path op• データ種: matrix → table
• 呼び出し: import fullseye as fs; fs.ledger.car_reeds_shepp_path(poses, radius=1.0, step=0.05) (実装を直接呼ぶなら import carpath; carpath.car_reeds_shepp_path(poses, radius=1.0, step=0.05)、台帳から引くなら opsgraph.get("car_reeds_shepp_path"))
後退を許す車の最短路を Reeds–Shepp(1990)の 48 語(OMPL と同じ 44 式)の閉形式で。候補は前進積分で終点を検証して落とした数を返し、最短の語(小文字 = 後退の区間)・長さ・区間 (種類, 前進/後退, 長さ)・姿勢列・全候補を返す。
> 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). 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.
• 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
table を入力に取れる)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. 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.