RuiDGPires/RRT

RRT

goal_bias - double [0, 1]

Every sampled random point is interpolated with a percentage of the goal position following: $$sample = random\_point*(1 - goal\_bias) + goal * goal\_bias$$

goal_bias_adapt - bool

Adapt goal_bias for every collision detected

goal_bias_adapt_rate - double [0, 1]

Ammount to decrease to goal_bias whenever a collision is detected.

goal_bias_adapt_reset - bool

If true, when a node is successfully placed, goal_bias is set to the initial value. If false, it is incremented by goal_bias_adapt_rate.