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- typedef enum
- {
- LSL = 0,
- LSR = 1,
- RSL = 2,
- RSR = 3,
- RLR = 4,
- LRL = 5
- } DubinsPathType;
- typedef struct
- {
-
- double qi[3];
-
- double param[3];
-
- double rho;
-
- DubinsPathType type;
- } DubinsPath;
- typedef int (*DubinsPathSamplingCallback)(double q[3], double t, void* user_data);
- int dubins_shortest_path(DubinsPath* path, double q0[3], double q1[3], double rho);
- int dubins_path(DubinsPath* path, double q0[3], double q1[3], double rho, DubinsPathType pathType);
- double dubins_path_length(DubinsPath* path);
- double dubins_segment_length(DubinsPath* path, int i);
- double dubins_segment_length_normalized( DubinsPath* path, int i );
- DubinsPathType dubins_path_type(DubinsPath* path);
- int dubins_path_sample(DubinsPath* path, double t, double q[3]);
- int dubins_path_sample_many(DubinsPath* path,
- double stepSize,
- DubinsPathSamplingCallback cb,
- void* user_data);
- int dubins_path_endpoint(DubinsPath* path, double q[3]);
- int dubins_extract_subpath(DubinsPath* path, double t, DubinsPath* newpath);
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