Crate dubins_path

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

Structs

CirclePath

Circle vector (Circle + Angle)

RouteCCC

Route with 3 Circles

RouteCSC

Route with a start Circle, a tangent straight and a end Circle

StraightPath

Vector with origin, angle and magnitude

Enums

Error

Path

Functions

get_shortest

get the shortest path

Type Aliases

Angle

Point

Vector