dubinsPaths
fun dubinsPaths(start: Vector2, startDirection: Vector2, end: Vector2, endDirection: Vector2, radius: Double): List<DubinsPath>(source)
All Dubins paths from the pose (start, startDirection) to (end, endDirection) with minimum turning radius, shortest first, one for every word that has a solution, after Shkel and Lumelsky, "Classification of the Dubins set" (Robotics and Autonomous Systems, 2001). The poses are normalized so that the start lies at the origin, the end on the positive x-axis at distance d in units of the radius, with the directions α and β relative to that axis; every word then gives the three normalized piece lengths in closed form.