concepts.algorithm.rrt.rrt.birrt

birrt(pspace, start_state, goal_state, nr_iterations=1000, nr_smooth_iterations=None, smooth_fine_path=False, allow_invalid_start=False, verbose=False)

Parameters:

• pspace (ProblemSpace)

• verbose (bool)

Return type:

Tuple[List[ndarray] | None, Tuple[RRTTree, RRTTree]]