path op• 数据种类:matrix → table
• 调用: import fullseye as fs; fs.ledger.car_reeds_shepp_path(poses, radius=1.0, step=0.05)(要直接调用实现,import carpath; carpath.car_reeds_shepp_path(poses, radius=1.0, step=0.05);从台账取用则 opsgraph.get("car_reeds_shepp_path"))
> 该算子的说明尚无译文,以下照原文给出。
Shortest path of a car that may reverse, between two poses (Reeds and Shepp 1990), by closed form.
`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.
• 示例数据目录(下载 URL / 许可证) —— 2-D 用 skimage.data(BSD/公有领域)加合成图,3-D 给出真实数据源(Stanford/PDS 等)的下载 URL。
• 算子来历与参考文献 —— 该算子族所依据的研究/方法出处。
• 算法的正典(作者・年份)与用途见上面的族使用指南。
• poc_car_parking — py -3.11 examples/poc_car_parking.py
table 作为输入)graph_edge_consensus · graph_core_persistence · tree_morphometry · tree_sholl · tree_run_length
path)car_dubins_path · car_hybrid_astar
*Provenance: carpath.py — GRAPH 算子登记表。本条目由 tools/opdocs.py md 自动生成(请勿手工编辑)。*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.