedssep/scenarios/straddle_carrier_pick_vehicle_planner.h
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cc
Commit 71532e52bf8d96d93e36cb1e145955051223af28 by chenran
chore: SSEP: 集卡多段倒车接挂适配超窄库位

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit a62c3fcadf54c16a43502f7c87f1d4fda62639b5 by wuyanjun110
refactor:优化进堆场弯道禁停的忽略的距离
The file was modifieddata/constrain/disable_stop_range.cpp
Commit f66d6ba29d393b706e7983c1ca72f7a08eae66f1 by tangwenqing
fix: SSEP: 修复近距离进堆场时先掉2次头再进堆场的问题

The file was modifiedssep/scenarios/planner_utils.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/planner_utils.h
Commit cbeaafa15e29e65f45a0e38b09f61edb3d782466 by tangwenqing
fix: SSEP: 修复途经点在后方时路径异常的问题

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit 10712e7732eeb32df8ec9e2f177993adfc99ffb2 by tangwenqing
chore: SSEP: IMV增加条件忽略pass point

The file was modifiedssep/scenarios/scenario_planner_factory.h
Commit 26b7517fa9feac0912d3af870aca7b7c9f451bc8 by chenran
fix: maxbox bug in task_park
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit 6e2aa172556961ecc1667144c2c4b149723fab9f by wuyanjun110
refactor:优化界面耗时
The file was modifiedhmi/widget/velocity_chart.cpp
The file was modifiedhmi/widget/perf_cost_detail.cpp
The file was modifiedhmi/widget/brake_chart.cpp
The file was modifiedhmi/widget/command.hpp
The file was modifiedhmi/widget/velocity_chart.hpp
The file was modifiedhmi/widget/command.cpp
The file was modifiedhmi/widget/steer_chart.hpp
The file was modifiedhmi/widget/steer_chart.cpp
The file was modifiedhmi/widget/brake_chart.hpp
The file was modifiedhmi/common/chart.cpp
The file was modifiedhmi/widget/perf_cost_detail.hpp
The file was modifiedhmi/widget/diagnose.hpp
The file was modifiedhmi/widget/throttle_chart.cpp
The file was modifiedhmi/widget/throttle_chart.hpp
The file was modifiedhmi/common/chart.hpp
The file was modifiedhmi/widget/diagnose.cpp
Commit 52b8bc23bb8957f98a4fed7126c79f68d7425b38 by wuyanjun110
fix: 调整CreateNoTrajectories中的remain_len逻辑，减少无轨迹停车
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 79fc60aa3c6ecff8eaace51e91ed41a974d42b13 by wuyanjun110
feat:苏溪进停车位场景识别的bug
The file was modifieddata/ssep/forward_ec.cpp
Commit 7a837db31d1ae105045342716976bc863531d137 by chenran
fix: using straighten replan logic for path_direction_change replan type
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/ssep/forward_ec.hpp
Commit 1d9ef3640faf47d9567abcfdb76b10ea40ad3bc2 by wuyanjun110
支持通过参数配置堆高机任务完成的纵向安全边距
The file was modifieddata/app/fsm/task_done_verification.cpp
The file was modifieddata/app/fsm/task_done_verification.hpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/config/cfg_safe_const.cpp
Commit 56d64967cc4267d3501bcda7c787c819271cda87 by wuyanjun110
feat: 在forsearch搜索中，前港区域，不考虑矿卡障碍物
The file was modifieddata/ssep/forward_ec.cpp
Commit 498088b38d4026ab07266daecbcbc3c62b6d2c88 by tangwenqing
fix: Keb: 修复IMV后侧容易被挡停的问题

The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
Commit fd66e4bd2d7af4fa76e4651e5bae615c0ace7172 by tangwenqing
fix: IMV: 修复偶发优化失败的问题，修复距离path boundary较近时路径异常的问题

The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedtasks/plan/keb_utils_core.cpp
Commit dff765e360805cc6cd25a6a6df811933d253cdce by tangwenqing
fix: SSEP: 解决威海多段倒车距离og墙太近的问题

The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit 1543a6996dc2d5ad2b4d85db678ac7aa56cbc99b by chenran
fix: SSEP: 解决威海多段倒车距离og墙太近的问题

The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit 3678afda1f71cbbba3e23f3e023e7cc23bf13eae by chenran
fix: checkout feat_keb_v2
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/scenarios/planner_utils.cc
The file was modifiedssep/scenarios/straddle_carrier_pick_vehicle_planner.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/scenarios/planner_utils.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/keb_optimizer/cost_features/imv_steer_constraint.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/protos/ssep_scenario_type.proto
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
Commit 21a1df2d731e984cb4d3fd10e4b367b5433adc37 by tangwenqing
fix: SSEP: 跨运车: 1.搜索禁止匹配参考线.  2.末端直线忽略碰撞

The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/scenarios/straddle_carrier_general_planner.h
Commit 335bc124e56c2536cc6128b6211da5406e756911 by wuyanjun110
feat: 添加计划运行监视器以跟踪任务执行时间和状态
The file was modifiedplan/pilot/module.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_move_backward_stage.cpp
The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
The file was modifiedscenarios/stage.hpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cpp
The file was modifiedscenarios/stage.cpp
The file was modifiedscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cpp
The file was addedcore/plan_runtime_watchdog.hpp
The file was modifiedscenarios/bulkload_scenario/bulkload_preapre_stage.cpp
The file was modifiedscenarios/lane_change_scenario/lane_change_stage.cpp
The file was modifiedscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cpp
The file was modifiedcore/plan_async.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_lane_change_stage.cpp
The file was modifiedscenarios/ex_lane_change_scenario/ex_lane_change_stage.cpp
The file was modifiedscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
The file was modifiedscenarios/lane_change_scenario/lane_change_prepare_stage.cpp
The file was modifiedplan/prepare/module.cpp
The file was modifiedscenarios/parking_scenario/parking_lane_change_stage.cpp
The file was modifiedscenarios/lane_change_scenario/lane_change_cancel_stage.cpp
The file was modifiednode/logic.cpp
The file was modifiedscenarios/parking_scenario/parking_move_stage.cpp
The file was modifiedscenarios/parking_scenario/parking_prepare_stage.cpp
Commit 891155ac4ca3966fb179f97049acdadac6eb3c1d by chenran
fix: add end_posture for ssep
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/ssep/forward_ec.cpp
Commit 78f51ffe8e7c2e45af66ddb75e0c7889fb613e35 by chenran
fix: ssep end_posture bug; del redundant params
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
Commit 4760582d7742614d4ddec23fe4fed2ebfbe16e10 by chenran
fix: checkout ssep in feat_keb_v2
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/offboard/path_drawing_tool/hermite_path_generator.h
The file was modifiedssep/offboard/path_drawing_tool/path_drawing_tool_main.cc
The file was modifiedssep/scenarios/straddle_carrier_general_planner.h
The file was modifiedssep/offboard/path_drawing_tool/CMakeLists.txt
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/offboard/path_drawing_tool/path_drawing_html_template.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/offboard/path_drawing_tool/hermite_path_generator.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
Commit 849b809662aefd3a936983d16c9eb850bf0628d6 by wuyanjun110
feat:终点在身后的时候 并且车辆没有移动的情况下 不创建停止线。
The file was modifieddata/map/pnc_map/routing_extension/routing_data.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit ec72507c1222f7759bc263671e82114348ea6d1d by wuyanjun110
feat: 更新云轨迹相关函数以使用引导线替代参考线，并优化相对时间计算
The file was modifieddata/plan/cloud_trajectory.hpp
The file was modifieddata/plan/cloud_trajectory.cpp
The file was modifieddata/app/cmd/cmd_dead_lock_force_park.hpp
The file was modifieddata/plan/guide_line.cpp
Commit b18a8cf6bcc67500855d45edcfc9ff4ec91e7e04 by chenran
fix: merge bug
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit d18a7474fa7354e2aa5f5fbf9d696bbc071de17d by tangwenqing
feat: SSEP: 增加运动学约束warm up功能。在优化初期减小运动学约束的代价，并增加逐步衰减的平滑、避障代价。让优化器在优化初期更关注轨迹形态，后期更关注运动学约束。

The file was modifiedssep/keb_optimizer/cost_features/disk_collision_cost.h
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedssep/keb_optimizer/cost_features/tractor_trailer_kinematic_constraint.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/cost_features/truck_kinematic_constraint.h
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/cost_features/path_length_cost.h
The file was modifiedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
Commit 7e293b6bebcf34be3ffa681aface5341c9fc9883 by chenran
fix: merge bug
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit ba14473ce1031b6c19f65836d6fd990bd841085f by wuyanjun110
fix: 修改路径点格式化中的分隔符，从 '&' 改为 '#'
The file was modifieddata/plan/guide_line.cpp
Commit d189bbc6258b48ba139a99f51101e0cd19269dc3 by tangwenqing
chore: SSEP: 跨运车自转逻辑改进

The file was modifiedssep/scenarios/straddle_carrier_pick_vehicle_planner.h
Commit 86e66d870e92fe2ed6d0e3cb40d50ad3712ae937 by chenran
fix: openspace search start point
The file was modifieddata/ssep/open_space_ec.cpp
Commit 6aa36f6709b5df4c5b5b879f88a8a5da73eba853 by chenran
chore: SSEP: 跨运车自转逻辑改进

The file was modifiedssep/scenarios/straddle_carrier_pick_vehicle_planner.h
Commit 7168dbfa30ffd93062b1608f08d636e57a33d4dd by wuyanjun110
feat: 增加对堆场直接进入的判断逻辑，并优化相关功能
The file was modifieddata/ssep/base_stop_line_filter.hpp
The file was modifieddata/ssep/open_space_ec.hpp
The file was modifieddata/ssep/base_stop_line_filter.cpp
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/vehicle/lock_station_data.cpp
Commit f5eba086e38f878a9c59460cd274ccfac0bbba6e by wuyanjun110
引入横向规划器选择器与任务条件机制，重构规划器相关逻辑，完善配置与任务调度
The file was modifiedscenarios/stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
The file was addedscenarios/task_condition_evaluator.cpp
The file was modifiedscenarios/scenario_interface.hpp
The file was addedscenarios/task_condition_evaluator.hpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifiedhmi/draw/draw_path_boundary.cpp
The file was modifiedscenarios/stage.hpp
The file was modifiedscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cpp
The file was modifiedscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cpp
The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
The file was modifiedscenarios/scenario.cpp
The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp
The file was modifieddata/config/cfg_stage.hpp
The file was modifieddata/config/cfg_stage.cpp
The file was modifiedconfig/config_truck/scenario.yaml
Commit 0a384016224b6666ecf0b9ecd01fe0c2c5935644 by chenran
fix: disable replan during car loading
The file was modifieddata/vehicle/deviation_status.cpp
Commit a2fe19adfd84af23f521e6790146fca98c816aaa by wuyanjun110
重构任务选择器与横向规划器选择逻辑，新增窄空间检测功能
The file was modifiedscenarios/stage.hpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifiedhmi/widget/diagnose.cpp
The file was modifiedscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cpp
The file was modifiedscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cpp
The file was modifiedscenarios/stage.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedscenarios/task_condition_evaluator.hpp
The file was modifieddata/config/cfg_stage.hpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.hpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_stage.cpp
The file was modifiedscenarios/task_condition_evaluator.cpp
Commit 31e09a791978ac342db474d9da6246ce4678fe46 by wuyanjun110
feat: 优化目标点计算逻辑，使用当前车辆目的地与最大预瞄距离的最小值
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
Commit 6e58a963e9a696edda1a1fbc57114f301c2d47fc by tangwenqing
feat: SSEP: 支持上下码头面同时进堆场

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 5c66484117e480a1bf37b534af153741f5102910 by wuyanjun110
feat: 调整运动学可行性检查的最大归一化位置和朝向误差
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
Commit 0dbf3b3c0dd814f60915d79a4e08490a137974c4 by tangwenqing
fix: SSEP: 修复集卡多段倒车搜索失败的问题

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 01953a89de69f4ce40476214765121973d3f0c6f by wuyanjun110
feat: 添加不可以区域Z层处理逻辑，优化地图绘制功能
The file was modifiedhmi/draw/draw_map.cpp
The file was modifieddata/ssep/field_junction_ec.cpp
Commit 21d0845082576cb4d43f9552e0498ceb1db0e029 by chenran
fix: travel_out bug; open_space bug
The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
The file was modifieddata/vehicle/sc_turn_in_place_mode.hpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/scenario/scenario_planner_condition.cpp
The file was modifieddata/app/fsm/task_fsm/task_travel/task_travel_fsm.cpp
The file was modifieddata/scenario/scenario_planner_bt.cpp
The file was modifieddata/vehicle/sc_turn_in_place_mode.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 36c313d92d6159e79274b863256e14969346c22f by chenran
fix: ignore bacbward ogm bug.
The file was modifieddata/other/flow_control.cpp
Commit 5c305ed4092e332ef41c2415f0d0c90174ff8ba4 by wuyanjun110
feat: 添加bulk in 堆场前临时停车功能
The file was modifieddata/constrain/disable_stop_range.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/constrain/disable_stop_range.cpp
The file was modifieddata/constrain/block_data.cpp
Commit 9adaf7e269616766ee94652d4501b6206ee69cfc by chenran
fix: open space bug
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 1b8e94b138a0609cb73ebf0e0e777d5b694d27d5 by chenran
fix: openspace to bulk_load exception
The file was modifieddata/other/flow_control.cpp
Commit b256d63212ae082f14354d1d39518463c61aa4d9 by tangwenqing
fix: SSEP: 修复跨运车普通搜索掉头代价太大导致出原地转圈轨迹的问题。

The file was modifiedssep/scenarios/straddle_carrier_general_planner.h
The file was modifiedssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
Commit 196b86a3823ca0dff628ad860d94e851d0663f83 by chenran
fix: accidental openspace entry
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit ee146d8f9a2819d9565d186115213c2476f78989 by chenran
fix: SSEP: 修复跨运车普通搜索掉头代价太大导致出原地转圈轨迹的问题。

The file was modifiedssep/scenarios/straddle_carrier_general_planner.h
The file was modifiedssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
Commit 4bf5c8270da914d3b1f5904f5e1bb979afa6cc7b by tangwenqing
chore: Keb: 根据前杠窄弯/窄通道数据调整自卸车的优化参数和流程

The file was modifiedoffboard/keb_path_opt_cli/keb_path_opt_cli.cc
The file was modifiedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedtasks/plan/keb_utils_core.cpp
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
Commit 1b988671fa14d46390c7e72167264eb91bb59f15 by wuyanjun110
feat: clang18 编译优化
The file was modifieddata/common/path_point.hpp
The file was modifiedCMakeLists.txt
The file was modifieddata/dp_poly_path/comparable_cost.hpp
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifiedcommon/util/hdmap_namespace.hpp
The file was modifieddata/map/reference/reference_segment.hpp
The file was modifieddata/common/trajectory.hpp
The file was modifieddata/common/trajectory_point.hpp
The file was modifieddata/obstacle/block.hpp
Commit dca6c98db33487af01a20e3a8e337741b290e6b0 by wuyanjun110
fix:崩溃防护，guide line 有效，但speedlimits为空
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 847c2fc7db32a071335257e130559f853f2f5e3a by chenran
fix: incorrectlly enter park_in state
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
Commit 48d96b1fa2212d2e673a86427ae8c99c58fb86da by tangwenqing
fix: Keb: 修复终点附近轨迹会有碰撞的问题

The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifiedalgorithm/plan/keb_optimizer.cpp
Commit bba0f9b0d7636cfd099bed1f7d5a6fd0eaad06f5 by tangwenqing
fix: SSEP: fix crashing issue

The file was modifiedssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
Commit 0703acd58c84b4ace9abf4350bd6604c0e1b1cb7 by tangwenqing
chore: Keb-sim: 适配终点选取逻辑

The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
Commit 40daedb3d87a4ab4155ddb110a984452da55b8d3 by chenran
fix: checkout feat_keb_v2
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/cost_features/truck_kinematic_constraint.h
The file was modifiedssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/cost_features/disk_collision_cost.h
The file was modifiedssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/cost_features/path_length_cost.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/keb_optimizer/cost_features/tractor_trailer_kinematic_constraint.h
The file was modifiedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
Commit 7877eff32392d61b24edcfd041e1ccc07f59101e by wuyanjun110
feat:动态上下码头面 直接进堆场场景的优化
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifiedscenarios/task_condition_evaluator.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit d62544f9ee0f56a94a4c24195b03574a26b77cf1 by wuyanjun110
feat:添加云端轨迹 挂转角的赋值
The file was modifiedsink/ros_sink_cloud_trajectory.cpp
Commit f4c924bed3396eccd1d67360cab3d176a0167190 by wuyanjun110
fix:堆场前停车，停车原因赋值错误的bug
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 20fe40a09dfcc324d0d105ec3b5feb1f89049902 by wuyanjun110
fix:进堆场前停车，motion状态机错误的bug

The file was modifieddata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp
Commit 83813bf5122f441c9fb043e7bb24ea7a3db54dbf by wuyanjun110
fix:修复keb路径跳变的bug
The file was modifiedalgorithm/plan/keb_optimizer.cpp
Commit ed755ec8a14fb5980476faeae2ae252c75a7026a by chenran
fix: Correct open_space_region condition
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/config/cfg_env_const.cpp
Commit 48daa21458f0c4904c9c812e96c937f9ce34456c by wuyanjun110
feat:ctrl +shift  左键 可以 把车辆移动到 没有lane的位置上
The file was modifiedhmi/common/image_viewer.cpp
The file was modifiedhmi/widget/map.hpp
The file was modifiedhmi/widget/map.cpp
The file was modifiedhmi/common/image_viewer.hpp
Commit 06aae4d6feedb9c8d36a81dd8e23eb4ff1aeba2b by wuyanjun110
feat: 添加KEB可视化数据结构及相关功能
- 在CfgFuncSw和CfgHmi中添加KEB相关功能开关
- 实现KEB可视化数据的生成和更新
- 在绘制模块中集成KEB上层和下层线段的绘制
- 更新路径优化任务以支持KEB可视化数据
The file was addeddata/plan/keb_visualize_data.hpp
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifieddata/plan_frame.hpp
The file was modifiedhmi/replayer_hmi.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifiedhmi/widget/pnc_mat_shared.cpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/config/cfg_hmi.hpp
The file was modifiedhmi/node_hmi.cpp
The file was modifiedtasks/plan/keb_lane_follow_path_task.hpp
The file was modifiedhmi/draw/draw_perception.cpp
The file was modifieddata/config/cfg_hmi.cpp
The file was modifiedhmi/draw/draw_perception.hpp
The file was modifiedhmi/draw/draw_all.cpp
The file was modifiedtasks/plan/keb_utils.cpp
Commit 4482c5612405410d84008ea262418b70bf895a36 by wuyanjun110
feat: 更新CfgFuncSw类的序列化版本，添加新功能支持
The file was modifieddata/config/cfg_func_sw.hpp
Commit 3a44489a43b861ce26073ac5d976d351b5a1fbc9 by wuyanjun110
feat: 岸桥搜索添加黑名单功能
The file was modifieddata/scenario/scenario_planner_bt.cpp
Commit 51f5fb1c968a563b794d66cc91759514d44ffb42 by tangwenqing
chore: Keb: 优化IMV的避障效果

The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedtasks/plan/keb_utils_core.cpp
Commit fcb1fdf1c53233f194b8e9f1689ec363d96b4305 by liuhongshuo
fix: 匹配STOP_DECIDER前移
The file was modifiedtasks/deciders/other_decider/stop_decider.cpp
Commit fc7059e89de4fef19ca9cf953d4b7fd61aa8a80b by wuyanjun110
feat: 添加异步处理功能以优化地图包围区域的创建
The file was modifieddata/ssep/bridge_junction_ec.cpp
The file was modifieddata/ssep/online_region_contour_creator.hpp
The file was modifieddata/map/envelop/map_envelops.hpp
The file was modifieddata/ssep/online_region_contour_creator.cpp
The file was modifieddata/map/envelop/map_envelops.cpp
Commit 4fc2be86a4d1eca4b53f4d56e62c97f5fb031f1d by wuyanjun110
fix:场景切换的bug
The file was modifieddata/scenario/scenario_planner_action.cpp
Commit 71c16bf45e561eefea113e465b699a33859d6b86 by tangwenqing
chore: SSEP: 优化集卡上下码头面路径

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/scenarios/planner_utils.cc
The file was modifiedssep/scenarios/planner_utils.h
Commit dc17e68abc06ca8dbb3d1a3db7def4422dcc39b9 by tangwenqing
chore: SSEP: 提升跨运车抓车搜索成功率

The file was modifiedssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/coarse_search/motion_primitive_sampler/dubins_path.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/scenarios/straddle_carrier_pick_vehicle_planner.h
Commit 9d8ec0cc2eec373d2042e92afd783de30a1dace5 by chenran
chore: SSEP: 提升跨运车抓车搜索成功率

The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
The file was modifiedssep/coarse_search/motion_primitive_sampler/dubins_path.cc
The file was modifiedssep/scenarios/straddle_carrier_pick_vehicle_planner.h
Commit d428ac57bfe7d217213aad704585bdf2d4a209c1 by wuyanjun110
feat:<洋浦>适配洋浦新增区域的搜索
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/config/cfg_region.cpp
The file was modifieddata/config/cfg_region.hpp
The file was modifiedhmi/draw/draw_map_envelpos.cpp
The file was modifieddata/ssep/field_junction_ec.hpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/map/envelop/map_envelop.cpp
Commit 952cf19b4410c444d684bf51bd2c2c11a8a12d28 by wuyanjun110
refactor:包围框合并的优化
The file was modifieddata/ssep/online_region_contour_creator_test.cpp
The file was modifieddata/ssep/online_region_contour_creator.cpp
Commit ec973944b1c5336b5bc7b0be2ee23c1fe9e8722c by chenran
fix: add smooth_mode opt
The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifieddata/wbca/wbca_data.cpp
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 0402e566a438f1ecc6493e52121d7fb81899c447 by wuyanjun110
feat:出堆场搜索异常的bug
The file was modifieddata/ssep/bridge_junction_ec.cpp
The file was modifieddata/ssep/field_junction_ec.hpp
The file was modifieddata/ssep/out_yard_junction_ec.hpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/normal_junction_ec.cpp
The file was modifieddata/ssep/into_yard_junction_ec.hpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp
The file was modifieddata/ssep/field_junction_ec.cpp
Commit f8751de6c7c51feabc56f3ede005f3d91eeaf6e2 by wuyanjun110
feat:洋浦 进（普通堆场的形状）堆高机场的入口限速
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 3d1116dbde5bce9a82f7fe09b17c4bb1d4191b92 by chenran
fix: smooth mode optimization
The file was modifiedalgorithm/wbca/wbca_manager.hpp
The file was modifiedalgorithm/wbca/imv_wbca_manager.hpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
Commit 9ff260ca7d9c1471700c9e5906d9044dea3b06f5 by tangwenqing
fix: 修复威海车型不匹配的问题

The file was modifieddata/ssep/ssep_ec.cpp
Commit 52e6001f5205980ce9c490bbf25c6ca7a717b142 by wuyanjun110
feat: 添加车辆侵入车道限速功能及相关配置
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.hpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/boundary/road_boundary.hpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 26eab9bdf200a10462c4cf067b756cfa1fe1ef12 by wuyanjun110
feat: 增强边界约束条件，确保在使用侵入限速功能时检查道路边界和引导线可用性
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 3af6e994b8161f051b44d6dd9558ab6bf9f5ca5a by wuyanjun110
refeat:重构 障碍物侵入道路后的限速
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/obstacle/obstacle_decider_attr.cpp
The file was modifieddata/obstacle/obstacle_decider_attr.hpp
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.hpp
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.cpp
Commit 81b6dcb273bd1aee8059365f8af0e1cd3374f236 by wuyanjun110
feat: 添加 .codewhale 和 .deepseek 到 .gitignore
The file was modified.gitignore
Commit ae8ab329ceb7d1a30a431ee4d300205663d11092 by wuyanjun110
feat: 增加对特定区域类型的检查，避免在码头面、堆场和堆高机场 判断 场桥禁停
The file was modifiedplan/prepare/prepare_objs.cpp
Commit 398a5dee83c255b4607ca23de24bb5f1fa59c340 by wuyanjun110
refctor:风险限速和聚类限速时，限制最大减速度
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 41e19d82884238bccdc50cedde9bc7a36aa8cfe7 by wuyanjun110
feat: 绕行时，沟点不进行膨胀
The file was modifieddata/boundary/driving_corridor.cpp
Commit f9a6597d905bb67f260fa38a8a12d1c0fa1d5023 by chenran
fix: cancel wbca smooth_mode for the first frame
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit d9c144437f5bcc7c4c0a1148d9bc451648037754 by 5081703.cr
fix: cancel wbca smooth_mode for the first frame
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit f3aba82df778e601e86da27f92dcd1450b825ebe by tangwenqing
chore: SSEP: 减小集卡多段倒车的最大曲率

The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit 8c8b71cf02fe784ac0d3eb84cf560a87b76ca4b7 by tangwenqing
chore: SSEP: IMV普通搜索过滤明显存在碰撞的路径。

The file was modifiedssep/scenarios/imv_general_planner.h
Commit 9860e5e10afab9d9dd953a2dd845a82a066553f9 by wuyanjun110
feat: 添加功能开关以控制 吊具高度 是不是 切换状态机， 默认打开
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/config/cfg_func_sw.cpp
Commit 151700eb9e713ee4168cd2f08445528b425cbcd8 by tangwenqing
fix: Keb: 延长段路径不验证运动学可行性

The file was modifiedalgorithm/plan/keb_optimizer.cpp
Commit 20afe5dc9066c210d57077454994e46847d67f6f by chenran
fix: checkout feat_keb_v2
The file was modifiedssep/scenarios/planner_utils.h
The file was modifiedssep/scenarios/planner_utils.cc
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/straddle_carrier_pick_vehicle_planner.h
The file was modifiedssep/scenarios/imv_general_planner.h
Commit d7b13e97abc9b756a322cf12748dcfc5ddb66328 by chenran
fix: merge bug
The file was modifiedscenarios/scenario.cpp
Commit c35888b2dfcf4e0b9a93a519ff31c6fcd9ff38e2 by tangwenqing
feat: SSEP: 将GPU搜索重写，整合进目前的CPU搜索框架中。目前的搜索框架改进为CPU-GPU混合框架，可以任意配置使用CPU/GPU搜索组件。

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was addedssep/coarse_search/gpu_context.h
The file was modifiedssep/offboard/CMakeLists.txt
The file was removedssep/test/gpu_heuristic_test.cc
The file was removedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.cc
The file was removedssep/gpu/heur_table_loader.cu
The file was removedssep/test/gpu_ref_line_cost_test.cc
The file was modifiedssep/coarse_search/evaluator/cost_feature_computer.h
The file was removedssep/gpu/cost/ref_line_cost.cuh
The file was removedssep/test/gpu_heuristic_test_kernel.cu
The file was addedssep/gpu/collision/collision_batch_bridge.h
The file was removedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.h
The file was removedssep/gpu/cost/path_length_cost.cuh
The file was removedssep/gpu/kernels/batch_expand_kernel.h
The file was modifiedssep/test/CMakeLists.txt
The file was removedssep/coarse_search/gpu_batch_expander.cc
The file was modifiedssep/test/ssep_planner_test.cc
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was addedssep/coarse_search/motion_primitive_sampler/gpu_multi_curvature_sampler.h
The file was addedssep/coarse_search/bounded_priority_queue.h
The file was addedssep/coarse_search/gpu_context.cc
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was removedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/test/gpu_sampler_test.cc
The file was removedssep/gpu/cost/curvature_cost.cuh
The file was removedssep/test/gpu_ref_line_cost_test_kernel.cuh
The file was modifiedssep/coarse_search/motion_primitive_sampler/reverse_primitive_decorator.h
The file was modifiedssep/gpu/device_types.h
The file was removedssep/gpu/batch_expander_bridge.h
The file was removedssep/gpu/heuristics/heuristic_computer.cuh
The file was addedssep/gpu/samplers/sampler_bridge.cu
The file was modifiedssep/coarse_search/motion_primitive_sampler/motion_primitive_sampler.h
The file was addedssep/coarse_search/motion_primitive_sampler/gpu_multi_curvature_sampler.cc
The file was modifiedssep/coarse_search/batched_priority_queue.h
The file was removedssep/gpu/batch_expander_bridge.cu
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was removedssep/test/gpu_heuristic_test_kernel.cuh
The file was modifiedssep/coarse_search/indexed_priority_queue.h
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was removedssep/test/gpu_ref_line_cost_test_kernel.cu
The file was removedssep/gpu/heur_table_loader.h
The file was removedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.h
The file was addedssep/coarse_search/evaluator/gpu_collision_cost_computer.h
The file was removedssep/test/gpu_cost_test.cc
The file was removedssep/gpu/heur_table_loader.cc
The file was removedssep/gpu/samplers/sampler_params.h
The file was removedssep/coarse_search/gpu_batch_expander.h
The file was removedssep/gpu/kernels/batch_expand_kernel.cu
The file was addedssep/gpu/samplers/sampler_bridge.h
The file was addedssep/coarse_search/evaluator/gpu_collision_cost_computer.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was addedssep/gpu/collision/collision_batch_bridge.cu
Commit 2acb091b21689887f148d0df82b1a0b3fef171af by wuyanjun110
fix:修复路径拼接的bug
The file was modifieddata/common/path.hpp
The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
The file was modifiedtasks/other_tasks/stitch_path_to_reference_line.cpp
The file was modifieddata/common/path.cpp
Commit 49fd6e14f06967753a29c172ea1f1a3b183d3443 by wuyanjun110
feat: 优化判断逻辑，增加起始点方向差异判断以决定是否需要全平滑
The file was modifieddata/plan/smooth_data.cpp
Commit 5470ffd1bdb0c00035a4754c2bf7dda94e75c6b2 by wuyanjun110
refactor:<PJPO>优化求解的成功率
The file was modifiedmath/piecewise_jerk/piecewise_jerk_problem.cpp
The file was modifiedtasks/plan/pjpo_task.cpp
The file was modifiedalgorithm/plan/pjpo.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedCMakeLists.txt
The file was modifiedtasks/plan/trailer_pjpo_task.cpp
The file was addedTesting/pjpo_case_test.cpp
The file was modifiedalgorithm/plan/pjpo.hpp
The file was modifiedmath/piecewise_jerk/piecewise_jerk_path_problem.cpp
The file was modifiedmath/piecewise_jerk/piecewise_jerk_problem.hpp
Commit 3c97e84a97b7c6fe7f8fc038c48f05600fdc2f4c by tangwenqing
chore: Keb: 1. 解决IMV从当前点规划轨迹异常的问题。2. 解决IMV轨迹画龙问题

The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedssep/keb_optimizer/keb_utils.h
The file was modifiedssep/keb_optimizer/keb_utils.cc
Commit e6322327d2b40d21e42c429bb0c13eb3a586c092 by wuyanjun110
fix: 修改锁定站点为狭窄空间的参数默认值为false
The file was modifieddata/config/cfg_func_sw.cpp
Commit 569c0e1879c911597728e5ff4a6f23cdc1f46969 by chenran
fix: park_in bug
The file was modifieddata/vehicle/vehicle_destination.cpp
The file was modifieddata/vehicle/deviation_status.cpp
The file was modifieddata/plan/guide_line.cpp
Commit 2b8630bb28241bdac3a14af8c243551f2c05a236 by wuyanjun110
refactor: 修改GetOgmSize函数签名，增加车辆状态参数以优化OGM大小计算
The file was modifiedplan/prepare/prepare_ogm.hpp
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit d52736cae4ae26c4667f2b4f65ad4aa4a6f95ec8 by chenran
fix: add turn-in-place trajectory to cloud_trajectory
The file was modifieddata/vehicle/sc_turn_in_place_mode.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/plan/cloud_trajectory.hpp
The file was modifieddata/plan/cloud_trajectory.cpp
The file was modifieddata/vehicle/sc_turn_in_place_mode.hpp
The file was modifieddata/config/cfg_env_const.cpp
Commit 3be0d639895b61008986b617f1a6b60cc8dd4672 by chenran
fix: incorrectly absolute_sign stop
The file was modifieddata/vehicle/related_offset.hpp
The file was modifieddata/vehicle/related_offset.cpp
The file was modifiedplan/prepare/prepare_offset.cpp
Commit 764219d0d68f42da1d4279cb3930f6c934d284a0 by wuyanjun110
feat: 添加NormalizePolygonsForUnion函数以处理多边形归一化，并增加相应的单元测试
The file was modifieddata/ssep/online_region_contour_creator.cpp
The file was modifieddata/ssep/online_region_contour_creator_test.cpp
Commit 7baa2b7a96e4e1eeb97393b14b7e7249721a6f42 by wuyanjun110
fix: 修改杨浦区域半径值为2000以配置扩大的堆场
The file was modifieddata/config/cfg_region.cpp
Commit 065d835f51e01dac7fcd62e40121f5a6b8836fea by wuyanjun110
fix: 更新停止标志重叠匹配逻辑，增加对交叉口ID的检查并调整LaneSegment的合并参数
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
Commit bf5c8b6a5d40a577e06606874e8c3225fb2d58ee by tangwenqing
feat: Keb: 1. 引入clipper2几何运算库处理多边形的膨胀腐蚀操作。解决之前的膨胀逻辑对某些特殊形状处理存在错误的问题。2. 将最近点膨胀代价升级为sdf碰撞检测代价，鲁棒性更高收敛更快。3. 前轮转向约束使用softplus函数建立梯度平滑的约束，解决在极限转弯场景优化时梯度跳变的问题。

The file was addedssep/common/utils/clipper2/src/clipper.offset.cpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was addedssep/common/utils/clipper2/src/clipper.engine.cpp
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.rectclip.h
The file was addedssep/common/utils/clipper2/src/clipper.rectclip.cpp
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.h
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.offset.h
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.version.h
The file was addedssep/common/utils/clipper2/src/clipper.triangulation.cpp
The file was modifiedssep/CMakeLists.txt
The file was modifiedoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was addedssep/keb_optimizer/cost_features/cost_functions.h
The file was addedssep/keb_optimizer/distance_field_interpolator.h
The file was modifiedssep/data_structures/polyline.cc
The file was modifiedoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.hpp
The file was modifiedssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.core.h
The file was addedssep/keb_optimizer/cost_features/sdf_disk_collision_cost.h
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.triangulation.h
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.export.h
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.minkowski.h
The file was modifiedssep/keb_optimizer/cost_features/imv_steer_constraint.h
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.engine.h
Commit 0c1a0efdffcbc754ebb6985f3ef4fbf57e6ac132 by chenran
fix: auto heading ajustment in turn_in_place mode
The file was modifieddata/vehicle/sc_turn_in_place_mode.cpp
The file was modifieddata/vehicle/sc_turn_in_place_mode.hpp
The file was modifiedplan/prepare/prepare_state.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/ssep/open_space_ec.cpp
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 9a1e7ab5fd1ce352d97b435e8f2080ef72733542 by chenran
fix: display bulk_align used for ssep end_posture
The file was modifiedhmi/draw/draw_ego.cpp
The file was modifieddata/config/cfg_env_const.cpp
Commit de98856d539fbd1f92bf072327b33a91809e1a89 by chenran
fix: cloud trajectory heading bug
The file was modifieddata/plan/cloud_trajectory.cpp
Commit a71121ccd5216ae5cca31bba6f1b864c64205622 by chenran
fix: add virtual cloud points
The file was modifieddata/other/flow_control.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit c7bf49a68aee1473b8309654c1f828247fe808b3 by chenran
fix: normal to lock during bulk_load
The file was modifieddata/plan/path_direction_data.cpp
Commit 71eef921381d379a873dbf7512af711148b74d8b by chenran
fix: add sc_taret_deviation_stop
The file was modifiedtasks/deciders/long_decider/constrain_decider.hpp
The file was modifieddata/app/fsm/stop_reason.hpp
The file was modifieddata/constrain/long_target.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifiedhmi/draw/draw_constrain.cpp
The file was modifiedcommon/util/express.cpp
The file was modifieddata/constrain/longitude_constrain.cpp
The file was modifieddata/app/fsm/stop_reason.cpp
The file was modifieddata/constrain/longitude_constrain.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit d4cd2c91126aeaed57e5604e731633147684378d by chenran
fix: update dist_deviation_stop_thr 0.3, heading_devaition_stop_thr 0.026
The file was modifieddata/config/cfg_env_const.cpp
Commit 5a59dd1b9a199d4080cf225019e2244ce387b24d by chenran
fix: curature over limit stop optimization
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/config/cfg_safe_const.cpp
Commit 4e529beda6281c89daa913f798b557c92d0a3df5 by chenran
fix: curature over limit stop optimization
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/config/cfg_safe_const.hpp
Commit 5b1a62a1b19dc733d075fcb7f51dab31938582f4 by tangwenqing
chore: Keb: 集卡进堆场增加“最后拉直段减小避障半径”的逻辑

The file was modifiedssep/maps/ogm.cc
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedtasks/plan/keb_utils_core.hpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedssep/maps/ogm.h
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifiedssep/maps/ogm_builder.cc
The file was modifiedtasks/plan/keb_utils_core.cpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/maps/ogm_builder.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit 7af0c7391673b03d1f2c27d375eb87e89d84fdcf by tangwenqing
refactor: SSEP: 重构OGM构建流程

The file was addedssep/maps/ogm_config_utils.cc
The file was addedssep/maps/ogm_config_utils.h
The file was modifiedssep/ssep_planner.cc
Commit a9b02b6c759918ae17aad9f35fd796e45276faf6 by chenran
fix: openspace end_posture selection bug
The file was modifieddata/ssep/open_space_ec.cpp
Commit be3ce1d49b1c6d7f491a658c7263620f1afcb722 by wuyanjun110
feat: 添加skills到.gitignore以忽略相关文件
The file was modified.gitignore
Commit c8876f9999372ab3bfe13fbffda89c1ecef66548 by wuyanjun110
fix: step align状态下，吊具防护，montion状态机切换的bug
The file was modifieddata/app/fsm/stop_reason.cpp
The file was modifieddata/constrain/longitude_constrain.hpp
The file was modifieddata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp
The file was modifieddata/constrain/longitude_constrain.cpp
Commit a36a7f30bdbce770bcbb209a26e659a01417e257 by wuyanjun110
fix:修复进充电桩，场景适配错误的bug
The file was modifieddata/map/pnc_map/pnc_map_helper.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/map/pnc_map/pnc_map_helper.hpp
Commit 72ef714fd0e866823e7d2dd7c0df42e08a47dac7 by tangwenqing
fix: Keb: 删除未用到的“BuildKebOGM”方法

The file was modifiedtasks/plan/keb_utils.cpp
The file was modifiedtasks/plan/keb_utils.hpp
Commit 9303bd8e2d53b8012b3756c1275e8ce4f9599094 by wuyanjun110
feat(hmi): 新增路径曲线面板 path_curve_detail
The file was modifiedhmi/node_hmi.cpp
The file was modifiedhmi/replayer_hmi.cpp
The file was modifiedhmi/replayer_hmi.hpp
The file was addedhmi/widget/path_curve_detail.cpp
The file was addedhmi/widget/path_curve_detail.hpp
The file was modifiedhmi/node_hmi.hpp
Commit aceeded995c38d29a70420d2aa4721405dd9f2f3 by wuyanjun110
refactor:优化引导线曲率跳变的bug
The file was modifieddata/common/guide_path.cpp
The file was modifieddata/plan/path_data.cpp
The file was modifiedalgorithm/util/curvature.cpp
The file was modifiedalgorithm/util/curvature.hpp
Commit c993e76f4bcac3a41330f1f0e86409606f30ba66 by wuyanjun110
fix: 更新 clang-format 命令的使用说明和检查逻辑
The file was modifiedscripts/clang_format.sh
Commit dcf2390c1b8735e60ba08704a7d4c9796a2fb94f by wuyanjun110
feat: 添加软约束以支持初始状态的灵活性

- 在 PiecewiseJerkProblem 中添加了对初始状态的软约束支持，允许在优化过程中对初始位置（l）、速度（dl）和加速度（ddl）进行灵活处理。
- 更新了相关的计算和约束逻辑，以支持软约束的引入。
- 在 PJPO 算法中实现了对初始状态的软化处理，增强了路径优化的鲁棒性。
- 进行了代码格式化和逻辑优化，提高了代码可读性。
The file was modifiedmath/piecewise_jerk/piecewise_jerk_problem.cpp
The file was modifiedmath/piecewise_jerk/piecewise_jerk_problem.hpp
The file was modifiedtasks/plan/pjpo_task.cpp
The file was modifiedmath/piecewise_jerk/piecewise_jerk_path_problem.cpp
The file was modifiedalgorithm/plan/pjpo.cpp
Commit e9c9d88b14b740b58efb48bf08c66eb9620ac484 by wuyanjun110
fix: 注释掉停止车辆的初始化日志输出
The file was modifiedalgorithm/plan/pjpo.cpp
Commit be675513a5048a731785209afa4355e958d793f7 by tangwenqing
fix: Keb: 增加IMV后方碰撞检测距离

The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
Commit 1b8760659f115f904630f63c1c3846324e8a6a07 by wuyanjun110
feat:replay界面添加菜单选项 控制是否进行 obj和ogm的碰撞检测
The file was modifieddata/lattice/ogm_crash_data.cpp
The file was modifiedhmi/replayer_hmi.cpp
The file was modifieddata/lattice/ogm_crash_data.hpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifieddata/config/cfg_hmi.hpp
The file was modifieddata/plan_frame.cpp
The file was modifieddata/config/cfg_hmi.cpp
Commit c5cb73ea011dc96e57e8627246e29fe6cd3f8b28 by wuyanjun110
feat: 添加CloudTrajectoryPoint的赋值运算符重载
The file was modifieddata/plan/cloud_trajectory.hpp
Commit cf2d8b2594e72a6829842a63598cdefe67a0cb60 by wuyanjun110
feat: 注释掉OgmCollisionPos函数中的更新检查
The file was modifiedhmi/draw/draw_collision_detection.cpp
Commit b7d0da6551b2d1288386fb5485e8e7358efaf952 by wuyanjun110
feat:replay界面添加菜单选项 控制是否进行 obj和ogm的碰撞检测
The file was modifieddata/lattice/ogm_crash_data.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/config/cfg_hmi.hpp
The file was modifiedhmi/replayer_hmi.cpp
The file was modifieddata/config/cfg_hmi.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifieddata/plan_frame.cpp
The file was modifieddata/lattice/ogm_crash_data.hpp
Commit 5b60ab02615b439f33dce7bc015d900f4583ecf5 by wuyanjun110
feat: 注释掉OgmCollisionPos函数中的更新检查
The file was modifiedhmi/draw/draw_collision_detection.cpp
Commit 2be76502ab8460d9f50c979959c2bde171ff05e2 by wuyanjun110
fix:合并的bug
The file was modifiedhmi/replayer_hmi.cpp
Commit 2613c75400eb3d06c154c5cccbc3bc4cf8d33eaf by wuyanjun110
feat: 重构障碍物风险评估器，另外添加 横路不进行 龙门吊风险限速的功能。
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifiedalgorithm/plan/obstacle_risk_evaluation.cpp
The file was modifieddata/obstacle/obstacle_decider_attr.cpp
The file was modifiedalgorithm/plan/obstacle_risk_evaluation.hpp
The file was modifieddata/obstacle/obstacle_decider_attr.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 5c1a1f82f6f31e0c04d06990e16162e0bd77a3eb by chenran
fix: add lane_change_path_task v2
The file was addedtasks/plan/lane_change_path_task_v2.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/config/cfg_stage.hpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifieddata/config/cfg_stage.cpp
The file was modifiedtasks/task_factory.cpp
The file was addedtasks/plan/lane_change_path_task_v2.hpp
The file was modifiedconfig/config_imv/scenario.yaml
The file was modifieddata/plan/switch_data.cpp
Commit b7f53a0bfa8f370f104b66a273b55a68190e004f by chenran
fix: add lane_change_path_task v2
The file was modifieddata/plan/switch_data.cpp
The file was modifiedtasks/task_factory.cpp
The file was addedtasks/plan/lane_change_path_task_v2.cpp
The file was modifiedconfig/config_imv/scenario.yaml
The file was modifieddata/config/cfg_stage.hpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was addedtasks/plan/lane_change_path_task_v2.hpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifieddata/config/cfg_stage.cpp
Commit d428f839d466a526ed34f78e031585e10206975a by wuyanjun110
refactor:优化看门狗功能
The file was modifiedscenarios/bulkload_scenario/bulkload_lane_change_stage.cpp
The file was modifiedscenarios/stage.cpp
The file was modifiedscenarios/lane_change_scenario/lane_change_prepare_stage.cpp
The file was modifiedscenarios/parking_scenario/parking_prepare_stage.cpp
The file was modifiedscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_move_backward_stage.cpp
The file was modifiedscenarios/lane_change_scenario/lane_change_cancel_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
The file was modifiedscenarios/parking_scenario/parking_lane_change_stage.cpp
The file was modifiedscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cpp
The file was modifiedscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cpp
The file was modifiedscenarios/parking_scenario/parking_move_stage.cpp
The file was modifiedscenarios/scenario.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_preapre_stage.cpp
The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
The file was modifiedscenarios/lane_change_scenario/lane_change_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
The file was modifiedscenarios/ex_lane_change_scenario/ex_lane_change_stage.cpp
The file was modifiedcore/plan_runtime_watchdog.hpp
The file was modifiednode/logic.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cpp
Commit 42ab29bd0a1c8d4a3800f387b5cc1ef27dc80fcf by wuyanjun110
fix: 移除不必要的等待调用以优化重置过程
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit bbba4b68d977b68cf50ceb2db84de981abafc74b by wuyanjun110
fix:西联上下引桥 不创建双黄线约束
The file was modifieddata/ssep/bridge_junction_ec.cpp
Commit c31d71b923fa417942827d644097796f43a2a502 by chenran
fix: SC reversing bug
The file was modifiedplan/prepare/prepare_state.cpp
Commit d35b292127b6426737ebc3999c40b832f4cb3106 by chenran
fix: activate rotation when two points are close to each other
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/vehicle/sc_turn_in_place_mode.cpp
Commit f2d0eecaa38d62f8dc46ec2a57124acc729c9756 by chenran
fix: sc_turn_in_place mode to guardian module
The file was modifiedsink/ros_sink_pnc_status.cpp
Commit 34fb15d729dc025a5e709bdc5d855a2b19ba79ae by tangwenqing
fix: SSEP: 修复新版本优化偶发输出异常的问题

The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit fc11109b411434af2c1576ab31bc526414572915 by wuyanjun110
feat: 添加数据和ssep原型的依赖关系到keb_vis_server可执行文件
The file was modifiedoffboard/keb_vis_server/CMakeLists.txt
Commit bae1f667d853aa432c514c815a5eb9c9cbe11c1b by chenran
fix: SC change lane failed
The file was modifieddata/plan/switch_data.cpp
Commit dcdcb59ecbcb8a6c3f9e3855c6413a5932fd26c6 by tangwenqing
feat: SSEP: 自卸车/tractor的多段倒车和精确倒车可以接受extra param来设置尾部拉直距离

The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
Commit 59d9ca2c7297bdf49abd6f72e63f19136f01a75e by wuyanjun110
fix:修复变道完成后目标车道切换错误的bug
The file was modifieddata/plan/reference_line_info.cpp
The file was modifiedhmi/draw/draw_map.cpp
Commit 626f5302148dff1d0e44b0e882d968958c623674 by tangwenqing
fix: SSEP: 启用硬约束时使用 tunnel_constraints_ogm_ 进行碰撞检测，否则使用 ogm_

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit b9e4184e63310b64757ecda7a87a85ac35332129 by wuyanjun110
feat: 添加堆高机靠近是否切换状态机的开关参数

新增 CfgFuncSw::use_func_stacker_close_switch_fsm_(默认 true),
控制 TaskAlignFsm move2lock / LockToDone 中堆高机靠近触发的状态机切换。

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/config/cfg_func_sw.cpp
Commit 7b96a6a2732a9d5b6237c0c145012521be41fab4 by wuyanjun110
refactor: 1.关闭起始变量的收缩。2.车辆停止时，修改dl和ddl 3.关闭全软约束
The file was modifiedalgorithm/plan/pjpo.cpp
Commit 2f08ec55f85fce32706cf3970a8fe7fbbde0186f by wuyanjun110
feat: <大谢>进堆场机场忽略终点约束
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/field_junction_ec.hpp
Commit 721a4e31ae95125d507ef6d44828045909389114 by wuyanjun110
refactor:优化出堆场 + 短直线+ 进堆场场景的搜索
The file was modifieddata/ssep/out_yard_junction_ec.cpp
The file was modifieddata/ssep/into_yard_junction_ec.hpp
The file was modifieddata/ssep/field_junction_ec.hpp
The file was modifieddata/ssep/out_yard_junction_ec.hpp
Commit c2d6a5e60ae17c4145c7b8cffdb412b40e0a3e1c by wuyanjun110
feat: 添加堆场间(BETWEEN_YARD)任务条件, 支持堆场间切换KEB横向规划器

- 新增 TaskConditionType::BETWEEN_YARD, 判定复用 IsThroughYard()
  (STRAIGHT_OUT/INTO_YARD_MULTI/SINGLE_BEFORE 四个 region)
- 收窄 YARD_PJPO_SWITCH_ENABLED 为 IsInYard(), 与 BETWEEN_YARD 互斥,
  避免堆场间时 PJPO 抢占 KEB
- stage.cpp: task 运行失败日志降频 LOG_EVERY_N 1->100

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
The file was modifieddata/config/cfg_stage.cpp
The file was modifiedscenarios/task_condition_evaluator.cpp
The file was modifieddata/config/cfg_stage.hpp
The file was modifiedscenarios/stage.cpp
Commit e3346d428150297af330c94301c0645ecb1776db by wuyanjun110
fix:快照播放崩溃的bug
The file was modifieddata/plan/guide_line.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit 501d17c9df1ab445f649c8fe611d14869e39b334 by chenran
fix: gitignore bug
The file was modified.gitignore
Commit 907f88d7b4db4362e0ed0da53354c937ad3d1c5b by chenran
fix: imv reversing bug
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifiedplan/prepare/prepare_state.cpp
Commit f032cf84d588897807607a8d4f1110bca30887da by chenran
fix: deviation status bug
The file was modifieddata/vehicle/deviation_status.cpp
The file was modifieddata/vehicle/deviation_status.hpp
The file was modifieddata/plan/path_direction_data.cpp
Commit d04802f2549339a5af9df37013b8966bd1a130f6 by chenran
refactor: deviation_status
The file was modifieddata/vehicle/deviation_status.hpp
The file was modifieddata/vehicle/deviation_status.cpp
Commit edaff053929dd690a76d975a72eec3c6574ba071 by chenran
fix: cancel bulk_in bidirectional ssep
The file was modifieddata/ssep/forward_ec.cpp
Commit a7366ec0f3506ed29f2d398f24c38b41385f9b70 by chenran
fix: repeatly trigger ssep
The file was modifieddata/vehicle/deviation_status.cpp
The file was modifieddata/vehicle/deviation_status.hpp
Commit 90aa83115773667676d3a8b5cc96906b238df350 by chenran
fix: ssep trigger conditions opt
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/vehicle/deviation_status.cpp
Commit de69e7444c8fa40af8efef70a8db8901d5916b9f by chenran
fix: recal bulk_out end_pt for ssep
The file was modifieddata/ssep/forward_ec.cpp

Summary

  1. feat_out:增加定位消息上传 (details)
Commit c442cfc092a2453537e5c4cb3330789906ebf24a by zhaojianfeng2
feat_out:增加定位消息上传
The file was modifiedpackage.xml
The file was modifiedsrc/RMInterpreter/ros_mqtt_bridge.cpp