[Jenkins]Jenkins

Changes

Summary

  1. feat: SSEP: 初步跑通GPU加速版本的进堆场搜索 (details)
  2. chore: SSEP-GPU: 通过所有测试用例 (details)
  3. chore: SSEP: gpu search 性能优化 (details)
  4. chore: SSEP: 同步ssep的imv进充电桩的更新 (details)
  5. feat: SSEP: 前港倒车进货堆场景添加 fallback searcher。倒车不能到达的情况会使用通用搜索器搜索（现在可以支持向前到达货堆）。 (details)
  6. fix: SSEP: 修复回归测试失败的场景 (details)
  7. fix: SSEP: 解决集卡普通搜索画龙的问题 (details)
  8. feat: SSEP: 增加万能参数接口 (details)
  9. feat: SSEP: 集卡进堆场支持通过extra_params获取车头拉直位置与车挂最大夹角并规划符合要求的路径。 (details)
  10. chore: SSEP: 改进自卸车多段倒车 (details)
  11. feat: 太阳纸业使用pncc_port_related参数配置SSEP场景 (details)
  12. fix: SSEP: 修复集卡普通搜索路口有可能超近道的问题 (details)
  13. fix: SSEP: 解决进堆场画龙 (details)
Commit e8ec60fb9586797b8fa729ac049464ac8f89811d by tangwenqing
feat: SSEP: 初步跑通GPU加速版本的进堆场搜索
The file was addedssep/test/gpu_collision_test_kernel.cu
The file was addedssep/test/gpu_collision_test.cc
The file was addedssep/gpu/heur_table_loader.h
The file was addedssep/gpu/samplers/multi_curvature_sampler.cuh
The file was addedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.h
The file was addedssep/gpu/kernels/batch_expand_kernel.cu
The file was addedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was addedssep/gpu/memory_pool.h
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/ssep_planner.cc
The file was addedssep/gpu/device_map_data.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was addedssep/test/gpu_sampler_test_kernel.cuh
The file was addedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.h
The file was addedssep/gpu/batch_expander_bridge.cu
The file was addedssep/coarse_search/gpu_batch_expander.cc
The file was addedssep/gpu/device_utils.cuh
The file was addedssep/test/gpu_heuristic_test_kernel.cu
The file was addedssep/gpu/device_map_data.cuh
The file was addedssep/gpu/heur_table_loader.cc
The file was addedssep/gpu/heuristics/heuristic_computer.cuh
The file was addedssep/gpu/kernels/batch_expand_kernel.h
The file was addedssep/test/gpu_collision_test_kernel.cuh
The file was addedssep/gpu/memory_pool.cu
The file was addedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.cc
The file was addedssep/gpu/heur_table_loader.cu
The file was addedssep/test/gpu_cost_test.cc
The file was addedssep/test/gpu_heuristic_test_kernel.cuh
The file was addedssep/gpu/cost/path_length_cost.cuh
The file was addedssep/test/gpu_sampler_test_kernel.cu
The file was modifiedssep/test/CMakeLists.txt
The file was addedssep/test/gpu_data_convert_test.cc
The file was addedssep/gpu/samplers/sampler_params.h
The file was addedssep/gpu/collision/collision_checker.cuh
The file was addedssep/gpu/batch_expander_bridge.h
The file was addedssep/gpu/device_map_data.cu
The file was addedssep/coarse_search/gpu_batch_expander.h
The file was addedssep/gpu/device_types.h
The file was addedssep/test/gpu_heuristic_test.cc
The file was addedssep/test/gpu_sampler_test.cc
Commit 4c7f0eea0f20d2774a07379f9c04cc1777d498e6 by tangwenqing
chore: SSEP-GPU: 通过所有测试用例

The file was modifiedssep/gpu/heuristics/heuristic_computer.cuh
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/offboard/scene_replay/CMakeLists.txt
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/test/ssep_planner_test.cc
The file was modifiedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.h
Commit 9660290466fc492978cdd2066bb3cdd5adb70f8a by tangwenqing
chore: SSEP: gpu search 性能优化

The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/disk_collision_checker.h
The file was modifiedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.cc
The file was addedssep/test/gpu_ref_line_cost_test_kernel.cuh
The file was modifiedssep/gpu/samplers/multi_curvature_sampler.cuh
The file was addedssep/coarse_search/batched_priority_queue.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/common/utils/scene_frame_visualization.h
The file was modifiedssep/gpu/device_types.h
The file was modifiedssep/maps/sl_projection_map.h
The file was modifiedssep/test/CMakeLists.txt
The file was addedssep/gpu/cost/ref_line_cost.cuh
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/gpu/device_map_data.cu
The file was modifiedssep/gpu/cost/path_length_cost.cuh
The file was modifiedssep/gpu/kernels/batch_expand_kernel.cu
The file was modifiedssep/gpu/heuristics/heuristic_computer.cuh
The file was modifiedssep/coarse_search/motion_primitive.h
The file was addedssep/test/gpu_ref_line_cost_test_kernel.cu
The file was modifiedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/ssep_planner.cc
The file was addedssep/gpu/cost/curvature_cost.cuh
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/coarse_search/state_hasher.h
The file was addedssep/test/gpu_ref_line_cost_test.cc
The file was modifiedssep/gpu/device_map_data.h
Commit 161d316820ad30f5da6c3257ca76140440dfac1e by tangwenqing
chore: SSEP: 同步ssep的imv进充电桩的更新

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/imv_enter_station_planner.h
Commit 952ea5b4e8ebcf5e552e070ee9b8aa3bd6a05508 by tangwenqing
feat: SSEP: 前港倒车进货堆场景添加 fallback searcher。倒车不能到达的情况会使用通用搜索器搜索（现在可以支持向前到达货堆）。

The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
Commit a5822c9b8c4f9e13049046ff40223e37ab9e762b by tangwenqing
fix: SSEP: 修复回归测试失败的场景

The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/offboard/scene_frame_provider.cc
Commit 1104a98f0c4fdf7218dac43989265d7292420779 by tangwenqing
fix: SSEP: 解决集卡普通搜索画龙的问题

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/keb_optimizer/cost_features/state_constraint.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit 357aab4612e9084c385829c22a8619713e261308 by tangwenqing
feat: SSEP: 增加万能参数接口

The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/protos/scene.proto
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/data_structures/ssep_input.cc
The file was modifiedssep/data_structures/ssep_input.hpp
Commit 34f52511f17d0b822c4c935449caf3f79be9bd49 by tangwenqing
feat: SSEP: 集卡进堆场支持通过extra_params获取车头拉直位置与车挂最大夹角并规划符合要求的路径。

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
Commit 734b8645572f46693901e90cb6e34d6a40e8cc2c by tangwenqing
chore: SSEP: 改进自卸车多段倒车

The file was modifiedssep/keb_optimizer/keb_problem.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/keb_optimizer/rigid_truck_keb_optimizer.cc
Commit 560bb1ec503c6500ce8a61eaa20bd23200725438 by tangwenqing
feat: 太阳纸业使用pncc_port_related参数配置SSEP场景

The file was modifiedtasks/deciders/search_decider/ex_lane_change_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/normal_junction_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/open_space_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/bridge_junction_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/out_yard_junction_search_decider.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedtasks/deciders/search_decider/into_yard_junction_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/seaside_junction_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/reverse_search_decider.cpp
The file was modifieddata/ssep/ssep_ec.cpp
Commit 2feed69ce35e1e753676a4a778ca8bb3651017d6 by tangwenqing
fix: SSEP: 修复集卡普通搜索路口有可能超近道的问题

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit 246e5c7ef1721d0332bdb8ff09332e94b2045145 by tangwenqing
fix: SSEP: 解决进堆场画龙

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc