2 This file is part of I am car.
4 I am car is free software: you can redistribute it and/or modify
5 it under the terms of the GNU General Public License as published by
6 the Free Software Foundation, either version 3 of the License, or
7 (at your option) any later version.
9 I am car is distributed in the hope that it will be useful,
10 but WITHOUT ANY WARRANTY; without even the implied warranty of
11 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 GNU General Public License for more details.
14 You should have received a copy of the GNU General Public License
15 along with I am car. If not, see <http://www.gnu.org/licenses/>.
18 #ifndef NEARESTNEIGHBOUR_H
19 #define NEARESTNEIGHBOUR_H
24 struct mcnn { // min-cost nearest neighbour
28 #pragma omp declare reduction \
29 (minn: struct mcnn: omp_out = \
30 omp_in.mc < omp_out.mc ? omp_in : omp_out) \
33 #define EDIST(a, b) ({ __typeof__ (a) _a = (a); \
34 __typeof__ (b) _b = (b); \
35 pow(pow((_b)->x() - (_a)->x(), 2) + \
36 pow((_b)->y() - (_a)->y(), 2), 0.5); })
39 std::vector<RRTNode *> &nodes,
41 float (*cost)(RRTNode *, RRTNode *));
43 std::vector<RRTNode *> &nodes,
45 float (*cost)(RRTNode *, RRTNode *));
47 std::vector<RRTNode *> (&nodes)[IYSIZE],
49 float (*cost)(RRTNode *, RRTNode *));
51 std::vector<RRTNode *> (&nodes)[IYSIZE],
53 float (*cost)(RRTNode *, RRTNode *));
55 std::vector<RRTNode *> (&nodes)[IYSIZE],
57 float (*cost)(RRTNode *, RRTNode *),