implement DubinsPath planning based on C++ Dubins-Curves

LICENSE

@@ -0,0 +1,21 @@
+The MIT License
+
+Copyright (c) 2024 dohyeunglee
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

README.md

@@ -1,4 +1,35 @@
 # dubins
 > Pure Golang implementation of Dubins Path, based on C++ [Dubins-Curves](https://github.com/AndrewWalker/Dubins-Curves)
 
-WIP
+## Installation
+```bash
+go get github.com/dohyeunglee/dubins
+```
+
+## API
+Visit https://pkg.go.dev/github.com/dohyeunglee/dubins
+
+## Example
+An example is available in [example/main.go](example/main.go)
+
+## Demo
+A demo with plot is available in [demo](demo/README.md)
+
+## Test
+```bash
+go test
+```
+
+## Benchmark
+```bash
+go test -bench .
+```
+### Result
+Run on M1 Macbook Pro
+```bash
+BenchmarkMinLengthPath-8   	 1000000	      1126 ns/op
+```
+
+## Note
+If you want ReedsSheppPath, check https://github.com/dohyeunglee/reedsshepp.
+

algorithm.go

@@ -0,0 +1,150 @@
+package dubins
+
+import (
+	"math"
+)
+
+const (
+	twoPi = 2 * math.Pi
+)
+
+type pathTypeFunc func(pathParams) (Path, bool)
+
+var (
+	pathTypeFuncMap = map[PathType]pathTypeFunc{
+		LSL: lsl,
+		LSR: lsr,
+		RSL: rsl,
+		RSR: rsr,
+		RLR: rlr,
+		LRL: lrl,
+	}
+	pathTypeCourseTypesMap = map[PathType][3]PathCourseType{
+		LSL: {CourseTypeLeft, CourseTypeStraight, CourseTypeLeft},
+		LSR: {CourseTypeLeft, CourseTypeStraight, CourseTypeRight},
+		RSL: {CourseTypeRight, CourseTypeStraight, CourseTypeLeft},
+		RSR: {CourseTypeRight, CourseTypeStraight, CourseTypeRight},
+		RLR: {CourseTypeRight, CourseTypeLeft, CourseTypeRight},
+		LRL: {CourseTypeLeft, CourseTypeRight, CourseTypeLeft},
+	}
+)
+
+type pathParams struct {
+	alpha float64
+	beta  float64
+	d     float64
+
+	sinAlpha          float64
+	sinBeta           float64
+	cosAlpha          float64
+	cosBeta           float64
+	cosAlphaMinusBeta float64
+	dSquare           float64
+}
+
+func lsl(pp pathParams) (Path, bool) {
+	pSquare := 2 + pp.dSquare - 2*pp.cosAlphaMinusBeta + 2*pp.d*(pp.sinAlpha-pp.sinBeta)
+	if pSquare < 0 {
+		return Path{}, false
+	}
+
+	tmp := math.Atan2(pp.cosBeta-pp.cosAlpha, pp.d+pp.sinAlpha-pp.sinBeta)
+	return Path{
+		t:        mod2pi(tmp - pp.alpha),
+		p:        math.Sqrt(pSquare),
+		q:        mod2pi(pp.beta - tmp),
+		pathType: LSL,
+	}, true
+}
+
+func rsr(pp pathParams) (Path, bool) {
+	pSquare := 2 + pp.dSquare - 2*pp.cosAlphaMinusBeta + 2*pp.d*(pp.sinBeta-pp.sinAlpha)
+	if pSquare < 0 {
+		return Path{}, false
+	}
+
+	tmp := math.Atan2(pp.cosAlpha-pp.cosBeta, pp.d-pp.sinAlpha+pp.sinBeta)
+	return Path{
+		t:        mod2pi(pp.alpha - tmp),
+		p:        math.Sqrt(pSquare),
+		q:        mod2pi(tmp - pp.beta),
+		pathType: RSR,
+	}, true
+}
+
+func lsr(pp pathParams) (Path, bool) {
+	pSquare := -2 + pp.dSquare + 2*pp.cosAlphaMinusBeta + 2*pp.d*(pp.sinAlpha+pp.sinBeta)
+	if pSquare < 0 {
+		return Path{}, false
+	}
+
+	p := math.Sqrt(pSquare)
+	tmp := math.Atan2(-pp.cosAlpha-pp.cosBeta, pp.d+pp.sinAlpha+pp.sinBeta) - math.Atan2(-2, p)
+	t := mod2pi(tmp - pp.alpha)
+	q := mod2pi(tmp - mod2pi(pp.beta))
+	return Path{
+		t:        t,
+		p:        p,
+		q:        q,
+		pathType: LSR,
+	}, true
+}
+
+func rsl(pp pathParams) (Path, bool) {
+	pSquare := -2 + pp.dSquare + 2*pp.cosAlphaMinusBeta - 2*pp.d*(pp.sinAlpha+pp.sinBeta)
+	if pSquare < 0 {
+		return Path{}, false
+	}
+	p := math.Sqrt(pSquare)
+	tmp := math.Atan2(pp.cosAlpha+pp.cosBeta, pp.d-pp.sinAlpha-pp.sinBeta) - math.Atan2(2, p)
+	t := mod2pi(pp.alpha - tmp)
+	q := mod2pi(pp.beta - tmp)
+	return Path{
+		t:        t,
+		p:        p,
+		q:        q,
+		pathType: RSL,
+	}, true
+}
+
+func rlr(pp pathParams) (Path, bool) {
+	tmp := (6 - pp.dSquare + 2*pp.cosAlphaMinusBeta + 2*pp.d*(pp.sinAlpha-pp.sinBeta)) / 8
+	if math.Abs(tmp) > 1 {
+		return Path{}, false
+	}
+	phi := math.Atan2(pp.cosAlpha-pp.cosBeta, pp.d-pp.sinAlpha+pp.sinBeta)
+	p := mod2pi(twoPi - math.Acos(tmp))
+	t := mod2pi(pp.alpha - phi + mod2pi(p/2))
+	q := mod2pi(pp.alpha - pp.beta - t + mod2pi(p))
+	return Path{
+		t:        t,
+		p:        p,
+		q:        q,
+		pathType: RLR,
+	}, true
+}
+
+func lrl(pp pathParams) (Path, bool) {
+	tmp := (6 - pp.dSquare + 2*pp.cosAlphaMinusBeta + 2*pp.d*(pp.sinBeta-pp.sinAlpha)) / 8
+	if math.Abs(tmp) > 1 {
+		return Path{}, false
+	}
+	phi := math.Atan2(pp.cosAlpha-pp.cosBeta, pp.d+pp.sinAlpha-pp.sinBeta)
+	p := mod2pi(twoPi - math.Acos(tmp))
+	t := mod2pi(-pp.alpha - phi + p/2)
+	q := mod2pi(mod2pi(pp.beta) - pp.alpha - t + mod2pi(p))
+	return Path{
+		t:        t,
+		p:        p,
+		q:        q,
+		pathType: LRL,
+	}, true
+}
+
+func fmodr(x float64, y float64) float64 {
+	return x - y*math.Floor(x/y)
+}
+
+func mod2pi(theta float64) float64 {
+	return fmodr(theta, twoPi)
+}

demo/LICENSE

@@ -0,0 +1,21 @@
+The MIT License
+
+Copyright (c) 2024 dohyeunglee
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

demo/README.md

@@ -0,0 +1,18 @@
+# dubins demo
+
+> dubins Length, Interpolate demo, based on python [pydubins](https://github.com/AndrewWalker/pydubins) demo
+
+## Results
+|   |   |                     |
+|:-------------------:|:-------------------:|:-------------------:|
+| ![](demo_path0.png) | ![](demo_path1.png) | ![](demo_path2.png) |
+| ![](demo_path3.png) | ![](demo_path4.png) | ![](demo_path5.png) |
+| ![](demo_path6.png) | ![](demo_path7.png) | ![](demo_path8.png) |
+| ![](demo_path9.png) | | |
+
+## Run
+```bash
+go mod tidy
+go run main.go
+```
+

demo/go.mod

@@ -0,0 +1,23 @@
+module github.com/dohyeunglee/dubins/demo
+
+go 1.22.3
+
+replace github.com/dohyeunglee/dubins v0.0.1 => ../
+
+require (
+	github.com/dohyeunglee/dubins v0.0.1
+	gonum.org/v1/plot v0.14.0
+)
+
+require (
+	git.sr.ht/~sbinet/gg v0.5.0 // indirect
+	github.com/ajstarks/svgo v0.0.0-20211024235047-1546f124cd8b // indirect
+	github.com/campoy/embedmd v1.0.0 // indirect
+	github.com/go-fonts/liberation v0.3.1 // indirect
+	github.com/go-latex/latex v0.0.0-20230307184459-12ec69307ad9 // indirect
+	github.com/go-pdf/fpdf v0.8.0 // indirect
+	github.com/golang/freetype v0.0.0-20170609003504-e2365dfdc4a0 // indirect
+	github.com/pmezard/go-difflib v1.0.0 // indirect
+	golang.org/x/image v0.11.0 // indirect
+	golang.org/x/text v0.12.0 // indirect
+)

demo/go.sum

@@ -0,0 +1,88 @@
+git.sr.ht/~sbinet/cmpimg v0.1.0 h1:E0zPRk2muWuCqSKSVZIWsgtU9pjsw3eKHi8VmQeScxo=
+git.sr.ht/~sbinet/cmpimg v0.1.0/go.mod h1:FU12psLbF4TfNXkKH2ZZQ29crIqoiqTZmeQ7dkp/pxE=
+git.sr.ht/~sbinet/gg v0.5.0 h1:6V43j30HM623V329xA9Ntq+WJrMjDxRjuAB1LFWF5m8=
+git.sr.ht/~sbinet/gg v0.5.0/go.mod h1:G2C0eRESqlKhS7ErsNey6HHrqU1PwsnCQlekFi9Q2Oo=
+github.com/BurntSushi/toml v0.3.1/go.mod h1:xHWCNGjB5oqiDr8zfno3MHue2Ht5sIBksp03qcyfWMU=
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+github.com/ajstarks/deck/generate v0.0.0-20210309230005-c3f852c02e19/go.mod h1:T13YZdzov6OU0A1+RfKZiZN9ca6VeKdBdyDV+BY97Tk=
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