Metadata-Version: 1.1
Name: dubins
Version: 0.9.1
Summary: Code to generate and manipulate dubins curves
Home-page: http://github.com/AndrewWalker/pydubins
Author: Andrew Walker
Author-email: walker.ab@gmail.com
License: UNKNOWN
Description: ======
        dubins
        ======
        
        Overview
        ========
        
        This software finds the shortest paths between configurations for the Dubins' car [Dubins51]_, the forward only car-like vehicle with a constrained turning radius. A good description of the equations and basic strategies for doing this are described in section 15.3.1 `"Dubins Curves" <http://planning.cs.uiuc.edu/node821.html>`_ of the book "Planning Algorithms" [LaValle06]_.
        
        The approach used to find paths is based on the algebraic solutions published in [Shkel01]_. However, rather than using angular symmetries to improve performance, the simpler approach to test all possible solutions is used here. 
        
        This code is primarily a Cython wrapper of https://github.com/AndrewWalker/Dubins-Curves
        
        |pypi_version| |build_status|
        
        Installing
        ==========
        
        You can install the latest stable version from `PyPI <http://pypi.python.org/pypi/dubins>`_
        
        .. code-block:: console
        
            $ pip install dubins
        
        Or, you can install the latest development version from `GitHub <https://github.com/AndrewWalker/pydubins>`_
        
        .. code-block:: console
        
            $ pip install git+git://github.com/AndrewWalker/pydubins.git
        
        Example
        =======
        
        Sampling of a Dubin's path at finite size sizes
        
        .. code-block:: python
        
            import dubins
        
            q0 = (x0, y0, theta0)
            q1 = (x1, y1, theta1)
            turning_radius = 1.0
            step_size = 0.5
        
            qs, _ = dubins.path_sample(q0, q1, turning_radius, step_size)
        
        Contributions
        =============
        
        This work was completed as part of [Walker11]_. 
        
        * Francis Valentinis
        * Royce Smart - who tested early versions of this code while writing up [Smart08]_.
        
        References
        ==========
        
        .. [Dubins51] Dubins, L.E. (July 1957). "On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents". American Journal of Mathematics 79 (3): 497–516
        .. [LaValle06] LaValle, S. M. (2006). "Planning Algorithms". Cambridge University Press
        .. [Shkel01] Shkel, A. M. and Lumelsky, V. (2001). "Classification of the Dubins set". Robotics and Autonomous Systems 34 (2001) 179–202
        .. [Walker11] Walker, A. (2011). "Hard Real-Time Motion Planning for Autonomous Vehicles", PhD thesis, Swinburne University.
        .. [Smart08] Royce, S. (2008). "Evolutionary Control of Autonomous Underwater Vehicles". PhD thesis, RMIT
        
        .. |build_status| image:: https://secure.travis-ci.org/AndrewWalker/pydubins.png?branch=master
           :target: https://travis-ci.org/AndrewWalker/pydubins
           :alt: Current build status
        
        .. |pypi_version| image:: https://pypip.in/v/dubins/badge.png
           :target: https://crate.io/packages/dubins/
           :alt: Latest PyPI version
        
Platform: UNKNOWN
Classifier: Development Status :: 4 - Beta
Classifier: Intended Audience :: Science/Research
Classifier: License :: OSI Approved :: MIT License
Classifier: Natural Language :: English
Classifier: Operating System :: POSIX :: Linux
Classifier: Topic :: Scientific/Engineering :: Mathematics
