reedsshepp

Pure Golang implementation of Reeds Shepp Path, based on C++ ompl ReedsSheppState

Installation

go get github.com/dohyeunglee/reedsshepp

API

Visit https://pkg.go.dev/github.com/dohyeunglee/reedsshepp

Example

An example is available in example/main.go

Demo

A demo with plot is available in demo

Test

go test

Benchmark

go test -bench .

Result

Run on M1 Macbook Pro

BenchmarkMinLengthPath-10    	  225084	      5020 ns/op

Note

Due to the difference in the implementation of mathematical functions like sin, cos between C++ and Golang, accumulated errors in floating-point calculations can lead to differences between the results of the ompl library and AvailablePaths.