路径规划算法分两类
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if UNICYCLE_MPRIM_16DEGS == 1
resolution = 0.025;
numberofangles = 16;
numberofprimsperangle = 9;
Resolution
: 分辨率
numberofangles
: 圆周采样点数量
numberofprimsperangle
: 特点角度下的运动元 (motion primitives) 种类
运动元总数 = numberofangles * numberofprimsperangle