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Dubins Curve Mex

version 1.3 (7.56 KB) by

Creates Dubins curve from two locations with orientations

Updated

Created Mex to return interpolate paths from
https://github.com/AndrewWalker/Dubins-Curves.

Returns an interpolation minimum length dubins curve.

Ananya Malik

Ananya Malik (view profile)

hello,
Can you please give details about how to use this code. TIA

chen Mr

chen Mr (view profile)

mex dubins_mex
q0=[0,0,pi/2];
q1=[0.001,0,-pi/2];
path=dubins_mex(q0,q1,1,0.001);
plot(path(1,:),path(2,:));
grid on;xlabel('x');ylabel('y')

YAN LIU

very useful

YAN LIU

YAN LIU (view profile)

how to use this file? somebody can explain how to use it?

Patrick A Plonski

Patrick A Plonski (view profile)

Has a bug, as stated by Raymond Prendergast. Cannot correctly handle many RLR and LRL situations. It appears to place the tangent circle on the wrong side. I was able to fix this by adding the following line in LRL and RLR functions: p = max(p,2*M_PI-p).

Raymond Prendergast

Raymond Prendergast (view profile)

I believe the solution this code produces for an in-place 180 degree turn (0,0,pi/2) -> (0.001,0,-pi/2) is incorrect. I have reason to believe that the solution is a CCC that looks like a light bulb as opposed to a CSC solution that looks like a 'B'.

Gaurav Kumar Singh

Gaurav Kumar Singh (view profile)

Can somebody explain how to use this file?

Mark

Mark (view profile)

I'm having trouble getting it compiled, can you send me the compiled version?

Scott

Scott (view profile)

d
look at the dubins_interface.m for how the function works. You will need to compile it before you can use the dubins in matlab

saar
the length of the path is the summation of the euclidean distance between points.

plotting path without heading can be done using scatter

saar

saar (view profile)

the output of the function is 3*3 matrix. I do not understand how can I extract the length of the path.

another question: is there is an option for plotting the path?

Any help will be appreciated!

d

d (view profile)

very useful tool,but how to run it,can u tell me??appericiate your help.