pyrobosim.navigation.rrt.RRTPlanner.try_connect_until

RRTPlanner.try_connect_until(graph: SearchGraph, n_curr: Node, n_tgt: Node) → tuple[bool, Node]

Try to connect a node n_curr to a target node n_tgt. This will keep extending the current node towards the target if RRTConnect is enabled, or else will just try once.

Parameters:

• graph – The tree object.

• n_curr – The current tree node to try connect to the target node.

• n_tgt – The target tree node defining the connection goal.

Returns:

A tuple containing connection success and the final node added.