Problem Of Code reeds shepp

[JiangxinkeTao]

When I use the RS curve , There are fault results occured under some start and ending Pose show as following :

clc; clear; % Generate a Reeds-Shepp path for 3-point turn q0 = [0 0 0]'; % initial configuration [x y theta] qf = [0 -4 0]'; % final configuration maxcurv = 1/5; % 5m turning circle rs = ReedsShepp(q0, qf, maxcurv, 0.05); rs.plot

The results as the follow, the Pose is not true as the required ,and When I want to get all the RS curve and show them in the figure , some of them are not true. I guess there may be some coding fault in the "ReedsShepp.m"

I hope you can solve my question ,THANK YOU VERY MUCH !!! Best Wish For You