#include <cstdlib>
#include <ctime>
#include "compile.h"
-#include "nn.h"
-#include "nv.h"
-#include "sample.h"
#include "steer.h"
#include "rrtplanner.h"
#include "cost.h"
if (this->collide(pn, ns)) {
pn->children().pop_back();
ns->remove_parent();
- this->iy_[IYI(ns->y())].pop_back();
+ this->iy_[this->YI(ns)].pop_back();
en_add = false;
} else {
this->ocost(ns);
if (this->collide(pn, ns)) {
pn->children().pop_back();
ns->remove_parent();
- this->iy_[IYI(ns->y())].pop_back();
+ this->iy_[this->YI(ns)].pop_back();
en_add = false;
} else {
this->ocost(ns);
if (this->collide(pn, ns)) {
pn->children().pop_back();
ns->remove_parent();
- this->iy_[IYI(ns->y())].pop_back();
+ this->iy_[this->YI(ns)].pop_back();
en_add = false;
} else {
this->ocost(ns);
this->add_iy(ns);
// connect
if (!this->connect(pn, ns, nvs)) {
- this->iy_[IYI(ns->y())].pop_back();
+ this->iy_[this->YI(ns)].pop_back();
en_add = false;
} else {
// rewire
this->add_iy(ns);
// connect
if (!this->connect(pn, ns, nvs)) {
- this->iy_[IYI(ns->y())].pop_back();
+ this->iy_[this->YI(ns)].pop_back();
this->nodes().pop_back();
delete ns;
en_add = false;
if (this->collide(pn, ns)) {
pn->children().pop_back();
ns->remove_parent();
- this->iy_[IYI(ns->y())].pop_back();
+ this->iy_[this->YI(ns)].pop_back();
this->nodes().pop_back();
delete ns;
en_add = false;
if (this->collide(pn, ns)) {
pn->children().pop_back();
ns->remove_parent();
- this->iy_[IYI(ns->y())].pop_back();
+ this->iy_[this->YI(ns)].pop_back();
this->nodes().pop_back();
delete ns;
en_add = false;
this->add_iy(ns);
// connect
if (!this->connect(nn, ns, nvs)) {
- this->iy_[IYI(ns->y())].pop_back();
+ this->iy_[this->YI(ns)].pop_back();
ret = 2;
} else {
// rewire
this->add_iy(ns);
// connect
if (!this->connect(pn, ns, nvs)) {
- this->iy_[IYI(ns->y())].pop_back();
+ this->iy_[this->YI(ns)].pop_back();
en_add = false;
ret = 2;
} else {