Sonny J d75ad82e49 Minor update for memory savings in ring buffer and fleshed out commenting. ...

No changes in functionality. Path vectors moved from ring buffer to
local planner static variables to save 3*(BUFFER_SIZE - 1) doubles in
memory. Detailed comments. Really need to stop micro-updating. Should be
the last until a planner optimization (ala Jens Geisler) has been
completed.

2011-09-04 18:53:25 -06:00

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