The rewiring in the RRT* code is missing an important step: after the new parent is picked, the cost-to-come for all the children and grand children of that parent should propagated forward all the way toward the leaf nodes. just changing the cost-to-come for the immediate children is not enough.
The rewiring in the RRT* code is missing an important step: after the new parent is picked, the cost-to-come for all the children and grand children of that parent should propagated forward all the way toward the leaf nodes. just changing the cost-to-come for the immediate children is not enough.