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

in which each . The integers , , can be imagined as array indices for the grid. Let the term

Steven M LaValle 2012-04-20