[path, q1q2Path, xyPath] = buildRRT(2, 1, [180 40], [0 40])
%test for intersections
intersect = IsIntersecting (2, 1, [-1.5 1.5], [1.5 1.5])
intersect = IsIntersecting (2, 1, [-1.5 -1.5], [1.5 1.5])