path op• Data kinds: matrix → table
• Call: import fullseye as fs; fs.ledger.car_dubins_path(poses, radius=1.0, step=0.05) (implementation को सीधे call करना हो तो import carpath; carpath.car_dubins_path(poses, radius=1.0, step=0.05), registry से लेना हो तो opsgraph.get("car_dubins_path"))
दो poses के बीच केवल आगे चलने वाली car का shortest path (Dubins 1957), छह closed-form words से।
> नीचे का विस्तृत विवरण मूल text में है — सारांश और headings का अनुवाद हो चुका है।
poses is [[x, y, theta], [x', y', theta']] (start, goal; theta in radians, counter-clockwise from the x axis). The car turns with minimum radius radius and never reverses. Dubins proved the shortest path is one of LSL, RSR, LSR, RSL, RLR, LRL (arcs of maximal curvature and straights); each word's three segment lengths are closed-form (Shkel and Lumelsky 2001). Every candidate is verified by forward integration to the goal and discarded if it misses (fail-closed against formula slips; the count is returned as n_rejected), and the shortest survivor is the answer.
Returns word, length (metres), segments [(kind, gear, length)] (kind L/S/R, gear +1), points (N, 3) poses sampled every step metres along the path (start and goal included), candidates [(word, length)] for all verified words in increasing length, n_rejected, lower_bound (the Euclidean distance, never exceeded), radius.
Raises ValueError: poses not (2, 3) finite; radius or step not positive; no word reaches the goal (cannot happen for finite poses; reported rather than guessed).
• Sample data catalog (DL URL / license) — 2-D के लिए skimage.data (BSD/public) + synthetic, 3-D के लिए real data sources (Stanford/PDS आदि) के DL URL।
• Operators का स्रोत और संदर्भ — इस op family के मूल research/methods के स्रोत।
• Algorithm का मानक स्रोत (लेखक, वर्ष) और उपयोग ऊपर की family usage guide में दिए गए हैं।
• poc_car_parking — py -3.11 examples/poc_car_parking.py
• poc_driving_school — py -3.11 examples/poc_driving_school.py
table को input के रूप में लेते हैं)graph_edge_consensus · graph_core_persistence · tree_morphometry · tree_sholl · tree_run_length
path)car_reeds_shepp_path · car_hybrid_astar
*Provenance: carpath.py — GRAPH operator registry. यह per-op note tools/opdocs.py md से अपने-आप generate होता है (हाथ से edit न करें)।*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.