The code by Sertac Karaman (https://svn.csail.mit.edu/rrtstar) has been modified and adapted for the implementation of P-RRT* [1].
[1] Ahmed Hussain Qureshi and Yasar Ayaz. "Potential functions based sampling heuristic for optimal path planning." Autonomous Robots 40.6 (2016): 1079-1093. https://arxiv.org/abs/1704.00264