fix: stop growing RRTConnect when interpolation gets no nearer - #1475
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In some state spaces, interpolations won't necessarily always advance directly toward their target configuration. If not, the connection loop for RRTC will perpetually try to expand from the same configuration, looping forever.
This is a minimal fix for the problem, where RRTC just gives up and moves on to the next iteration if the last interpolation didn't get any closer. I think a more correct general solution would be to instead to spatially-parametrize the interpolation to produce correct results every time, but that would be very complex.