Struct DubinsPlanner 

pub struct DubinsPlanner {
    pub curvature: f64,
}

Dubins path planner.

Computes the shortest forward-only path between two Pose2D waypoints for a vehicle whose minimum turning radius is 1.0 / curvature.

Example

use rust_robotics_planning::dubins_path::DubinsPlanner;
use rust_robotics_core::types::Pose2D;

let planner = DubinsPlanner::new(1.0);
let start = Pose2D::new(0.0, 0.0, 0.0);
let goal  = Pose2D::new(5.0, 5.0, std::f64::consts::FRAC_PI_2);
let path  = planner.plan(start, goal).unwrap();
assert!(path.total_length > 0.0);

Fields

curvature: f64

Curvature = 1 / minimum turning radius [1/m].

Implementations

impl DubinsPlanner

pub fn new(curvature: f64) -> Self

Create a new planner with the given curvature (1 / min turning radius).

Errors

Returns InvalidParameter if curvature is not positive and finite.

pub fn plan(&self, start: Pose2D, goal: Pose2D) -> RoboticsResult<DubinsPath>

Plan the shortest Dubins path from start to goal.

Errors

Returns PlanningError if no valid path can be found (should not happen for finite inputs—included for robustness).

pub fn sample_path(&self, path: &DubinsPath, step: f64) -> Path2D

Sample evenly-spaced points along a previously computed DubinsPath.

step is the distance [m] between consecutive sample points.