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Changes

Summary

  1. fix: SSEP: 修复新版本优化偶发输出异常的问题 (details)
  2. feat: 添加数据和ssep原型的依赖关系到keb_vis_server可执行文件 (details)
  3. 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)
  4. fix:修复变道完成后目标车道切换错误的bug (details)
  5. 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)
  6. feat: 添加堆高机靠近是否切换状态机的开关参数 (details)
  7. 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)
  8. feat: <大谢>进堆场机场忽略终点约束 (details)
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 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.h
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/truck_accurate_reversing_planner.cc
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/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.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/field_junction_ec.hpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp