{"id":13732222,"url":"https://github.com/AndrewWalker/Dubins-Curves","last_synced_at":"2025-05-08T06:31:39.305Z","repository":{"id":1170051,"uuid":"1063545","full_name":"AndrewWalker/Dubins-Curves","owner":"AndrewWalker","description":"Path generation for the Dubin's car","archived":false,"fork":false,"pushed_at":"2022-03-10T17:23:20.000Z","size":598,"stargazers_count":262,"open_issues_count":3,"forks_count":86,"subscribers_count":4,"default_branch":"master","last_synced_at":"2024-08-04T02:10:56.819Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/AndrewWalker.png","metadata":{"files":{"readme":"README.rst","changelog":null,"contributing":null,"funding":null,"license":"LICENSE.txt","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2010-11-08T23:48:38.000Z","updated_at":"2024-07-30T19:51:46.000Z","dependencies_parsed_at":"2022-08-16T12:25:12.247Z","dependency_job_id":null,"html_url":"https://github.com/AndrewWalker/Dubins-Curves","commit_stats":null,"previous_names":[],"tags_count":3,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/AndrewWalker%2FDubins-Curves","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/AndrewWalker%2FDubins-Curves/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/AndrewWalker%2FDubins-Curves/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/AndrewWalker%2FDubins-Curves/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/AndrewWalker","download_url":"https://codeload.github.com/AndrewWalker/Dubins-Curves/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":224707945,"owners_count":17356443,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-08-03T02:01:49.536Z","updated_at":"2024-11-14T23:31:34.634Z","avatar_url":"https://github.com/AndrewWalker.png","language":"C++","funding_links":[],"categories":["AI"],"sub_categories":[],"readme":"=============\nDubins-Curves\n=============\n\nAbout\n=====\n\nThis software finds the shortest paths between configurations for the Dubins'\ncar [Dubins51]_, the forward only car-like vehicle with a constrained turning\nradius. A good description of the equations and basic strategies for doing this\nare described in section 15.3.1 `\"Dubins Curves\"\n\u003chttp://planning.cs.uiuc.edu/node821.html\u003e`_ of the book \"Planning Algorithms\"\n[LaValle06]_.\n\nThe approach used to find paths is based on the algebraic solutions published\nin [Shkel01]_. However, rather than using angular symmetries to improve\nperformance, the simpler approach to test all possible solutions is used here. \n\n|build_status| |coverage| |license|\n\nUsage\n=====\n\nThe recommended approach is to add `dubins.c` and `dubins.h` to your project\nand compile with an appropriate build system.  \n\nThe repository includes a basic cmake example that demonstrates how to build\nand test the library.\n\nExamples\n========\n\nThe following code snippet demonstrates how to generate intermediate points\nalong the shortest path between a pair of configuration (x, y, theta).\n\n.. code-block:: c\n\n    #include \"dubins.h\"\n    #include \u003cstdio.h\u003e\n\n    int printConfiguration(double q[3], double x, void* user_data) {\n        printf(\"%f, %f, %f, %f\\n\", q[0], q[1], q[2], x);\n        return 0;\n    }\n\n    int main()\n    {\n        double q0[] = { 0,0,0 };\n        double q1[] = { 4,4,3.142 };\n        double turning_radius = 1.0;\n        DubinsPath path;\n        dubins_shortest_path( \u0026path, q0, q1, turning_radius);\n        dubins_path_sample_many( \u0026path, 0.1, printConfiguration, NULL);\n        return 0;\n    }\n\nThe following image shows some example paths, and the heading of the vehicle at\neach of the intermediate configurations.\n\n.. image:: ./docs/images/samples.png\n\nOther Version\n=============\n\n* There is a MATLAB Mex wrapper of this code on the `MathWorks FileExchange \u003chttp://www.mathworks.com.au/matlabcentral/fileexchange/40655-dubins-curve-mex\u003e`_\n* There is a Python wrapper of this code available on `GitHub \u003chttps://github.com/AndrewWalker/pydubins\u003e`_ and on `PyPI \u003chttps://pypi.python.org/pypi/dubins/\u003e`_\n\nCiting\n======\n\nIf you would like to cite this library in a paper or presentation, the following is recommended:\n\n.. code-block:: bibtex\n\n    @Misc{DubinsCurves,\n      author = {Andrew Walker},\n      title  = {Dubins-Curves: an open implementation of shortest paths for the forward only car},\n      year   = {2008--},\n      url    = \"https://github.com/AndrewWalker/Dubins-Curves\"\n    }\n\nContributors\n============\n\nThe Dubin's curves library was completed as one small part of [Walker11]_. New\ncontributions or bug fixes are welcome.\n\nKey contributors to the project include: \n\n* Francis Valentinis\n* Royce Smart - who tested early versions of this code while writing up [Smart08]_.\n* Scott Teuscher - who wrote the MATLAB Mex wrapper\n\nLicense\n=======\n\nMIT License. See `LICENSE.txt \u003cLICENSE.txt\u003e`_ for details.\n\nReferences\n==========\n\n.. [Dubins51] Dubins, L.E. (July 1957). \"On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents\". American Journal of Mathematics 79 (3): 497–516\n.. [LaValle06] LaValle, S. M. (2006). \"Planning Algorithms\". Cambridge University Press\n.. [Shkel01] Shkel, A. M. and Lumelsky, V. (2001). \"Classification of the Dubins set\". Robotics and Autonomous Systems 34 (2001) 179–202\n.. [Walker11] Walker, A. (2011). \"Hard Real-Time Motion Planning for Autonomous Vehicles\", PhD thesis, Swinburne University.\n.. [Smart08] Royce, S. (2008). \"Evolutionary Control of Autonomous Underwater Vehicles\". PhD thesis, RMIT\n\n.. |build_status| image:: https://secure.travis-ci.org/AndrewWalker/Dubins-Curves.png?branch=master\n   :target: https://travis-ci.org/AndrewWalker/Dubins-Curves\n   :alt: Current build status\n\n.. |coverage| image:: https://codecov.io/gh/AndrewWalker/Dubins-Curves/branch/master/graph/badge.svg\n   :target: https://codecov.io/gh/AndrewWalker/Dubins-Curves\n   :alt: Code coverage shield\n\n.. |license| image:: https://img.shields.io/badge/License-MIT-blue.svg\n   :target: http://opensource.org/licenses/MIT\n   :alt: license shield\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FAndrewWalker%2FDubins-Curves","html_url":"https://awesome.ecosyste.ms/projects/github.com%2FAndrewWalker%2FDubins-Curves","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FAndrewWalker%2FDubins-Curves/lists"}