This paper start with the basic point to point planning in the right angle space and gradually go deep into the path planning problem of curve planning and arbitrary path point.
本文从直角坐标空间中基本的点到点的规划方法人手，逐步深入到曲线的规划问题和过任意路径点的轨迹规划问题。
And it also point out that the Angle of chamfer and the accuracy design of chamfer start bit are very important to the whole design.
本文介绍滚刀倒角角度和倒角起始点的精确设计与计算方法。
On the condition of no influence on other performances, smaller Angle of ramp is better. It is best that the gradient between the start point of ramp and the bottom of ship is zero.
斜坡坡角在不影响其它性能时越小越好，若能使斜坡始点与船底接触处曲率梯度为零最好。
On the condition of no influence on other performances, smaller Angle of ramp is better. It is best that the gradient between the start point of ramp and the bottom of ship is zero.
斜坡坡角在不影响其它性能时越小越好，若能使斜坡始点与船底接触处曲率梯度为零最好。
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