Can the tree data from manipulatorRRT be used for future planning tasks?

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Haris Ashe
Haris Ashe 2022-10-18
编辑： Haris Ashe 2022-10-18
Hello,
I'm working with manipulatorRRT in the planning task.
The planner is declared as below:
planner = manipulatorRRT(robot, environment);
I use the code to planning two paths within a same process, named path1 and path2:
path1 = plan(planner,startConfig,goalConfig1);
path2 = plan(planner,startConfig,goalConfig2);
*** Note that robot, environment, startConfig, goalConfig1, and goalConfig2 are predefined properties.
Despite they have the same startConfig and a slight difference in goalConfig, I can see with "tic" and "toc" that the time to plan path1 is roughly equal to the time to plan path2.
Now, is there a method to reuse the manipulatorRRT planner's tree data? What I mean is whether the second, third, fourth, etc. path, after the initial path, could there be a speedier planning?
Thank you very much.

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