Reeds Shepp Path Library


Overview
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The library implements the analytic Reeds Shepp path between two SE2 configurations. Reeds Sheep path¹ is defined as the shortest traveling path of the Reeds-Shepp Car, a car that can go both forward and backward with a constrained turning radius. Reeds-Sheep path can be viewed as a generalized version of Dubins path.
The primary C++ source code comes from Open Motion Planning Library (OMPL). And the API of Python version (primarily a Cython wrapper) is similar to the Dubins library from Andrew Walker.
More descriptions can be referred to the OMPL and section 15.3.2 of the book Planning Algorithms.
Installation

Install from source

$ sudo python setup.py install

Demo

$ python demos/demo.py

API

path_length( q0, q1, turning_radius)
- return total length of Reed Shepps curve from q0 to q1 with specified turning radius
path_sample( q0, q1, turning_radius, step_size)
- return list of tuple (x,y,theta) uniformly sampled from corresponding Reed Shepps curve
path_type( q0, q1, turning_radius)
- return the tuple of path segment type for the Reed Sheps curve from q0 to q1 with specified turning radius

References ======

Reeds, J., & Shepp, L. (1990). Optimal paths for a car that goes both forwards and backwards. Pacific journal of mathematics, 145(2), 367-393.↩