Dubins3D

Implementation of 2D/3D Dubins maneuver

Classical 2D Dubins Curve

Classical 2D Dubins Curve

DubinsManeuver3D struct

This struct contains all necessary information about the maneuver.

• qi - initial configuration (x, y, z, heading, pitch)
• qf - final configuration (x, y, z, heading, pitch)
• rhomin - minimum turning radius
• pitchlims - limits of the pitch angle [pitchmin, pitchmax] where pitch_min < 0.0
• path - array containing horizontal and vertical Dubins paths
• length - total length of the 3D maneuver

DubinsManeuver3D(qi, qf, rhomin, pitchlims)

Create 3D Dubins path between two configurations qi, qf * qi - initial configuration (x, y, z, heading, pitch) * qf - final configuration (x, y, z, heading, pitch) * rhomin - minimum turning radius * pitchlims - limits of the pitch angle [pitchmin, pitchmax]

Classical 2D Dubins Curve