Change spacing

[hubacji1/rrts.git] / src / rrtext7.cc

diff --git a/src/rrtext7.cc b/src/rrtext7.cc
index ab52db7757b49f5af1bb497f6f2a222ec08925ca..a6282dbbe889666313314fe8f373364e2c557bfe 100644 (file)
--- a/src/rrtext7.cc
+++ b/src/rrtext7.cc
@@ -1,62 +1,62 @@
 #include "rrtext.h"
 
 RRTExt7::KdNode::KdNode(RRTNode *n)
-        : node_(n)
-        , left_(nullptr)
-        , right_(nullptr)
+       : node_(n)
+       , left_(nullptr)
+       , right_(nullptr)
 {
 }
 
 void RRTExt7::delete_kd_nodes(KdNode *n)
 {
-        if (!n)
-                return;
-        if (n->left() != nullptr)
-                delete_kd_nodes(n->left());
-        if (n->right() != nullptr)
-                delete_kd_nodes(n->right());
-        delete n;
+       if (!n)
+               return;
+       if (n->left() != nullptr)
+               delete_kd_nodes(n->left());
+       if (n->right() != nullptr)
+               delete_kd_nodes(n->right());
+       delete n;
 }
 
 void RRTExt7::store_node(RRTNode *n, KdNode *&r, int l)
 {
-        if (r == nullptr)
-                r = new KdNode(n);
-        else if (l % 2 == 0 && n->x() < r->node()->x())
-                store_node(n, r->left(), l + 1);
-        else if (l % 2 == 0)
-                store_node(n, r->right(), l + 1);
-        else if (l % 2 == 1 && n->y() < r->node()->y())
-                store_node(n, r->left(), l + 1);
-        else
-                store_node(n, r->right(), l + 1);
+       if (r == nullptr)
+               r = new KdNode(n);
+       else if (l % 2 == 0 && n->x() < r->node()->x())
+               store_node(n, r->left(), l + 1);
+       else if (l % 2 == 0)
+               store_node(n, r->right(), l + 1);
+       else if (l % 2 == 1 && n->y() < r->node()->y())
+               store_node(n, r->left(), l + 1);
+       else
+               store_node(n, r->right(), l + 1);
 }
 
 void RRTExt7::nn(RRTNode *&n, RRTNode &t, KdNode *r, int l, double &d)
 {
-        if (r == nullptr)
-                return;
-        if (this->cost_search(*r->node(), t) < d) {
-                n = r->node();
-                d = this->cost_search(*r->node(), t);
-        }
-        if (l % 2 == 0 && t.x() < r->node()->x()) {
-                nn(n, t, r->left(), l + 1, d);
-                if (r->node()->x() - t.x() < d)
-                        nn(n, t, r->right(), l + 1, d);
-        } else if (l % 2 == 0) {
-                nn(n, t, r->right(), l + 1, d);
-                if (t.x() - r->node()->x() < d)
-                        nn(n, t, r->left(), l + 1, d);
-        } else if (l % 2 == 1 && t.y() < r->node()->y()) {
-                nn(n, t, r->left(), l + 1, d);
-                if (r->node()->y() - t.y() < d)
-                        nn(n, t, r->right(), l + 1, d);
-        } else {
-                nn(n, t, r->right(), l + 1, d);
-                if (t.y() - r->node()->y() < d)
-                        nn(n, t, r->left(), l + 1, d);
-        }
+       if (r == nullptr)
+               return;
+       if (this->cost_search(*r->node(), t) < d) {
+               n = r->node();
+               d = this->cost_search(*r->node(), t);
+       }
+       if (l % 2 == 0 && t.x() < r->node()->x()) {
+               nn(n, t, r->left(), l + 1, d);
+               if (r->node()->x() - t.x() < d)
+                       nn(n, t, r->right(), l + 1, d);
+       } else if (l % 2 == 0) {
+               nn(n, t, r->right(), l + 1, d);
+               if (t.x() - r->node()->x() < d)
+                       nn(n, t, r->left(), l + 1, d);
+       } else if (l % 2 == 1 && t.y() < r->node()->y()) {
+               nn(n, t, r->left(), l + 1, d);
+               if (r->node()->y() - t.y() < d)
+                       nn(n, t, r->right(), l + 1, d);
+       } else {
+               nn(n, t, r->right(), l + 1, d);
+               if (t.y() - r->node()->y() < d)
+                       nn(n, t, r->left(), l + 1, d);
+       }
 }
 
 // API
@@ -66,26 +66,26 @@ void RRTExt7::init()
 
 void RRTExt7::deinit()
 {
-        this->delete_kd_nodes(this->kdroot_);
+       this->delete_kd_nodes(this->kdroot_);
 }
 
 void RRTExt7::store_node(RRTNode n)
 {
-        RRTS::store_node(n);
-        RRTNode *sn = &this->nodes().back();
-        this->store_node(sn, this->kdroot_, 0);
+       RRTS::store_node(n);
+       RRTNode *sn = &this->nodes().back();
+       this->store_node(sn, this->kdroot_, 0);
 }
 
 RRTNode *RRTExt7::nn(RRTNode &t)
 {
-        RRTNode *n = &this->nodes().front();
-        double d = 9999;
-        this->nn(n, t, this->kdroot_, 0, d);
-        return n;
+       RRTNode *n = &this->nodes().front();
+       double d = 9999;
+       this->nn(n, t, this->kdroot_, 0, d);
+       return n;
 }
 
 std::vector<RRTNode *> RRTExt7::nv(RRTNode &t)
 {
-        std::vector<RRTNode *> nv;
-        return nv;
+       std::vector<RRTNode *> nv;
+       return nv;
 }