path op• 資料種類:matrix → table
• 呼叫: import fullseye as fs; fs.ledger.car_reeds_shepp_path(poses, radius=1.0, step=0.05)(要直接呼叫實作,import carpath; carpath.car_reeds_shepp_path(poses, radius=1.0, step=0.05);從台帳取用則 opsgraph.get("car_reeds_shepp_path"))
可倒車的汽車在兩個位姿之間的最短路徑(Reeds 與 Shepp 1990)，以閉式求得。
> 以下的詳細說明為原文 —— 摘要與標題已翻譯。
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.
• 範例資料目錄(下載 URL / 授權) —— 2-D 用 skimage.data(BSD/公有領域)加合成圖,3-D 給出真實資料源(Stanford/PDS 等)的下載 URL。
• 運算子來歷與參考文獻 —— 該運算子族所依據的研究/方法出處。
• 演算法的正典(作者、年份)與用途見上面的族使用指南。
• poc_car_parking — py -3.11 examples/poc_car_parking.py
table 作為輸入)graph_edge_consensus · graph_core_persistence · tree_morphometry · tree_sholl · tree_run_length
path)car_dubins_path · car_hybrid_astar
*Provenance: carpath.py — GRAPH 運算子登記表。本條目由 tools/opdocs.py md 自動產生(請勿手動編輯)。*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.