 of nodes i.e. memory is limited.</p><!--/introduction--><h2>Contents</h2><div><ul><li><a href="#1">Syntax</a></li><li><a href="#2">Input</a></li><li><a href="#3">Output</a></li></ul></div><h2>Syntax<a name="1"></a></h2><pre>problem = rrt_star(map, max_iter, max_nodes, is_benchmark, rand_seed, variant)
function returns the object of the respective class with the result</pre><h2>Input<a name="2"></a></h2><pre>map           -- struct with appropriate fields (developer of
              the class provides more 