def METHOD_NAME(self, from_node, to_node):
    _, _, _, _, 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)
    cost = sum([abs(c) for c in course_lengths])
    return from_node.cost + cost