RRTNode *RRTBase::nn(RRTNode *rs)
{
int iy = this->YI(rs);
+ float iy_step = (this->VMAX - this->VMIN) / IYSIZE;
struct mcnn nn;
nn.nn = nullptr;
nn.mc = 9999;
unsigned int i = 0; // vector step
unsigned int j = 0; // array step
int iyj = 0;
- while (nn.mc > j * IYSTEP) {
+ while (nn.mc > j * iy_step) {
iyj = (int) (iy + j);
if (iyj >= IYSIZE)
iyj = IYSIZE - 1;
{
std::vector<RRTNode *> nvs;
unsigned int iy = this->YI(node);
- unsigned int iy_dist = floor(dist / IYSTEP) + 1;
+ float iy_step = (this->VMAX - this->VMIN) / IYSIZE;
+ unsigned int iy_dist = floor(dist / iy_step) + 1;
unsigned int i = 0; // vector index
unsigned int j = 0; // array index
unsigned int jmin = 0; // minimal j index