RRT - plugin for unidirectional and multi-directional RRT usin kd-trees with weighted euclidean.
run RRT.py to see unidirectional RRT planning from initial to goal configuration.
the implementation uses a kd tree which does nearest neighbor search using weighted euclidean metric by seeing if a splittind axis is in an ellipsoid (instead of sphere)
run RRT.py to see the robot planning from initial to goal configuration. The blue dots in the output show smoothed path vs the red dots which show unsmoothed path.