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Dubins Path From Points

Create a Dubin's path from a list of point, From this Paper "Three-Dimensional Dubins-Path-Guided Continuous Curvature Path Smoothing" https://www.mdpi.com/2076-3417/12/22/11336

Inputs

NameIDDescriptionType
PointsPList of points (more than 1)Point
RadiusRRadius of turn (>0)Number
Is ClosedCIf true the path will be closed and last Direction will not be usedBoolean
Last DirectionVDirection at end, is Open PathVector

Outputs

NameIDDescriptionType
PathPShortest path through pointsCurve

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