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So far, I have an implementation of RRT+ that defines a constrained sampler to do prioritized sampling based on constrained subspaces in compound state spaces and uses the timing functions in ompl/util/Time.h to limit the amount of time spent on each subsearch. However, the implementation is unable to replicate the results published in Xanthidis et al. (arXiv:1612.07333 [cs.RO]), and in fact, the implementation only seems to generate approximate solutions in the kinematic chain benchmark test that I ran, suggesting a fundamental bug (perhaps related to the goal-biasing code that I commented out in the solve method?).