Rust code for calculating Dubin's Paths
Credit to Andrew Walker for the original C code
I've ported the code to Rust and documented everything that I could understand. Documentation in the original repository was minimal.
use core::f32::consts::PI;
use dubins_paths::{DubinsPath, PosRot, Result as DubinsResult};
// PosRot represents the car's (Pos)ition and (Rot)ation
// Where x and y are the coordinates on a 2d plane
// and theta is the orientation of the car's front in radians
// The starting position and rotation
// PosRot::from_f32 can also be used for const contexts
const q0: PosRot = PosRot::from_f32(0., 0., PI / 4.);
// The target end position and rotation
// PosRot implements From<[f32; 3]>
let q1 = [100., -100., PI * (3. / 4.)].into();
// The car's turning radius (must be > 0)
// This can be calculated by taking a cars angular velocity and dividing it by the car's forward velocity
// `turn radius = ang_vel / forward_vel`
let rho: f32 = 11.6;
// Calculate the shortest possible path between these two points with the given turning radius
let shortest_path_possible: DubinsResult<DubinsPath> = DubinsPath::shortest_from(q0, q1, rho);
// Assert that the path was found!
assert!(shortest_path_possible.is_ok());DubinsPath has many methods you should look into, such as length, extract_subpath, sample, and sample_many.
glam- Use aglamcompatible API
Looking for some more detailed documentation? Head on over to the docs.rs page!