# [−][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 |