Fix nn1 procedure parameters

- Update root node to vector of nodes (nn2 compatibility).

diff --git a/base/nn.cc b/base/nn.cc
index ac2e1076ab29910cad3509dc1a2bf28d2ef67611..c4e7be587f996ae0104420e7aaf687dc3d5a55ad 100644 (file)
--- a/base/nn.cc
+++ b/base/nn.cc
@@ -19,10 +19,11 @@ along with I am car. If not, see <http://www.gnu.org/licenses/>.
 # include "nn.h"
 
 RRTNode *nn1(
-                RRTNode *root,
+                std::vector<RRTNode *> &nodes,
                 RRTNode *node,
                 float (*cost)(RRTNode *, RRTNode *))
 {
+        RRTNode *root = nodes[0];
         std::vector<RRTNode *> s; // DFS stack
         std::vector<RRTNode *> r; // reset visited_
         RRTNode *tmp;

diff --git a/incl/nn.h b/incl/nn.h
index 6efc374abdde43b0373a387236a0453671eaa196..41287ee6b71b6cd2fc4fc7d6fdbb4354c58e5909 100644 (file)
--- a/incl/nn.h
+++ b/incl/nn.h
@@ -21,7 +21,7 @@ along with I am car. If not, see <http://www.gnu.org/licenses/>.
 #include "rrtnode.h"
 
 RRTNode *nn1(
-                RRTNode *root,
+                std::vector<RRTNode *> &nodes,
                 RRTNode *node,
                 float (*cost)(RRTNode *, RRTNode *));
 RRTNode *nn2(