#ifndef NEARESTNEIGHBOUR_H
#define NEARESTNEIGHBOUR_H
+#include <array>
+#include "aux.h"
#include "rrtbase.h"
#include "rrtnode.h"
omp_in.mc < omp_out.mc ? omp_in : omp_out) \
initializer \
(omp_priv(omp_orig))
-#define EDIST(a, b) ({ __typeof__ (a) _a = (a); \
- __typeof__ (b) _b = (b); \
- pow(pow((_b)->x() - (_a)->x(), 2) + \
- pow((_b)->y() - (_a)->y(), 2), 0.5); })
RRTNode *nn1(
std::vector<RRTNode *> &nodes,
RRTNode *node,
float (*cost)(RRTNode *, RRTNode *));
RRTNode *nn4(
- std::vector<RRTNode *> (&nodes)[IYSIZE],
+ std::array<std::vector<RRTNode *>, IYSIZE> &nodes,
RRTNode *node,
float (*cost)(RRTNode *, RRTNode *));
RRTNode *nn5(
RRTNode *node,
float (*cost)(RRTNode *, RRTNode *),
char tree);
+RRTNode *nn6(
+ std::vector<RRTNode *> (&nodes)[IYSIZE],
+ RRTNode *node,
+ float (*cost)(RRTNode *, RRTNode *));
#endif