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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。 2026-06-02 20:54:33 +0800c35888b2dfcf4e0b9a93a519ff31c6fcd9ff38e2feat: 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。deletessep/gpu/heur_table_loader.ccaddssep/coarse_search/bounded_priority_queue.hdeletessep/gpu/cost/curvature_cost.cuheditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/coarse_search/motion_primitive_sampler/reverse_primitive_decorator.hdeletessep/test/gpu_ref_line_cost_test.ccaddssep/gpu/samplers/sampler_bridge.cuaddssep/coarse_search/motion_primitive_sampler/gpu_multi_curvature_sampler.ccdeletessep/gpu/heuristics/heuristic_computer.cuhaddssep/coarse_search/evaluator/gpu_collision_cost_computer.ccdeletessep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.ccdeletessep/gpu/heur_table_loader.hdeletessep/coarse_search/gpu_batch_expander.haddssep/coarse_search/motion_primitive_sampler/gpu_multi_curvature_sampler.heditssep/coarse_search/batched_priority_queue.hdeletessep/gpu/batch_expander_bridge.haddssep/gpu/collision/collision_batch_bridge.haddssep/gpu/samplers/sampler_bridge.hdeletessep/gpu/kernels/batch_expand_kernel.hdeletessep/test/gpu_heuristic_test_kernel.cudeletessep/gpu/batch_expander_bridge.cudeletessep/test/gpu_cost_test.ccaddssep/coarse_search/gpu_context.haddssep/coarse_search/evaluator/gpu_collision_cost_computer.heditssep/coarse_search/evaluator/evaluator.hdeletessep/coarse_search/gpu_batch_expander.ccdeletessep/test/gpu_heuristic_test_kernel.cuhdeletessep/gpu/cost/ref_line_cost.cuheditssep/test/gpu_sampler_test.cceditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.heditssep/coarse_search/motion_primitive_sampler/motion_primitive_sampler.haddssep/gpu/collision/collision_batch_bridge.cudeletessep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.cceditssep/test/CMakeLists.txteditssep/coarse_search/indexed_priority_queue.heditssep/coarse_search/bidirectional_hybrid_astar_search_engine.hdeletessep/gpu/kernels/batch_expand_kernel.cueditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/offboard/CMakeLists.txtdeletessep/test/gpu_heuristic_test.ccdeletessep/test/gpu_ref_line_cost_test_kernel.cuheditssep/gpu/device_types.hdeletessep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.hdeletessep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.heditssep/test/ssep_planner_test.cceditssep/scenarios/tractor_trailer_general_planner.heditssep/coarse_search/evaluator/cost_feature_computer.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccdeletessep/gpu/cost/path_length_cost.cuhdeletessep/test/gpu_ref_line_cost_test_kernel.cuaddssep/coarse_search/gpu_context.ccdeletessep/gpu/heur_table_loader.cudeletessep/gpu/samplers/sampler_params.hdata/common/path.cpptasks/other_tasks/stitch_path_to_reference_line.cppdata/common/path.hpptasks/other_tasks/stitch_path_data_to_path.cpp2acb091b21689887f148d0df82b1a0b3fef171af1780482202000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复路径拼接的bug 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