dubins_path

this is a crate which calculates dubins paths

License

Licensed under either of

• Apache License, Version 2.0 ( LICENSE-APACHE or http://www.apache.org/licenses/LICENSE-2.0)
• MIT license ( LICENSE-MIT or https://opensource.org/licenses/MIT)

at your option

Contribution

Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.

lib.rs:

This Crate calculates Dubins Paths

The start point is (0,0) facing in positive y-direction

The arguments to get a path are

• radius: the minimum radius you can drive or respectively the radius you want to drive (f64)
• end_point: the point you want to end up at (Point)
• end_angle: the angle you want to have in the end (Angle)

The paths can be categorized into two subsections:

• The circle straight circle (CSC) paths:

  • right straight right (rsr) paths
  • right straight left (rsl) paths
  • left straight right (lsr) paths
  • left straight left (lsl) paths

note: rsr and lsl paths can be constructed on every point on the plane, rsl and lsr might return an error if the circles overlap each other, because then the path cannot be constructed

• The circle circle circle (CCC) paths:

  • right left right (rlr) paths
  • left right left (lrl) paths

note: both paths can return an error if the points are too far apart