The code by Sertac Karaman (https://svn.csail.mit.edu/rrtstar) has been modified and adapted for the implementation of Inteliigent Bidirectional-RRT* [1].
[1] Ahmed Hussain Qureshi and Yasar Ayaz, "Intelligent Bidirectional Rapidly-Exploring Random Trees for Optimal Motion Planning in Complex Cluttered Environments",International Journal of Robotics and Autonomous Systems, Elsevier, Vol. 68, pp. 1-11, 2015. Paper:https://arxiv.org/abs/1703.08944