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Description:
reedsshepp 1.0.7
# Reeds Shepp Path Library
Forked from the [repository](https://github.com/ghliu/pyReedsShepp) of [Guan-Horng Liu](https://github.com/ghliu>).
Modified some places:
Modify the path_type function to get the length (>0 for forward, <0 for backward) and curvature (>0 for left, <0 for right) of each segment.
## Overview
The library implements the analytic Reeds Shepp path between two SE2 configurations.
Reeds Sheep path[^1] is defined as the shortest traveling path of the Reeds-Shepp Car, a car that can go both forward and backward with a constrained turning radius.
Reeds-Sheep path can be viewed as a generalized version of [Dubins path](http://planning.cs.uiuc.edu/node821.html).
The primary C++ source code comes from [Open Motion Planning Library](http://ompl.kavrakilab.org/ReedsSheppStateSpace_8cpp_source.html)(OMPL).
And the API of Python version (primarily a Cython wrapper) is similar to the [Dubins library](https://github.com/AndrewWalker/pydubins) from Andrew Walker.
More descriptions can be referred to the [OMPL](http://ompl.kavrakilab.org/2012/03/18/geometric-planning-for-car-like-vehicles.html) and section 15.3.2 of the book [Planning Algorithms](http://planning.cs.uiuc.edu/node822.html).
## Installation
### PyPI
`shell script $ pip install reeds-shepp `
### from source
`shell script $ sudo python setup.py install `
## Demo
`shell script $ python demos/demo.py `
## API
path_length(q0, q1, turning_radius)
- return total length of Reed Shepps curve from q0 to q1 with specified turning radius
path_sample(q0, q1, turning_radius, step_size)
return list of tuple (x,y,theta) uniformly sampled from corresponding Reed Shepps curve
path_type(q0, q1, turning_radius)
return the tuple of path segment type and length for the Reed Sheps curve from q0 to q1 with specified turning radius
## References
[^1]: Reeds, J., & Shepp, L. (1990). Optimal paths for a car that goes both forwards and backwards. Pacific journal of mathematics, 145(2), 367-393.
License
For personal and professional use. You cannot resell or redistribute these repositories in their original state.
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