The library implements the analytic Reeds Shepp path between two SE2 configurations. Reeds Sheep path [1] is defined as the shortest traveling path of the Reeds-Shepp Car, a car that can go both forward and backward with a constrained turning radius. Reeds-Sheep path can be viewed as a generalized version of Dubins path.

The primary C++ source code comes from Open Motion Planning Library (OMPL). And the API of Python version (primarily a Cython wrapper) is similar to the Dubins library from Andrew Walker.

More descriptions can be referred to the OMPL and section 15.3.2 of the book Planning Algorithms.

Install from source

$ sudo python setup.py install

$ python demos/demo.py

• path_length( q0, q1, turning_radius)
  • return total length of Reed Shepps curve from q0 to q1 with specified turning radius
• path_sample( q0, q1, turning_radius, step_size)
  • return list of tuple (x,y,theta) uniformly sampled from corresponding Reed Shepps curve
• path_type( q0, q1, turning_radius)
  • return the tuple of path segment type for the Reed Sheps curve from q0 to q1 with specified turning radius

• PyPI install
• cpp/python demo