[−][src]Crate dubins_path
Call all functions with a Vector as argument the vector should contain:
- the end point as origin
- the end angle as angle in degrees in clockwise direction (eg. 0° facing north, 90° facing east, ...)
- the circle radius as magnitude
Start Vector is in the origin facing in positive x-direction
Every struct defined here is 2 dimensional and uses f64
Structs
Circle | Circle |
CircleRoute | Circle route with a circle and a angle for how long to drive on this circle |
Point | Point |
RouteCCC | Route with 3 Circles (eg. rlr, lrl) (not yet implemented) |
RouteCSC | Route with a start Circle, a tangent straight and a end Circle (eg. rsl, rsr, lsr, lsl) |
Vector | Vector with origin, angle and magnitude |
Functions
lsl | left straight left route |
lsr | left straight right route |
rsl | right straight left route |
rsr | right straight right route |