Rust Reeds-Shepp Path Planning

A Rust crate for calculating optimal (shortest) paths for car-like vehicles using Reeds-Shepp curves. This implementation allows for both forward and backward motion and assumes a fixed turning radius (normalized to 1).

The paths are generated by exploring a set of 12 fundamental path families and their variations through time-flipping (reversing gear) and reflection (reversing steering).

Features

• Calculates shortest paths between two poses (x, y, orientation).
• Supports forward and backward motion (Gear::Forward, Gear::Backwards).
• Defines discrete steering states (Steering::Left, Steering::Right, Steering::Straight).
• Provides a clear path representation as a sequence of PathElements.
• Includes utility functions for pose manipulation, angle normalization, and coordinate conversions.
• Based on the principles described by Reeds & Shepp for path generation.

Installation

Add this to your Cargo.toml:

[dependencies]
reeds_shepp = "0.1.1"