</a><br /></dt>
<dd></dd></dl>

<dl class="function">
<dt id="_CPPv3N7RRTStar4PlanERK4NodeRK4Node">
<span id="_CPPv2N7RRTStar4PlanERK4NodeRK4Node"></span><span id="RRTStar::Plan__NodeCR.NodeCR"></span><span class="target" id="classRRTStar_1a4be7b619b1449327581e4a4a80856d20"></span>std::tuple&lt;bool, std::vector&lt;<a class="reference internal" href="classNode.html#_CPPv34Node" title="Node">Node</a>&gt;&gt; <code class="descname">Plan</code><span class="sig-paren">(</span><em class="property">const</em> <a 