def METHOD_NAME(self, from_node, to_node):
    px, py, pyaw, mode, course_lengths = \
        dubins_path_planner.plan_dubins_path(
            from_node.x, from_node.y, from_node.yaw,
            to_node.x, to_node.y, to_node.yaw, self.curvature)
    if len(px) <= 1:  # cannot find a dubins path
        return None
    new_node = copy.deepcopy(from_node)
    new_node.x = px[-1]
    new_node.y = py[-1]
    new_node.yaw = pyaw[-1]
    new_node.path_x = px
    new_node.path_y = py
    new_node.path_yaw = pyaw
    new_node.cost += sum([abs(c) for c in course_lengths])
    new_node.parent = from_node
    return new_node