#ifndef NEARESTNEIGHBOUR_H
#define NEARESTNEIGHBOUR_H
+#include <array>
+#include "aux.h"
#include "rrtbase.h"
#include "rrtnode.h"
RRTNode *node,
float (*cost)(RRTNode *, RRTNode *));
RRTNode *nn4(
+ std::array<std::vector<RRTNode *>, IYSIZE> &nodes,
+ RRTNode *node,
+ float (*cost)(RRTNode *, RRTNode *));
+RRTNode *nn5(
+ std::vector<RRTNode *> (&nodes)[IYSIZE],
+ RRTNode *node,
+ float (*cost)(RRTNode *, RRTNode *),
+ char tree);
+RRTNode *nn6(
std::vector<RRTNode *> (&nodes)[IYSIZE],
RRTNode *node,
float (*cost)(RRTNode *, RRTNode *));