path-toolkit

path-toolkit

This package contains the class Path which is useful for computing geometrical properties.

Instantiating a path

from path_toolkit import Path

# Either from a list of points or (n, 2) numpy array
path1 = Path(points=[[0, 0], [1, 0], [2, 1]])

# Or from seperated x and y coordinates (numpy arrays are allowed as well) 
path2 = Path(x=[0, 1, 2], y=[0, 0, 1])

Class properties

These properties are lazily evaluated, such that the desired property is computed on first access. The result is cached such that no additional computation is required on repeated access.

Property	Description
points	The points of the path.
x	The x coordinates.
y	The y coordinates.
length	The length of the entire path.
path_length_per_point	The length of the path at each point.
orientation	The orientation of the path for each point.
curvature	The curvature for each point.
unit_tangent_vector	The unit tangent vector at each point.

Class methods

Function	Description
resampled_path	Returns the path with equidistantly resampled points.
smoothed_path	Returns the smoothed path using this approach from Autoware.
find_circle_segments	Returns a list of circle segments with the starting end ending index of the point list and respective radius.
compute_circle_fit_curvature	Returns the curvature profile of the path using the circle segments from find_circle_segments.
index_from_point	Finds the index of the nearest point from a given point.
path_length_from_point	Finds the path length of a given point.
sub_path	Returns a path ranging from a given start point to a given end point.

Todos

• Write more tests for edge cases
• Analyse potentially dangerous unwraps
• Publish package to crates.io
• Improve method documentation