dubinsPath
The shortest Dubins path from the pose (start, startDirection) to (end, endDirection) for a vehicle that only moves forwards and turns at most as sharply as a circle of radius, see dubinsPaths. Equal poses give a path of length zero.
The shortest Dubins paths between consecutive points of this polyline, joined into a contour: the path a vehicle with minimum turning radius takes through the points. When directions is null, the direction at every point is that of the centripetal Catmull-Rom spline through the points. The path passes through every point in its direction and is tangent-continuous; between points it consists of arcs of radius and straight segments.
Parameters
whether the path returns to the first point
the direction at every point, or null for Catmull-Rom directions
the polarity of the resulting contour