The EXTEND function from the paper. Here, in this simple version of
the algorithms, we just take an epsilon step towards the randomState,
without checking the all intermediate states are collision-free. We also
assume holonomic problem in which the computation of the edge (the action
that takes us to the new state) is just a simple vector calculation.
- Parameters:
randomState (ShipExternalState) - A state that was randomly sampled in space, towards which we take
an epsilon step.
- Returns: ShipExternalState
- The new state that was added to the tree.
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