It seems that the output of the path planner will be a cost map. What about the resolution of that map? Should the map resolution be another input parameter? If there's a lot of open space you'll probably don't need a lot of resolution but if you are in a really cluttered environment you may need higher resolution to get more accuracy in your trajectory.
We are planning on having the map resolution be another input parameter, but do you have any suggestions for what a reasonable default resolution might be? As you pointed out, this is will depend on the environment, but it would be nice to provide a default. Do you think a square meter would be good?