X-Git-Url: http://rtime.felk.cvut.cz/gitweb/hubacji1/rrts.git/blobdiff_plain/c8fff97c303bf1048f8a8a0a69375ad7d9db027e..90d163f545ab59eb9a286093e4bc6993edfe93c1:/src/rrtext7.cc

diff --git a/src/rrtext7.cc b/src/rrtext7.cc
index ab52db7..a6282db 100644
--- 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;
 }