/**
* @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);
}
