Assume that is discretized by using the resolutions
, ,, and , in which each is a positive
integer. This allows the resolution to be different for each C-space
coordinate. Either a standard grid or a Sukharev grid can be used.
Let
|
(5.35) |
in which the first components and the last components
are 0. A grid point is a configuration
that can be
expressed in the form5.10
|
(5.36) |
in which each
. The integers ,
, can be imagined as array indices for the grid. Let
the term boundary grid point refer to a grid point for which
or for some . Due to identifications,
boundary grid points might have more than one representation using
(5.36).
Steven M LaValle
2020-08-14