car_dubins_path — GRAPH `path` op

• Datenarten: matrix → table

• Aufruf: import fullseye as fs; fs.ledger.car_dubins_path(poses, radius=1.0, step=0.05) (die Implementierung direkt: import carpath; carpath.car_dubins_path(poses, radius=1.0, step=0.05); aus dem Register: opsgraph.get("car_dubins_path"))

Verwendung

> Für diesen Operator gibt es noch keine Übersetzung. Es folgt der Originaltext unverändert.

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).

Referenzen (Beispieldaten, Literatur)

• Katalog der Beispieldaten (Download-URLs / Lizenzen) — 2-D nutzt skimage.data (BSD/Public Domain) plus synthetische Bilder, 3-D nennt Download-URLs echter Datenquellen (Stanford, PDS, …).

• Herkunft und Literatur der Operatoren — die Quellen der Forschung/Verfahren, auf denen diese Operatorfamilie beruht.

• Der kanonische Algorithmus (Autor, Jahr) und seine Anwendungen stehen im Familienleitfaden oben.

Ausführbare Beispiele (verifizierte Samples, die diesen Operator wirklich aufrufen)

• poc_car_parking — py -3.11 examples/poc_car_parking.py

• poc_driving_school — py -3.11 examples/poc_driving_school.py

Typkompatible Folge-Operatoren (nehmen `table` als Eingabe)

graph_edge_consensus · graph_core_persistence · tree_morphometry · tree_sholl · tree_run_length

Gleiche Kategorie (`path`)

car_reeds_shepp_path · car_hybrid_astar

*Provenance: carpath.py — GRAPH Operator-Registry. Diese Notiz wird von tools/opdocs.py md erzeugt (nicht von Hand bearbeiten).*

car_dubins_path — GRAPH path op