{ "info": { "author": "Andrew Walker", "author_email": "walker.ab@gmail.com", "bugtrack_url": null, "classifiers": [ "Development Status :: 4 - Beta", "Intended Audience :: Science/Research", "License :: OSI Approved :: MIT License", "Natural Language :: English", "Operating System :: POSIX :: Linux", "Programming Language :: Python :: 2", "Programming Language :: Python :: 2.7", "Programming Language :: Python :: 3", "Programming Language :: Python :: 3.4", "Programming Language :: Python :: 3.5", "Programming Language :: Python :: 3.6", "Topic :: Scientific/Engineering :: Mathematics" ], "description": "======\ndubins\n======\n\nOverview\n========\n\nThis software finds the shortest paths between configurations for the Dubins' car [Dubins57]_, the forward only car-like vehicle with a constrained turning radius. A good description of the equations and basic strategies for doing this are described in section 15.3.1 `\"Dubins Curves\" `_ of the book \"Planning Algorithms\" [LaValle06]_.\n\nThe approach used to find paths is based on the algebraic solutions published in [Shkel01]_. However, rather than using angular symmetries to improve performance, the simpler approach to test all possible solutions is used here. \n\nThis code is primarily a Cython wrapper of https://github.com/AndrewWalker/Dubins-Curves\n\n|docs| |build_status| |license|\n\nInstalling\n==========\n\nYou can install the latest stable version from `PyPI `_\n\n.. code-block:: console\n\n $ pip install dubins\n\nOr, you can install the latest development version from `GitHub `_\n\n.. code-block:: console\n\n $ pip install git+git://github.com/AndrewWalker/pydubins.git\n\nExample\n=======\n\nDiscrete Sampling of a Dubin's path at finite step sizes\n\n.. code-block:: python\n\n import dubins\n\n q0 = (x0, y0, theta0)\n q1 = (x1, y1, theta1)\n turning_radius = 1.0\n step_size = 0.5\n\n path = dubins.shortest_path(q0, q1, turning_radius)\n configurations, _ = path.sample_many(step_size)\n\n\nAcknowledgements\n================\n\nThis work was completed as part of [Walker11]_. \n\n* Francis Valentinis\n* Royce Smart - who tested early versions of this code while completing his PhD thesis [Smart08]_.\n\nReferences\n==========\n\n.. [Dubins57] 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\u2013516\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\u2013202\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\". 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