path op• データ種: matrix → table
• 呼び出し: import fullseye as fs; fs.ledger.car_dubins_path(poses, radius=1.0, step=0.05) (実装を直接呼ぶなら import carpath; carpath.car_dubins_path(poses, radius=1.0, step=0.05)、台帳から引くなら opsgraph.get("car_dubins_path"))
前進だけの車(最小回転半径 radius)が姿勢 (x, y, θ) から姿勢 (x', y', θ') へ移る最短路を Dubins(1957)の 6 語(LSL RSR LSR RSL RLR LRL)の閉形式で。各候補は前進積分で終点を検証し、届かない候補は捨てて n_rejected に数える。語・長さ・区間・step 刻みの姿勢列・全候補の長さ・下界(ユークリッド距離)を返す。
> 以下の詳細説明は原文のままです —— 要約と見出しは訳出済み。
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).
• サンプルデータ カタログ(DL URL / ライセンス) — 2-D は skimage.data(BSD/public)+ 合成、3-D は実データ源(Stanford/PDS 等)の DL URL。
• 演算子の来歴・参考文献 — この op 族の元になった研究/手法の出典。
• アルゴリズムの正典(著者・年)と用途は上記ファミリ使い方ガイドに記載。
• poc_car_parking — py -3.11 examples/poc_car_parking.py
• poc_driving_school — py -3.11 examples/poc_driving_school.py
table を入力に取れる)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. この per-op ノートは tools/opdocs.py md が自動生成(手編集しない)。*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.