fullseye

car_dubins_path — GRAPH path op

• データ種: matrix → table
• 呼び出し: import fullseye as fs; fs.ledger.car_dubins_path(poses, radius=1.0, step=0.05) (実装を直接呼ぶなら import carpath; carpath.car_dubins_path(poses, radius=1.0, step=0.05)、台帳から引くなら opsgraph.get("car_dubins_path"))

使い方

Shortest forward-only path of a car between two poses (Dubins 1957) by the six closed-form words.

poses is [[x, y, theta], [x', y', theta']] (start, goal; theta in radians, counter-clockwise from the x axis). The car turns with minimum radius radius and never reverses. Dubins proved the shortest path is one of LSL, RSR, LSR, RSL, RLR, LRL (arcs of maximal curvature and straights); each word’s three segment lengths are closed-form (Shkel and Lumelsky 2001). Every candidate is verified by forward integration to the goal and discarded if it misses (fail-closed against formula slips; the count is returned as n_rejected), and the shortest survivor is the answer.

Returns word, length (metres), segments [(kind, gear, length)] (kind L/S/R, gear +1), points (N, 3) poses sampled every step metres along the path (start and goal included), candidates [(word, length)] for all verified words in increasing length, n_rejected, lower_bound (the Euclidean distance, never exceeded), radius.

Raises ValueError: poses not (2, 3) finite; radius or step not positive; no word reaches the goal (cannot happen for finite poses; reported rather than guessed).

参考(サンプルデータ・文献)

• サンプルデータ カタログ(DL URL / ライセンス) — 2-D は skimage.data(BSD/public)+ 合成、3-D は実データ源(Stanford/PDS 等)の DL URL。
• 演算子の来歴・参考文献 — この op 族の元になった研究/手法の出典。
• アルゴリズムの正典(著者・年)と用途は上記ファミリ使い方ガイドに記載。

実行できる例(この op を実際に呼ぶ検証済みサンプル)

• poc_car_parking — py -3.11 examples/poc_car_parking.py
• poc_driving_school — py -3.11 examples/poc_driving_school.py

型が繋がる次の op(table を入力に取れる)

graph_edge_consensus · graph_core_persistence · tree_morphometry · tree_sholl · tree_run_length

同カテゴリ(path)

car_reeds_shepp_path · car_hybrid_astar

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Provenance: carpath.py — GRAPH operator registry. この per-op ノートは tools/opdocs.py md が自動生成(手編集しない)。

© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.

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