sbpl_lattice_planner : motion primitives for omnidirectional robot [closed]

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Dear All,

As I understand, the motion primitive file describes all the possible paths that the robot can take. Combining these paths, the global planner generates the path.

However, I have difficultly setting the motion primitive for omnidirectional robot as it can move in all possible directions given an instance of time.

Is it possible to guide to make a motion primitive file for omnidrirectional robot ?

P.S : The motion primitive files present in matlab folder does not help me as it mentions about only motions like forward, backward and sideways left and right.

It would be great to get a feed back.

Best Regards

Praveen