Move NV-related macros

[hubacji1/iamcar.git] / incl / rrtbase.h

diff --git a/incl/rrtbase.h b/incl/rrtbase.h
index 1ffbd869b82ba40f19b4e8c74a220d571cf8748b..3e77701a25207a67395f358b6dfdb2ab3fac99d9 100644 (file)
--- a/incl/rrtbase.h
+++ b/incl/rrtbase.h
@@ -56,6 +56,16 @@ struct mcnn { // min-cost nearest neighbour
        initializer \
        (omp_priv(omp_orig))
 
+// Near vertices
+#define GAMMA_RRTSTAR(card_V) ({ \
+       __typeof__ (card_V) _card_V = (card_V); \
+       pow(log(_card_V) / _card_V, 1.0/3.0); \
+})
+
+# pragma omp declare reduction \
+        (merge: std::vector<RRTNode *>: \
+         omp_out.insert(omp_out.end(), omp_in.begin(), omp_in.end()))
+
 class Cell {
         private:
                 std::vector<RRTNode *> nodes_;