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Changes

Summary

  1. chore: SSEP: 优化集卡上下码头面路径 (details)
  2. chore: SSEP: 提升跨运车抓车搜索成功率 (details)
  3. fix: 修复威海车型不匹配的问题 (details)
  4. chore: SSEP: 减小集卡多段倒车的最大曲率 (details)
  5. chore: SSEP: IMV普通搜索过滤明显存在碰撞的路径。 (details)
  6. 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)
  7. fix: Keb: 延长段路径不验证运动学可行性 (details)
  8. 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)
  9. fix:修复路径拼接的bug (details)
  10. 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)
  11. refactor:<PJPO>优化求解的成功率 (details)
  12. 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)
  13. fix: 修改锁定站点为狭窄空间的参数默认值为false (details)
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/scenarios/straddle_carrier_pick_vehicle_planner.h
The file was modifiedssep/coarse_search/motion_primitive_sampler/dubins_path.cc
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.h
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/ssep_planner.cc
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 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/config/cfg_func_sw.hpp
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
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 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 removedssep/test/gpu_heuristic_test_kernel.cu
The file was addedssep/coarse_search/evaluator/gpu_collision_cost_computer.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was removedssep/test/gpu_ref_line_cost_test_kernel.cuh
The file was removedssep/gpu/heuristics/heuristic_computer.cuh
The file was removedssep/test/gpu_heuristic_test_kernel.cuh
The file was modifiedssep/gpu/device_types.h
The file was modifiedssep/coarse_search/evaluator/cost_feature_computer.h
The file was removedssep/gpu/kernels/batch_expand_kernel.h
The file was removedssep/gpu/heur_table_loader.cc
The file was modifiedssep/offboard/CMakeLists.txt
The file was removedssep/test/gpu_ref_line_cost_test_kernel.cu
The file was modifiedssep/test/ssep_planner_test.cc
The file was removedssep/coarse_search/gpu_batch_expander.h
The file was removedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.cc
The file was addedssep/coarse_search/motion_primitive_sampler/gpu_multi_curvature_sampler.cc
The file was addedssep/gpu/samplers/sampler_bridge.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was removedssep/gpu/batch_expander_bridge.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/test/gpu_sampler_test.cc
The file was removedssep/test/gpu_heuristic_test.cc
The file was removedssep/test/gpu_cost_test.cc
The file was addedssep/coarse_search/bounded_priority_queue.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was addedssep/gpu/samplers/sampler_bridge.cu
The file was addedssep/coarse_search/motion_primitive_sampler/gpu_multi_curvature_sampler.h
The file was modifiedssep/test/CMakeLists.txt
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.h
The file was addedssep/gpu/collision/collision_batch_bridge.cu
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was removedssep/gpu/heur_table_loader.cu
The file was removedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.h
The file was removedssep/gpu/kernels/batch_expand_kernel.cu
The file was modifiedssep/coarse_search/batched_priority_queue.h
The file was addedssep/coarse_search/evaluator/gpu_collision_cost_computer.cc
The file was addedssep/coarse_search/gpu_context.h
The file was removedssep/gpu/samplers/sampler_params.h
The file was removedssep/gpu/batch_expander_bridge.cu
The file was removedssep/gpu/heur_table_loader.h
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was addedssep/coarse_search/gpu_context.cc
The file was removedssep/coarse_search/gpu_batch_expander.cc
The file was addedssep/gpu/collision/collision_batch_bridge.h
The file was modifiedssep/coarse_search/indexed_priority_queue.h
The file was removedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/motion_primitive_sampler/motion_primitive_sampler.h
The file was removedssep/test/gpu_ref_line_cost_test.cc
The file was modifiedssep/coarse_search/motion_primitive_sampler/reverse_primitive_decorator.h
The file was removedssep/gpu/cost/path_length_cost.cuh
The file was removedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was removedssep/gpu/cost/ref_line_cost.cuh
The file was removedssep/gpu/cost/curvature_cost.cuh
Commit 2acb091b21689887f148d0df82b1a0b3fef171af by wuyanjun110
fix:修复路径拼接的bug
The file was modifieddata/common/path.hpp
The file was modifieddata/common/path.cpp
The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
The file was modifiedtasks/other_tasks/stitch_path_to_reference_line.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_path_problem.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedCMakeLists.txt
The file was addedTesting/pjpo_case_test.cpp
The file was modifiedmath/piecewise_jerk/piecewise_jerk_problem.hpp
The file was modifiedalgorithm/plan/pjpo.cpp
The file was modifiedtasks/plan/pjpo_task.cpp
The file was modifiedalgorithm/plan/pjpo.hpp
The file was modifiedmath/piecewise_jerk/piecewise_jerk_problem.cpp
The file was modifiedtasks/plan/trailer_pjpo_task.cpp
The file was modifieddata/config/cfg_func_sw.cpp
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 modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
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