Can the tree data from manipulatorRRT be used for future planning tasks?

Hello,

I'm working with manipulatorRRT in the planning task.

The planner is declared as below:

planner = manipulatorRRT(robot, environment);

I use the code to planning two paths within a same process, named path1 and path2:

path1 = plan(planner,startConfig,goalConfig1);
path2 = plan(planner,startConfig,goalConfig2);

*** Note that robot, environment, startConfig, goalConfig1, and goalConfig2 are predefined properties.

Despite they have the same startConfig and a slight difference in goalConfig, I can see with "tic" and "toc" that the time to plan path1 is roughly equal to the time to plan path2.

Now, is there a method to reuse the manipulatorRRT planner's tree data? What I mean is whether the second, third, fourth, etc. path, after the initial path, could there be a speedier planning?

Thank you very much.