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View Code? Open in Web Editor NEWA MATLAB version of Dubins Curve based on Andrew Walker's work
License: MIT License
A MATLAB version of Dubins Curve based on Andrew Walker's work
License: MIT License
Thank you for your work on this, however it could be easier to find! Searching for Dubins curve on MathWorks/File Exchange currently returns only Dubins Curve Mex which also is based on AndrewWalker's work but far more outdated, not implemented in actual MATLAB functions and (obviously) unnecessarily done via mex.
What you've done here is a much more MATLAB-friendly approach and more people should see, especially instead of the mex function. Can you please add this repo to file exchange? See: About File Exchange - Linking with GitHub Repositories
Then it will even be easy to add this from within MATLAB.
Hello, could you please tell me why p=mod(( 2pi - acos( tmp_lrl ) ), 2pi)? This is different from what I found in paper "Classification of the Dubins setq", and q is also different. Thank you!
function param = dubins_LRL(alpha, beta, d)
tmp_lrl = (6. - dd + 2cos(alpha - beta) + 2d(- sin(alpha) + sin(beta))) / 8.;
if( abs(tmp_lrl) > 1)
param = [-1, -1, -1]; return;
else
p = mod(( 2pi - acos( tmp_lrl ) ), 2pi);
t = mod((-alpha - atan2( cos(alpha)-cos(beta), d+sin(alpha)-sin(beta) ) + p/2), 2pi);
q = mod((mod(beta, 2pi) - alpha -t + mod(p, 2pi)), 2pi);
param(1) = t;
param(2) = p;
param(3) = q;
return;
end
end
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