Dubins Work #351
Description
The code is ok, but could be a bit better. It is the most called code in the entire pathing stack (based on benchmarking in 2024)
- Remove straight section points (always put ends of the turning sections)
- Quad/plane may not reach top speed if points are too close apart (some ardupilot behiavior)
- will need to enforce line checking for inbounds instead of point checking
- cleanup code in general
- the code sorts multiple times, that's wasted compute