def test_build(self):
num_retries = 3
for _ in range(num_retries):
rrt1 = RRT(start_state=(0.2, 0.2),
goal_state=(0.8, 0.8),
dim_ranges=[(0, 1), (0, 1)],
max_iter=1000)
path = rrt1.build()
if path is not None:
break
else:
print("retrying...")
self.assertIsNotNone(path)
self.assertTrue(np.all(path[0] == [0.2, 0.2]))
self.assertTrue(np.all(path[-1] == [0.8, 0.8]))
