Metadata-Version: 1.1
Name: reeds-shepp
Version: 1.0.7
Summary: Code to calculate analytic Reeds Shepp path
Home-page: https://github.com/liespace/pyReedsShepp
Author: Gabel Liemann
Author-email: troubleli233@gmail.com
License: MIT
Description: # 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.
Platform: UNKNOWN
Classifier: Programming Language :: Python :: 2
Classifier: License :: OSI Approved :: MIT License
Classifier: Operating System :: POSIX :: Linux
Classifier: Topic :: Scientific/Engineering :: Mathematics
