* add road boundary for perception

* fix unit test error

* [perception] add CNNSegmentation method (#81)

* add unit test for lidar_process, and fix merge conflict

* fix merge conflict

* remove the comment of hdmap

* modify hdmap interface, and add unit test for hdmap_input

* Populate trajectory points directly in planner.

* fix a bug in prediction module

* add velodyne driver

* Fix planning lint errors.

* Updated evaluator and predictor managers

* [perception] clean up 'caffe.BUILD' and modify 'cnnseg/BUILD' (update). (#82)

* [perception] add CNNSegmentation method

* [perception] clean up 'caffe.BUILD' and modify 'cnnseg/BUILD'

* add road boundary for perception

* fix unit test error

* [perception] add CNNSegmentation method (#81)

* add unit test for lidar_process, and fix merge conflict

* fix merge conflict

* remove the comment of hdmap

* modify hdmap interface, and add unit test for hdmap_input

* Populate trajectory points directly in planner.

* fix a bug in prediction module

* add velodyne driver

* [perception] add CNNSegmentation method

* [perception] clean up 'caffe.BUILD' and modify 'cnnseg/BUILD'

* Modified container obtaining function name

* use config file in qp_spline_path_sampler. removed unused interface.

* uniform the naming of 'QP'

* fixed type comparison warning in rtk planner.

* added dp_road_graph_test

* prediction module lint fix

* added two util functions

* Cleaned up factories in prediction

* record planning input into debug pb.

* updated plot planning.

* Store reference line debug information only when enabled.

* updated plot planing with data lock

* Updated container names from string to adapter config message type

* record planning init point into debug.

* fix a bug in prediction module

* record replan info into debug pb.

* updated plot planning with map file arg

* render decisions in dreamview frontend

* Updated container manager to initialize with adapter config

* Minor code restructuring in planning (#113)

* Added initialization for all managers

* Record planning total time latency stats into pb

* Add device permission when adding user.

* feature: fix some bugs in dp road graph (#118)

* container/obstacles/obstacle.cc

* [perception] add 'use_all_grids_for_clustering' mode

* Populate path_optimizer path into debug pb.

* added vehicle in plot planning and added default map file

* moved unused functions in dp_st_cost to private.

* Combine Path and PathDebug.

* changed some config parameters for more centralized planning curve.

* implemented dp algorithm in dp_road_graph

* Added initializations in prediction framework

* updated plot planning due to updated pb

* added more dp_road_graph_test

* fix a bug in prediction module

* refactor path, discretized_path and frenet_frame_path

unify function names

* feature: add reference line on the road and get lane width functions (#130)

* Add prediction to dreamview (frontend)

* fix gdb cannot debug problem in docker

reference https://stackoverflow.com/questions/34856092/gdb-does-not-hit-any-breakpoints-when-i-run-it-from-inside-docker-container

* modify some velodyne driver parameters in launch file (#133)

* add velodyne driver

* modify some param

* fix path get_width = 0 problem (#135)

the problem is because LaneWaypoint is not set in hdmap::Path.
fixed the broken unit tests

* purge functions that returns mutable vector (#136)

* purge logic map related code (#137)

* rename SetConfig to Init.

* modify perception config file (#140)

* add unit test for lidar_process, and fix merge conflict

* fix merge conflict

* remove the comment of hdmap

* modify hdmap interface, and add unit test for hdmap_input

* modify perception config file

* enable planning log to stderr to make it easier to debug.

* disable stderr log for the latency is too worse.

* fix a bug that lane sequence prediction probability was always zero

* remove path.h in planning/common/path

* not a useful base class
* confusing with hdmap path.h

* Kimifly06 dev (#139)

* push test

* push test

* add hm tracker

* update hm tracker code style

* feature: refine reference line projection logic

* fix a bug in prediction module, the problem was index out of range in lane segment

* remove invalid encoding char.

* simplify reference line smoother behavior

After change, the smoother will smooth any given reference line without truncate.
The behavior will be more transparent behavior.

* enable planning glog buffer.

* fix Hardware check build err after apply ESD lib (#265)

* Fix esdcan build dependency.

* Make linear interpolation function template

* feature: add speed limit as well as utils  in qp spline st optimizer

* 	added num of points in smoother config proto. (#154)

* formalized function names in dp_st_speed graph and cost.

* added num of points in smoother config proto.

* added speed info in plot planning.

* Added debug info

* use shared_ptr in hdmap/path to avoid future map memory recycle issue

* Added pseudo-inverse computation for non-square matrix

* Fixed prediction model proto

* Added some additional debug info

* refactor some logs in prediction module

* fix a small bug in prediction module

* Bug fix for non-square matrix inverse

* fix ros.BUILD

* bugfix: fix issues that s coordinate out of reference line range

* fix bug in dp poly path

* Added prediction publishing message header (#167)

* Updated pedestrian predictor

* Added publish prediction header

* added lane_waypoints when empty in planning.

* Minor changes in prepartion for adding SimControl

* Fixed prediction lint error

* add processor time stats.

* Change routing request to routing result in adapter.conf

* turn off enable kf tracking by default, just for debuging on current rosbag with fake perception

* added init test for path.h/cc

* Add PrintIter helper to print containers.

* Fix prediction.js bugs

* Enabled prediction configuration in evaluator and predictor managers

* feature : add clear function for path data and speed data

* Fix lint errors.

* updated decision data

* HMI runtime_status_api returns meaningful message.

* update params of velodyne driver

* added feed by file feature for VehicleState class

preparation for more unit tests

* disable prediction input in planning by default.

* reorganize setup adapter code in base tests

* add visualizer lib

* Add helper function to print DebugStrings.

* added hdmap_line_path test.

* moving SpeedPoint to common/path_point.proto

* remove sl_point input in path sampler

* add speed plan into planning debug.

* added RoutingHelper to create Path from routing

* added path_test: hdmap_curvy_path test.

* added hdmap_circle_trajectory test.

*  added hdmap_jerky_path test.

* remove move constructor in pnc_map/path to allow copy

* migrate Point in map to pointENU

* let test build exit when first batch test failed.

* record optimizer speed data into debug.

* enable prediction in planning but not enforce prediction check yet.

* fix trajectory relative time bug in aggregation and protect trajectory stitch with correct flag.

* added TestSuite, hdmap_s_path

* added hdmap_path_get_smooth_point test

* Suppress logging from libcurl (#203)

* added compute_lane_segments_from_points for path_test.

* fixed failed test.

* refactor lidar_process a little

* adding visualizer tool

* use shared pointer of LaneInfo within the prediction module

* [Perception] Fix shared_ptr bugs in cnn_segmentation.cc and merge fix (#207)

* [perception] add 'use_all_grids_for_clustering' mode

* Add unit test for CNNSegmentation (libproto conflict issue should be fixed for Caffe)

* (1) Fix bugs of shared_ptr in cnn_segmentation.cpp; (2) Modify CNNSegmentation config; (3) Modify .cpp suffix to .cc

* Fix shared_ptr bugs in cnn_segmentation.cpp

* Modify cnnseg BUILD according the fix of ros.Build

* remove uni-test because of the libprotobuf conflict issue

* refactor tooling

* clear kf lane trackers once the obstacle is not on lane

* small change on log in prediction module

* added speed plot in plot planning

* added hdmap const ptr into path.

* changed planning code according to changes in path (with hdmap const ptr in path)

* changes in path_test.

* use translate point in free move prediction trajectory

* Updated model proto

* [perception] add 'use_all_grids_for_clustering' mode

* Add unit test for CNNSegmentation (libproto conflict issue should be fixed for Caffe)

* (1) Fix bugs of shared_ptr in cnn_segmentation.cpp; (2) Modify CNNSegmentation config; (3) Modify .cpp suffix to .cc

* Fix shared_ptr bugs in cnn_segmentation.cpp

* Modify cnnseg BUILD according the fix of ros.Build

* remove uni-test because of the libprotobuf conflict issue