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/>.
22 std::vector<RRTNode *> &nodes,
24 float (*cost)(RRTNode *, RRTNode *))
26 RRTNode *root = nodes[0];
27 std::vector<RRTNode *> s; // DFS stack
28 std::vector<RRTNode *> r; // reset visited_
31 float mcost = (*cost)(root, node);
34 while (s.size() > 0) {
39 if ((*cost)(tmp, node) < mcost) {
41 mcost = (*cost)(tmp, node);
43 for (auto ch: tmp->children()) {
55 std::vector<RRTNode *> &nodes,
57 float (*cost)(RRTNode *, RRTNode *))
59 RRTNode *nn = nodes[0];
60 float mcost = (*cost)(nn, node);
62 for (i = 0; i < nodes.size(); i++) {
63 if ((*cost)(nodes[i], node) < mcost) {
65 mcost = (*cost)(nodes[i], node);
72 std::vector<RRTNode *> (&nodes)[IYSIZE],
74 float (*cost)(RRTNode *, RRTNode *))
76 int iy = floor(node->y() / IYSTEP) + floor(IYSIZE / 2);
77 RRTNode *nn = nullptr;
79 unsigned int i = 0; // vector step
80 unsigned int j = 0; // array step
82 while (mc > j * IYSTEP) {
86 for (i = 0; i < nodes[iyj].size(); i++) {
87 if ((*cost)(nodes[iyj][i], node) < mc) {
88 mc = (*cost)(nodes[iyj][i], node);
96 for (i = 0; i < nodes[iyj].size(); i++) {
97 if ((*cost)(nodes[iyj][i], node) < mc) {
98 mc = (*cost)(nodes[iyj][i], node);