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comrob / Dubins3D.jl

Julia package to compute 3D Dubins Paths
BSD 2-Clause "Simplified" License
34 stars 6 forks source link

Hi, can we colborae on porting code to Python or C++ ? #3

Open jediofgever opened 3 years ago

jediofgever commented 3 years ago

HI @petvana , I have come up to this work and find it very valuable. I am working on navigation of ground robots on rough 3D terrains. I am also hoping to incorporate kinematic constrains of an ackermann robot by considering a 3D Dubins curvature.

Although the code is well structured and commented, I had still want to know whether you would be eager to collaborate on porting the code to C++ or Python ?

petvana commented 3 years ago

Hi @jediofgever, It was also my original intention. The code was indeed originally in Python3, but I published the paper with Julia version because i love the language and, secondly, it is almost an order of magnitude faster because of ahead-of-time compilation. I can release the python version quite fast, but the question is if we should create C++ version. I have implemented already all the necessary building blocks in https://github.com/comrob/gdip where Dubins2D is also implemented in C++.

Do you prefer Python or C++?

Btw, we have already found one edge case when the algorithm is behaving poorly. When the initial trajectory is straight, there is no turn to be enlarge to solve the altitude difference. We didn't know that while writing the paper, but it would be nice to fix it in the future.