Enhance dubins path docs (#664)

* Engance dubins path docs

* Update dubins_path.rst

* fix doc artifact link in CI

* wip

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* Update dubins_path.rst

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docs/conf.py

@@ -13,8 +13,8 @@
 # documentation root, use os.path.abspath to make it absolute, like shown here.
 #
 import os
-# import sys
-# sys.path.insert(0, os.path.abspath('.'))
+import sys
+sys.path.insert(0, os.path.abspath('../'))
 
 
 # -- Project information -----------------------------------------------------
@@ -42,6 +42,7 @@ extensions = [
     'sphinx.ext.autodoc',
     'sphinx.ext.mathjax',
     'sphinx.ext.viewcode',
+    'sphinx.ext.napoleon',
     'IPython.sphinxext.ipython_console_highlighting',
 ]
 

docs/doc_requirements.txt

@@ -1,3 +1,4 @@
 sphinx == 4.3.2 # For sphinx documentation
 sphinx_rtd_theme == 1.0.0
 IPython == 7.31.1 # For sphinx documentation
+sphinxcontrib-napoleon == 0.7 # For auto doc

docs/modules/path_planning/dubins_path/dubins_path.rst

@@ -7,12 +7,37 @@ A sample code for Dubins path planning.
 
 Dubins path
 ~~~~~~~~~~~~
-Dubims path is a analyrical path planning algorithm for a simple car model.
+Dubins path is a analytical path planning algorithm for a simple car model.
 
 It can generates a shortest path between 2D poses (x, y, yaw) with maximum curvture comstraint and tangent(yaw angle) constraint.
 
+The path consist of 3 segments of maximum curvature curves or a straight line segment.
 
+Each segment type can is categorized by 3 type: 'Right turn (R)' , 'Left turn (L)', and 'Straight (S).' 
 
+Possible path will be at least one of these six types: RSR, RSL, LSR, LSL, RLR, LRL. 
+
+For example, one of RSR Dubins paths is:
+
+.. image:: dubins_path/RSR.jpg
+   :width: 400px
+
+one of RLR Dubins paths is:
+
+.. image:: dubins_path/RLR.jpg
+   :width: 200px
+
+Dubins path planner can output three types and distances of each course segment.
+
+You can generate a path from these information and the maximum curvature information.
+
+In the example code, a path which is minimum course length one among 6 course type is selected and then a path is constructed.
+
+Code
+~~~~~~~~~~~~~~~~~~~~
+
+.. automodule:: PathPlanning.DubinsPath.dubins_path_planner
+    :members:
 
 
 Reference
@@ -20,3 +45,4 @@ Reference
 
 -  `Dubins path - Wikipedia <https://en.wikipedia.org/wiki/Dubins_path>`__
 -  `15.3.1 Dubins Curves <http://planning.cs.uiuc.edu/node821.html>`__
+-  `A Comprehensive, Step-by-Step Tutorial to Computing Dubin’s Paths <https://gieseanw.wordpress.com/2012/10/21/a-comprehensive-step-by-step-tutorial-to-computing-dubins-paths/>`__