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Interface for an RRT. Based on the paper: http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.36.7457
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Returns a path (a sequence of actions) from root to currentState. Keyword arguments: currentState -- ShipExternalState to which we want a path from the initial state. Returns: A path of actions that would bring us to currentState |
Find closest node in the RRT w.r.t. x, y, orientation. Keyword arguments: newState -- ShipExternalState that is going to be part of the new tree node. Returns: RRTNode which is the noded closest to 'newState' in the current RRT |
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