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AndrewWalker / pydubins

Python wrapper of the C version of the Dubins-Curves library
MIT License
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Correction for curves generated on the radius of curvature. #11

Open jacobjj opened 5 years ago

jacobjj commented 5 years ago

Hi @AndrewWalker ,

I found out that if the goal point is on the radius of curvature as follows: start Then sometimes the path returned is: path_circle_old_dubins But what is expected is: path_circle.

I added a simple check, that checks if the straight path length is zero, if so it calculates the difference in orientation between the start and goal orientations and normalizes it within 0,2*pi, and sets to out[0] and out[1] and out[2] are set to 0.

Please let me know if there is anything wrong with this implementation.

Thanks, Jacob

ghanta1996 commented 2 years ago

Hi, Can somebody merge this PR? This is so helpful!

Thanks!

rbebb commented 2 years ago

@AndrewWalker is it possible to merge this?

rbebb commented 1 year ago

Poke on this @AndrewWalker

ghanta1996 commented 1 year ago

Poke on this @AndrewWalker