I am having a hard time computing the computational complexity of this problem. A path planning algorithm seems to be the "easiest" algorithm to implement to solve this problem, so that is what I did. I solved this problem for the case of 2 dimensions, but it does not scale nicely with larger inputs, meaning it is most likely not the best solution. I still need to adjust is to take inputs how you want, but
here it is.
It isn't optimized to go "7 radian units" per move, and the grid is only contains lattice points. I do not know of a way to obtain "floating point" values without making the grid have millions of points.