CollectTransitionPoints using MultiModalPRM

while CollectSamples() CollectTransitionSamples() if isConnect() transitionPoints <-- connection transition endif endwhile

Pros & Cons

The transition point detector can be independent from cost evaluation (aka real planner). Thus, the second phase might be redundant in the case that we use both sampling based methods for the 1st and 2nd method, while efficient if we use high-level sensor in the first and optimality in the second.

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