README
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dubins
Pure Golang implementation of Dubins Path, based on C++ Dubins-Curves
Installation
go get github.com/dohyeunglee/dubins
API
Visit https://pkg.go.dev/github.com/dohyeunglee/dubins
Example
An example is available in example/main.go
Demo
A demo with plot is available in demo
Test
go test
Benchmark
go test -bench .
Result
Run on M1 Macbook Pro
BenchmarkMinLengthPath-8 1000000 1126 ns/op
Note
If you want ReedsSheppPath, check https://github.com/dohyeunglee/reedsshepp.
Documentation
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Index ¶
Constants ¶
This section is empty.
Variables ¶
This section is empty.
Functions ¶
This section is empty.
Types ¶
type Path ¶
type Path struct {
// contains filtered or unexported fields
}
Path corresponds to DubinsPath.
func AvailablePaths ¶
AvailablePaths returns all possible DubinsPath that can reach the `goal` state from the `start` state, given a `turningRadius`.
func MinLengthPath ¶
MinLengthPath returns the shortest DubinsPath among all possible paths from the `start` state to the `goal` state, given a `turningRadius`. In case there are multiple paths with the same length, one of them is randomly selected and returned. The shortest DubinsPath length can be obtained using the `Length` function of the returned DubinsPath.
func PathByType ¶
PathByType returns DubinsPath that can reach the `goal` state from the `start` state, given a `turningRadius` and `pathType`
func (*Path) Interpolate ¶
Interpolate interpolates DubinsPath by `stepSize`, returning `State` list.
func (*Path) Segments ¶
func (p *Path) Segments() []PathSegment
Segments returns all `PathSegment` information about DubinsPath.
type PathCourseType ¶
type PathCourseType string
PathCourseType represents DubinsPath segment course type: L, S, R.
const ( CourseTypeLeft PathCourseType = "L" CourseTypeStraight PathCourseType = "S" CourseTypeRight PathCourseType = "R" )
type PathSegment ¶
type PathSegment struct {
Length float64
CourseType PathCourseType
}