path op• Data kinds: matrix → table
• Call: import fullseye as fs; fs.ledger.car_reeds_shepp_path(poses, radius=1.0, step=0.05) (implementation को सीधे call करना हो तो import carpath; carpath.car_reeds_shepp_path(poses, radius=1.0, step=0.05), registry से लेना हो तो opsgraph.get("car_reeds_shepp_path"))
दो poses के बीच ऐसी car का shortest path जो पीछे भी जा सकती है (Reeds and Shepp 1990), closed form 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). The car turns with minimum radius radius and may change gear. Reeds and Shepp proved the shortest path has at most five segments drawn from 48 words (Sussmann and Tang 1991: 46 suffice); the 44 formulas used here (the 12 base words of the paper expanded by time reversal, reflection and backwards reading, as in OMPL) generate every candidate. Each candidate is verified by forward integration and discarded if it misses the goal (counted in n_rejected); the shortest survivor is the answer. Reversed segments carry gear = -1.
Returns word (letters L/S/R; reversed segments are lower-case), length (metres, sum of absolute segment lengths), segments [(kind, gear, length)], points (N, 3) poses sampled every step metres, candidates [(word, length)] sorted, n_candidates, n_rejected, lower_bound (Euclidean distance), radius.
Raises ValueError: poses not (2, 3) finite; radius or step not positive; no word reached the goal.
• 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
table को input के रूप में लेते हैं)graph_edge_consensus · graph_core_persistence · tree_morphometry · tree_sholl · tree_run_length
path)car_dubins_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.