@ESchouten By the way, a team in our centre is currently working on enhancement of Dubins algorithm. They are doing it in Python, but probably it would be interesting to have it in Kotlin. Would you be interesting to include your implementation in KMath-geometry, or it is better to have it in a separate package?

@altavir I would love to have it included in the KMath library! I've been looking into implementing gradual steering (continuous curvature or CC) described in the following issue, which indeed combines driving speed and steering rate https://github.com/ESchouten/Dubins/issues/2

Nice. Waiting for PR then. I will ask our guys to look into the problem of steering (I believe they already did) and share some insights. After they end their exams of course.

@altavir https://github.com/mipt-npm/kmath/pull/495

Thanks a lot! I will review it ASAP.

Sounds good! First thing on my list would be the gradual steering angle (continuous curvature) addition to Dubins. Perhaps the trajectory module in time will be expanded with more algorithms like PP and Stanley, which could share logic. And perhaps 3d for planes and drones.