/** * @function ExtendHeuristic */ bool B1RRT::ExtendHeuristic() { int nearId; nearId = ranking[0][0]; connectHeuristic( nearId, getRandomConfig() ); // Get a new configuration return false; }
/** * @function tryStep */ JG_RRT::StepResult JG_RRT::tryStep() { Eigen::VectorXd qtry = getRandomConfig(); return tryStep(qtry); }
/** * @function connect * @brief */ bool JG_RRT::connect() { Eigen::VectorXd qtry = getRandomConfig(); return connect( qtry ); }
/* ********************************************************************************************* */ bool RRT::connect() { VectorXd qtry = getRandomConfig(); return connect(qtry); }
/* ********************************************************************************************* */ RRT::StepResult RRT::tryStep() { VectorXd qtry = getRandomConfig(); return tryStep(qtry); }