Also here is a comparison between your introduced planners and the already available ones in OMPL. This computed over 10 runs for each case inside a fairly complicated environment in ReedsShepp state space. Sadly that is as much as I can disclose, but here are some nice looking plots :)

Also here is a comparison between your introduced planners and the already available ones in OMPL. This computed over 10 runs for each case inside a fairly complicated environment in ReedsShepp state space. Sadly that is as much as I can disclose, but here are some nice looking plots :)

Excellent work, Ignat,
thanks for sharing these plots :)

Hi @mamoll, could you please check this pull request?
The issue reported by @imgeorgiev has been fixed.
Thanks.

@mamoll @rezamasha @zkingston Are there any plans to get this merged? or is there any outstanding issues why this is not getting merged?

@rezamasha I tried using the RRTstarConnect planner, but the haveExactSolutionPath seems to return true even when the start and goal trees are not connected. Have you experienced something similar?

Two planners, RRT*-Connect (10.1109/ROBIO.2015.7419012), and Informed RRT*-Connect (10.1109/ACCESS.2020.2969316), have been added.

Hello, thank you very much for the help provided with the code. Now, I would like to add test code for InformedRRTstarConnect in the 2denvs.cpp file. Could you please advise me on how to do this?