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Changes

Summary

  1. fix: using ssep speed_limit for deviation. (details)
  2. fix: SSEP: 修复优化器中额外前向碰撞距离计算存在误差的问题，解决前港距离前方障碍物太近的问题。 (details)
  3. fix:解决合并代码需要重新编译的问题 (details)
  4. fix: SSEP: 修复前杠倒车进料堆优化失败的问题。 (details)
  5. fix:修复拼接的bug (details)
  6. fix: wbca reversing bug. (details)
  7. refactor调整切换lock的阈值 (details)
  8. feat:锁站场景不膨胀尺寸 (details)
  9. fix: minimize esdf_map (details)
  10. fix:修复崩溃的bug (details)
  11. fix: dx_norm = path_1_tmp.norm (details)
  12. fix: merge wbca_v2. using soft_min collision cost for truck. (details)
  13. feat: SSEP: 集卡进堆场搜索的碰撞检测使用软约束。保证生成一条碰撞程度最低的路径。 (details)
  14. feat: SSEP: SSEP输入中加入"作业模式"参数（正向作业/反向作业/Undetermined），统一IMV路径搜索流程 (details)
  15. fix: wbca ignores ref_pts out of range. (details)
  16. chore: SSEP: 提升集卡常规场景的规划的成功率，缓解末端路径画龙的问题 (details)
  17. feat: SSEP: Car模型多段倒车场景，途径点角度增加角度限制 (details)
  18. chore: SSEP: Car车型多段倒车参数调整 (details)
  19. fix:修复出停车位ssep路径方向的bug (details)
  20. fix:sweep路径的bug (details)
  21. feat:界面添加障碍物类别的显示 (details)
  22. feat:优化云端障碍物的赋值 (details)
  23. refeat:优化云端路径的赋值 (details)
Commit 5b5d630f69b1c95a3930102b2c514dc606c08945 by 5081703.cr
fix: using ssep speed_limit for deviation.

The file was modifiedplan/prepare/prepare_status.cpp
Commit 2a10cc33142c59327c146a1440b4038eade1eb30 by tangwenqing
fix: SSEP: 修复优化器中额外前向碰撞距离计算存在误差的问题，解决前港距离前方障碍物太近的问题。

The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.h
Commit 86232c3bad191b66a196af34c219074e20e141fc by 5081703.cr
fix:解决合并代码需要重新编译的问题

The file was modifiedCMakeLists.txt
The file was modified.gitignore
Commit 660eedd899aaee86c94f019dcbad3cbcc78cc860 by tangwenqing
fix: SSEP: 修复前杠倒车进料堆优化失败的问题。

The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
Commit 238e46cb1d29effee165726bafd5180b0ba8d0ed by 5081703.cr
fix:修复拼接的bug

The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/plan/start_point_data.cpp
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/plan/path_direction_data.cpp
Commit ce1f133cbc198256362e293b470d0155c9c6ee9d by 5081703.cr
fix: wbca reversing bug.

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 624bf556a93cf138bb8a5c9f349a4f6eb19131a5 by wuyanjun110
refactor调整切换lock的阈值

The file was modifieddata/config/cfg_safe_const.cpp
Commit 6a70b86fc6f3acbe2006fdde64d0c3762a4c10d8 by wuyanjun110
feat:锁站场景不膨胀尺寸

The file was modifiedhmi/draw/draw_constrain.cpp
The file was modifiedalgorithm/plan/ego_expanding.cpp
Commit a84d66ec49368c268e2f31310f8970a01041447e by 5081703.cr
fix: minimize esdf_map

The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedsink/ros_sink_plan_debug.cpp
The file was modifiedalgorithm/wbca/occupancy_grid_map/data_render.cpp
Commit 0780e0351e0a19eaf0f567247d6223db032e5f04 by wuyanjun110
fix:修复崩溃的bug

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit 4cf096ac8adc8aa7a90088714dae8da4c1875f46 by 5081703.cr
fix: dx_norm = path_1_tmp.norm

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit 3e4dc285c3f92a8bf37472dbb8966c9b22656d05 by 5081703.cr
fix: merge wbca_v2. using soft_min collision cost for truck.

The file was modifiedalgorithm/wbca/path_optimization/truck_path_optimization.cpp
The file was modifieddata/wbca/wbca_data.cpp
The file was modifiedalgorithm/wbca/wbca_manager.hpp
The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.hpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.hpp
The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/truck_path_optimization.hpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit 4d2867fdbeaef8b50be33bd358b2b171d49686b3 by tangwenqing
feat: SSEP: 集卡进堆场搜索的碰撞检测使用软约束。保证生成一条碰撞程度最低的路径。

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was modifiedssep/coarse_search/evaluator/collision_cost_computer.h
The file was modifiedssep/coarse_search/evaluator/cost_feature_computer.h
The file was addedssep/coarse_search/evaluator/collision_constraint_type.h
The file was modifiedssep/coarse_search/evaluator/trailer_collision_cost_computer.h
Commit f53030a5ae83cab7ae5cbedbf88eaa8ca2b42d2b by tangwenqing
feat: SSEP: SSEP输入中加入"作业模式"参数（正向作业/反向作业/Undetermined），统一IMV路径搜索流程

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_general_planner.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/ssep_planner.h
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/data_structures/ssep_input.cc
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/data_structures/ssep_input.hpp
The file was addedssep/data_structures/operation_mode.hpp
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/protos/scene.proto
The file was modifiedssep/scenarios/imv_enter_station_planner.h
Commit 92cd7fbed1c667aee820c6e4e6a4d3b49ad8316d by 5081703.cr
fix: wbca ignores ref_pts out of range.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/wbca/grid_map/esdf_map.hpp
The file was modifieddata/wbca/grid_map/esdf_map.cpp
Commit f546b267e4e9660516d4ed47f2a1bda76afa52c9 by tangwenqing
chore: SSEP: 提升集卡常规场景的规划的成功率，缓解末端路径画龙的问题

The file was modifiedssep/keb_optimizer/cost_features/state_constraint.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifiedssep/coarse_search/evaluator/trailer_collision_cost_computer.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit 1767b681baa5a6e2f9e0eb8960a03adf70f50097 by tangwenqing
feat: SSEP: Car模型多段倒车场景，途径点角度增加角度限制

The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 67eca496cd33a1fb02ae55d339b9ccf72b0aafd7 by tangwenqing
chore: SSEP: Car车型多段倒车参数调整

The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/scenarios/truck_general_planner.h
Commit cae158b3fb5fff3be9563caaae55148935200e16 by wuyanjun110
fix:修复出停车位ssep路径方向的bug

The file was modifieddata/plan/ssep_data.cpp
Commit fee0a142cee2e9bc58d155f103526654d5ee36c9 by wuyanjun110
fix:sweep路径的bug

The file was modifieddata/boundary/road_boundary.cpp
Commit 5fa2b4b9292d9c8736745bdca98065bebb9ef644 by wuyanjun110
feat:界面添加障碍物类别的显示

The file was modifieddata/obstacle/obstacle_decider_attr.cpp
Commit 55efcfe69492843785f1cfb463f495e01a9c9cff by wuyanjun110
feat:优化云端障碍物的赋值

The file was modifieddata/scenario/scenario_planner_condition.cpp
The file was modifieddata/vehicle/cloud_pnc_config.cpp
Commit c5fe56441cd4975be5cee5f679866cf8c242571e by wuyanjun110
refeat:优化云端路径的赋值

The file was modifieddata/plan/cloud_trajectory.cpp
The file was modifieddata/plan/cloud_trajectory.hpp