|
|
|
|
@ -1,40 +1,11 @@
|
|
|
|
|
//! This Crate calculates Dubins Paths
|
|
|
|
|
//!
|
|
|
|
|
//!
|
|
|
|
|
//! eg rsr path:
|
|
|
|
|
//!
|
|
|
|
|
//! -----
|
|
|
|
|
//! /- \
|
|
|
|
|
//! /-/ \
|
|
|
|
|
//! /-- / \
|
|
|
|
|
//! /- | |
|
|
|
|
|
//! /-- | |
|
|
|
|
|
//! /- | |
|
|
|
|
|
//! /-- \ /
|
|
|
|
|
//! /- \ X goal
|
|
|
|
|
//! /-- \ /
|
|
|
|
|
//! /- -----
|
|
|
|
|
//! /--
|
|
|
|
|
//! /-
|
|
|
|
|
//! -----
|
|
|
|
|
//! / \
|
|
|
|
|
//! / \
|
|
|
|
|
//! / \
|
|
|
|
|
//! | |
|
|
|
|
|
//! start X |
|
|
|
|
|
//! | |
|
|
|
|
|
//! \ /
|
|
|
|
|
//! \ /
|
|
|
|
|
//! \ /
|
|
|
|
|
//! -----
|
|
|
|
|
//!
|
|
|
|
|
//!
|
|
|
|
|
//! 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 (Point)
|
|
|
|
|
//! - 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:
|
|
|
|
|
|
