def METHOD_NAME(self, from_node, to_node):
    wx, wy = self.lqr_planner.lqr_planning(
        from_node.x, from_node.y, to_node.x, to_node.y, show_animation=False)
    px, py, course_lens = self.sample_path(wx, wy, self.step_size)
    if px is None:
        return None
    newNode = copy.deepcopy(from_node)
    newNode.x = px[-1]
    newNode.y = py[-1]
    newNode.path_x = px
    newNode.path_y = py
    newNode.cost += sum([abs(c) for c in course_lens])
    newNode.parent = from_node
    return newNode