2 This file is part of I am car.
4 I am car is free software: you can redistribute it and/or modify
5 it under the terms of the GNU General Public License as published by
6 the Free Software Foundation, either version 3 of the License, or
7 (at your option) any later version.
9 I am car is distributed in the hope that it will be useful,
10 but WITHOUT ANY WARRANTY; without even the implied warranty of
11 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 GNU General Public License for more details.
14 You should have received a copy of the GNU General Public License
15 along with I am car. If not, see <http://www.gnu.org/licenses/>.
18 #ifndef NEARVERTICES_H
19 #define NEARVERTICES_H
26 #define GAMMA_RRTSTAR(card_V) ({ __typeof__ (card_V) _card_V = (card_V); \
27 pow(log(_card_V) / _card_V, 1.0/3.0); })
29 # pragma omp declare reduction \
30 (merge: std::vector<RRTNode *>: \
31 omp_out.insert(omp_out.end(), omp_in.begin(), omp_in.end()))
33 std::vector<RRTNode *> nv1(
36 float (*cost)(RRTNode *, RRTNode *),
38 std::vector<RRTNode *> nv2(
39 std::vector<RRTNode *> (&nodes)[IYSIZE],
41 float (*cost)(RRTNode *, RRTNode *),
43 std::vector<RRTNode *> nv3(
44 std::vector<RRTNode *> (&nodes)[IYSIZE],
46 float (*cost)(RRTNode *, RRTNode *),
48 std::vector<RRTNode *> nv4(
49 std::vector<RRTNode *> (&nodes)[IYSIZE],
51 float (*cost)(RRTNode *, RRTNode *),