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Les détails de l'algorithme sont\n     disponibles sur la page wikipedia.\n \"\"\"\n+from RULEngine.Util.Pose import Pose\n+from RULEngine.Util.Position import Position\n from .IntelligentModule import IntelligentModule\n-from ....Util import geometry\n+import random\n+import math\n+import copy\n+\n+\n+class RRT():\n+    \"\"\"\n+    Classe principale du pathfinder, contient les fonctions principales\n+    permettant de générer le path.\n+    \"\"\"\n+\n+    def __init__(self, start, goal, obstacleList, rand_area, expand_dis, goal_sample_rate, 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