class="reference internal" href="classNode.html#_CPPv34Node" title="Node">Node</a> &amp;<em>start</em>, <em class="property">const</em> <a class="reference internal" href="classNode.html#_CPPv34Node" title="Node">Node</a> &amp;<em>goal</em><span class="sig-paren">)</span><a class="headerlink" href="#_CPPv3N7RRTStar4PlanERK4NodeRK4Node" title="Permalink to this definition">¶</a><br /></dt>
<dd><p>RRT* algorithm implementation. </p>
<p><dl class="docutils">
<dt><strong>Return</strong></dt>
<dd>tuple contatin