pyrobosim.navigation.rrt.RRTPlanner.extend

RRTPlanner.extend(n_start: Node, q_target: Pose) → Node

Grows the RRT from a specific node towards a sampled pose in the world. The maximum distance to grow the tree is dictated by the max_connection_dist parameter. If the target pose is nearer than this distance, a new node is created at exactly that pose.

Parameters:

• n_start – Tree node from which to grow the new node.

• q_target – Target pose towards which to grow the new node.

Returns:

A new node grown from the start node towards the target pose.