reeds-shepp 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:

1. 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.