1 三维模型导入
2 正\逆运动学计算
3 碰撞检测
4 路径规划（RRT）
5 正\逆动力学计算（递归牛顿-欧拉法）
6 运动控制
1 Reeds-Shepp Curve and Dubins Curve
2 ICP Matching
3 点镇定和轨迹跟踪控制
differential-drive & car-like robot
4 混合A* 算法
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