4 void RRTExt12::steer1(RRTNode &f, RRTNode &t)
6 // assume that `t` is circle uniformly sampled
7 auto bc = BicycleCar();
12 auto max_steer = bc.st();
13 // map t.h() in -PI...+PI to -max_steer...+max_steer
14 bc.st(2 * max_steer * this->udh_(this->gen_) / (2 * M_PI) - max_steer);
15 bc.sp((this->udy_(this->gen_) > 0.5) ? 0.5 : -0.5);
16 this->steered().clear();
18 this->steered().push_back(RRTNode(bc));