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Can a catmull rom take the place of a dubins curve?

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Hello,

I have been spending weeks on rewriting the code of this

 

https://github.com/unr-arl/DubinsAirplane

 

Today, I suddenly came up with this,

If it's just too much of an effort, why not just use a catmull rom to replace the dubins curves instead.

BTW, I am doing pathfinding with turns here.

 

It's just been a huge undertaking, and I really don't want to do this, because the D3DX library is already quite robust.

And I am just interested in the length of it and whether it hits something along the path.

 

I also look at that code, it seems to be a very very expensive calculation....

A catmull rom spline is fast and clean....

 

So what do you think about it?

Thanks

Jack

 

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