Continuous replanning example

Hello, 

Thank you very much for this amazing work!
Do you have an example showing the use of GCOPTER for a continuous replanning mission? I want the robot to reach a goal that is in the unknown space, with GCOPTER doing the trajectory generation based on a local occupancy/ESDF map.
Essentially, I want to use it as a local planner.
What would be the best way to achieve this?

Best regards,
Mihir 