if (!this->bc_.drivable(nj)) {
this->dn_.push_back(DijkstraNode(&njl));
this->dn_.back().i = this->dn_.size() - 1;
if (!this->bc_.drivable(nj)) {
this->dn_.push_back(DijkstraNode(&njl));
this->dn_.back().i = this->dn_.size() - 1;
i = j;
break;
}
if (njl.sp() == 0.0 || sgn(njl.sp()) != sgn(nj.sp())) {
this->dn_.push_back(DijkstraNode(&njl));
this->dn_.back().i = this->dn_.size() - 1;
i = j;
break;
}
if (njl.sp() == 0.0 || sgn(njl.sp()) != sgn(nj.sp())) {
this->dn_.push_back(DijkstraNode(&njl));
this->dn_.back().i = this->dn_.size() - 1;
{
std::priority_queue<DijkstraNode, std::vector<DijkstraNode>,
DijkstraNodeComparator> pq;
{
std::priority_queue<DijkstraNode, std::vector<DijkstraNode>,
DijkstraNodeComparator> pq;
this->join_steered(&f);
t.p(this->nodes_.back());
t.c(this->cost_build(this->nodes_.back(), t));
this->join_steered(&f);
t.p(this->nodes_.back());
t.c(this->cost_build(this->nodes_.back(), t));