path op• 데이터 종류: matrix → table
• 호출: import fullseye as fs; fs.ledger.car_dubins_path(poses, radius=1.0, step=0.05)(구현을 직접 호출하려면 import carpath; carpath.car_dubins_path(poses, radius=1.0, step=0.05), 원장에서 가져오려면 opsgraph.get("car_dubins_path"))
> 이 연산자의 설명은 아직 번역이 없습니다. 원문을 그대로 싣습니다.
Shortest forward-only path of a car between two poses (Dubins 1957) by the six closed-form words.
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).
• 샘플 데이터 카탈로그(DL URL / 라이선스) —— 2-D 는 skimage.data(BSD/public)+ 합성, 3-D 는 실데이터 소스(Stanford/PDS 등)의 DL URL.
• 연산자의 내력·참고문헌 —— 이 연산자 족의 바탕이 된 연구/기법의 출처.
• 알고리즘의 정전(저자·연도)과 용도는 위의 패밀리 사용 가이드에 적혀 있습니다.
• poc_car_parking — py -3.11 examples/poc_car_parking.py
• poc_driving_school — py -3.11 examples/poc_driving_school.py
table 를 입력으로 받는 것)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 연산자 레지스트리. 이 op 노트는 tools/opdocs.py md 가 자동 생성합니다(직접 편집하지 마세요).*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.