%?This?function?will?find?a?dubins?curve?that?connect?two?points
%?Input:?p1?and?p2?are?two?row?vector?e.g.?[x?y?theta]?that?defines?a?
%?2-D?point?and?starting/ending?direction.
%?Output:?the?function?returns?include?4?field:
%???????p_init:?the?initial?point?which?is?as?same?as?input?p1
%???????type:?defines?one?of?the?6?shape?of?the?dubins?curve
%???????r:?turning?radius?also?the?scaling?factor?for?the?curve?paramater
%???????SEG_param:?defines?the?parameter?of?the?three?segments?in?row?vector
%?Reference:
%???????https://github.com/AndrewWalker/Dubins-Curves#shkel01
%???????Shkel?A.?M.?and?Lumelsky?V.?（2001）.?“Classification?of?the?Dubins
%??????????????????set“.?Robotics?and?Autonomous?Systems?34?（2001）?179202
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%?Original?Source:?Andrew?Walker
%?MATLAB-lization:?Ewing?Kang
%?Date:?2016.2.28
%?contact:?f039281310?[at]?yahoo.com.tw
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%?Copyright?（c）?2016?Ewing?Kang?????????????????????????????????????????????????%?
%????????????????????????????????????????????????????????????????????????????????%
%?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.??????????????????????????????????????????????????????????????????%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

function?param?=?dubins_core（p1?p2?r）
????%%%%%%%%%%%%%%%%%%%%%%%%%?DEFINE?%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
????%?there?are?6?types?of?dubin‘s?curve?only?one?will?have?minimum?cost
????%?LSL?=?1;
	%?LSR?=?2;
	%?RSL?=?3;
	%?RSR?=?4;
	%?RLR?=?5;
????%?LRL?=?6;
????
????%?Th

?屬性????????????大小?????日期????時間???名稱
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?????目錄???????????0??2018-03-18?12:54??Dubins-Curve-For-MATLAB-master\
?????文件?????????439??2018-03-18?12:54??Dubins-Curve-For-MATLAB-master\.gitattributes
?????文件?????????398??2018-03-18?12:54??Dubins-Curve-For-MATLAB-master\.gitignore
?????文件????????1076??2018-03-18?12:54??Dubins-Curve-For-MATLAB-master\LICENSE
?????文件????????2109??2018-03-18?12:54??Dubins-Curve-For-MATLAB-master\README.md
?????文件????????8302??2018-03-18?12:54??Dubins-Curve-For-MATLAB-master\dubins_core.m
?????文件????????9549??2018-03-18?12:54??Dubins-Curve-For-MATLAB-master\dubins_curve.m