In file roadmapConstruction.C:

int discretizeAndConnect

(vector<float> & energies,
  int nodeIndex,
  const vector<int> & neighbors,
  int numNodes)

connects if they are not already connected, and if none of the intermed config are self-colliding.

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connects if they are not already connected, and if none of the intermed config are self-colliding.

returns number of connections established. the intermed config energies are returned in energies vector. this vector includes the start and end configs.

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