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AndrewWalker / Dubins-Curves

Path generation for the Dubin's car
MIT License
271 stars 87 forks source link

Configuration that does not obtain the shortest path #2

Closed jconesam closed 10 years ago

jconesam commented 10 years ago

First of all, thank you for your source code, it is a good work! However, I have been testing it and I think I have found some unexpected result. I tried to find the shortest path for the inputs:

p1: (0, 0, pi/2) p2: (4, 0, -pi/2) Minimum turning radius(rho): 3

I think the shortest path for this configuration it is:

shortestturn

But I'm getting this one:

notshortestturn

The code is retrieving a RLR trajectory instead of a LRL. May you tell me if it is a bug or if there is another thing I'm not taking into account?

AndrewWalker commented 10 years ago

Sorry about the delay, this is confirmed as a bug.