{"action":"opened","issue":{"url":"https://api.github.com/repos/AndrewWalker/Dubins-Curves/issues/15","repository_url":"https://api.github.com/repos/AndrewWalker/Dubins-Curves","labels_url":"https://api.github.com/repos/AndrewWalker/Dubins-Curves/issues/15/labels{/name}","comments_url":"https://api.github.com/repos/AndrewWalker/Dubins-Curves/issues/15/comments","events_url":"https://api.github.com/repos/AndrewWalker/Dubins-Curves/issues/15/events","html_url":"https://github.com/AndrewWalker/Dubins-Curves/issues/15","id":382935915,"node_id":"MDU6SXNzdWUzODI5MzU5MTU=","number":15,"title":"Sampling along Dubins path increases length to goal","user":{"login":"LeeYiyuan","id":2479951,"node_id":"MDQ6VXNlcjI0Nzk5NTE=","avatar_url":"https://avatars2.githubusercontent.com/u/2479951?v=4","gravatar_id":"","url":"https://api.github.com/users/LeeYiyuan","html_url":"https://github.com/LeeYiyuan","followers_url":"https://api.github.com/users/LeeYiyuan/followers","following_url":"https://api.github.com/users/LeeYiyuan/following{/other_user}","gists_url":"https://api.github.com/users/LeeYiyuan/gists{/gist_id}","starred_url":"https://api.github.com/users/LeeYiyuan/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/LeeYiyuan/subscriptions","organizations_url":"https://api.github.com/users/LeeYiyuan/orgs","repos_url":"https://api.github.com/users/LeeYiyuan/repos","events_url":"https://api.github.com/users/LeeYiyuan/events{/privacy}","received_events_url":"https://api.github.com/users/LeeYiyuan/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-11-21T03:06:42Z","updated_at":"2018-11-21T03:06:42Z","closed_at":null,"author_association":"NONE","body":"Sampling is done along the Dubins path between a start point `(16.2953, 0.12524, 0.575959)` and and endpoint `(17.2329, 2.0764, 2.28307)`. As the samples get closer to the endpoint, the distance between the current sample to the endpoint jumps at some point. Below is the test code, followed by the test output.\r\n\r\n```\r\n#include \"dubins.h\"\r\n#include <stdio.h>\r\n\r\ndouble start[] = { 16.2953, 0.12524, 0.575959 };\r\ndouble end[] = { 17.2329, 2.0764, 2.28307 };\r\n\r\nint printConfiguration(double q[3], double x, void* user_data) {\r\n    DubinsPath path;\r\n    dubins_shortest_path(&path, q, end, 1.0);\r\n\r\n    printf(\"%f, %f, %f, %f, %f\\n\", q[0], q[1], q[2], x, dubins_path_length(&path));\r\n    return 0;\r\n}\r\n\r\nint main()\r\n{\r\n    DubinsPath path;\r\n    dubins_shortest_path(&path, start, end, 1.0);\r\n\r\n    printf(\"#x,y,theta,t\\n\");\r\n    dubins_path_sample_many(&path,  0.1, printConfiguration, NULL);\r\n\r\n    return 0;\r\n}\r\n```\r\n\r\nTest output:\r\n\r\n```\r\n0: 16.295300, 0.125240, 0.575959, 0.000000, 2.565464\r\n1: 16.379776, 0.178753, 0.563946, 0.100000, 2.465464\r\n2: 16.464292, 0.232206, 0.563946, 0.200000, 2.365464\r\n3: 16.548807, 0.285658, 0.563946, 0.300000, 2.265464\r\n4: 16.633322, 0.339111, 0.563946, 0.400000, 2.165464\r\n5: 16.717837, 0.392564, 0.563946, 0.500000, 2.065464\r\n6: 16.802353, 0.446016, 0.563946, 0.600000, 1.965464\r\n7: 16.886868, 0.499469, 0.563946, 0.700000, 1.865464\r\n8: 16.971383, 0.552921, 0.563946, 0.800000, 1.765464\r\n9: 17.055107, 0.607576, 0.617606, 0.900000, 7.569978\r\n10: 17.133605, 0.669461, 0.717606, 1.000000, 7.848649\r\n11: 17.205533, 0.738874, 0.817606, 1.100000, 7.748649\r\n12: 17.270171, 0.815121, 0.917606, 1.200000, 7.648649\r\n13: 17.326875, 0.897439, 1.017606, 1.300000, 7.548649\r\n14: 17.375077, 0.985008, 1.117606, 1.400000, 7.448649\r\n15: 17.414296, 1.076951, 1.217606, 1.500000, 7.348649\r\n16: 17.444140, 1.172350, 1.317606, 1.600000, 7.248649\r\n17: 17.464311, 1.270252, 1.417606, 1.700000, 7.148649\r\n18: 17.474608, 1.369678, 1.517606, 1.800000, 7.048649\r\n19: 17.474927, 1.469636, 1.617606, 1.900000, 6.948649\r\n20: 17.465265, 1.569126, 1.717606, 2.000000, 6.848649\r\n21: 17.445719, 1.667155, 1.817606, 2.100000, 6.748649\r\n22: 17.416484, 1.762743, 1.917606, 2.200000, 6.648649\r\n23: 17.377852, 1.854934, 2.017606, 2.300000, 6.548649\r\n24: 17.330210, 1.942808, 2.117606, 2.400000, 6.448649\r\n25: 17.274033, 2.025487, 2.217606, 2.500000, 6.348649\r\n```\r\n\r\nThe distance spikes from sample 8 to 9, not sure if this can be considered expected behavior."}}
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