pyrobosim.navigation.rrt.RRTPlannerPolygon.try_connect_until

RRTPlannerPolygon.try_connect_until(graph, n_curr, n_tgt)

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

Parameters:

• graph (pyrobosim.utils.search_graph.SearchGraph) – The tree object.

• n_curr (pyrobosim.utils.search_graph.Node) – The current tree node to try connect to the target node.

• n_tgt (pyrobosim.utils.search_graph.Node) – The target tree node defining the connection goal.

Returns:

A tuple containing connection success and final node added.

Return type:

(bool, pyrobosim.utils.search_graph.Node)