def METHOD_NAME(self):
    if random.randint(0, 100) > self.goal_sample_rate:
        rnd = self.Node(random.uniform(self.min_rand, self.max_rand),
                        random.uniform(self.min_rand, self.max_rand),
                        random.uniform(-math.pi, math.pi)
                        )
    else:  # goal point sampling
        rnd = self.Node(self.end.x, self.end.y, self.end.yaw)
    return rnd