package

Planning.Dubins

Forward-only planar paths with bounded curvature and constant turn radius

Computes the shortest feasible path among LSL, RSR, LSR, RSL, RLR, and LRL. Positions use Cartesian x/y coordinates, headings and turn parameters use radians, and the turn radius must be positive.

Use plan to construct a path and evaluate to evaluate its pose at a fraction from zero to one.

Members

Name	Kind	Description
PathType	type
SegmentType	type
Pose	record	Planar position and unwrapped heading
Candidate	record	One Dubins family evaluated for a boundary-value problem
Path	record	Selected Dubins path
mod2pi	function	Wrap an angle to [0, 2*pi)
wrapAngle	function	Wrap an angle to [-pi, pi]
segmentType	function	Return the type of one of a path family's three segments
candidate	function	Evaluate one classical Dubins path family
planType	function	Construct a path for a requested Dubins family
plan	function	Select the shortest feasible path from all six Dubins families
advance	function	Advance a pose along one normalized Dubins segment
evaluate	function	Evaluate a Dubins path at a fraction in [0, 1]

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

package Dubins
  "Forward-only planar paths with bounded curvature and constant turn radius"
  annotation(Documentation(info="<html>
    <p>Computes the shortest feasible path among LSL, RSR, LSR, RSL, RLR,
    and LRL. Positions use Cartesian x/y coordinates, headings and turn
    parameters use radians, and the turn radius must be positive.</p>
    <p>Use <code>plan</code> to construct a path and <code>evaluate</code> to
    evaluate its pose at a fraction from zero to one.</p>
  </html>"));
end Dubins;