reeds_shepp
| Crates.io | reeds_shepp |
| lib.rs | reeds_shepp |
| version | 0.1.1 |
| created_at | 2025-05-10 11:32:16.76116+00 |
| updated_at | 2025-05-10 16:20:46.251803+00 |
| description | Reeds Sheep Path Planner Algorithm implementation in rust |
| homepage | |
| repository | https://github.com/LinusWeigand/reeds-shepp-rust |
| max_upload_size | |
| id | 1668312 |
| size | 28,766 |
Linus Weigand (LinusWeigand)
documentation
https://docs.rs/reeds_shepp
README
Rust Reeds-Shepp Path Planning
A Rust crate for calculating optimal (shortest) paths for car-like vehicles using Reeds-Shepp curves. This implementation allows for both forward and backward motion and assumes a fixed turning radius (normalized to 1).
The paths are generated by exploring a set of 12 fundamental path families and their variations through time-flipping (reversing gear) and reflection (reversing steering).
Features
- Calculates shortest paths between two poses (x, y, orientation).
- Supports forward and backward motion (
Gear::Forward,Gear::Backwards). - Defines discrete steering states (
Steering::Left,Steering::Right,Steering::Straight). - Provides a clear path representation as a sequence of
PathElements. - Includes utility functions for pose manipulation, angle normalization, and coordinate conversions.
- Based on the principles described by Reeds & Shepp for path generation.
Installation
Add this to your Cargo.toml:
[dependencies]
reeds_shepp_lite_rs = "0.1.0"