What is this?

This is a JS port of previous work on generating Dubins sets + paths.

Install

npm i dubins-js

Supports CJS and ESM.

Where did the code come from?

The Python version: https://github.com/fgabbert/dubins_py, by @fgabbert The paper: https://cpb-us-e2.wpmucdn.com/faculty.sites.uci.edu/dist/e/700/files/2014/04/Dubins_Set_Robotics_2001.pdf

This is WIP

There should still be significant changes to come for this package, particularly:

• Restructure so that midpoints (and segments) are easily accessible
• Better (exported) types
• Easy API to lazily get a point from a Dubins path - [x] add pointAt
• Angles should only use radians and use the x axis as a base, as normal unit circles do
• Renaming of functions and other variables to follow JS convention
• Add pointAt, pointAtLength, on segments
• Initial documentation
• Mathematical reasoning, granular unit tests
• Utility functions to render on canvas + svg (separate module, optional import?)
• Generalize DubinsPath so that segments can be tacked on
• increased floating point precision? this would be good for visual precision + asserting on results
• Tests to ensure correctness as per paper

How does this work?

Coming soon!