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
26 struct mcnn { // min-cost nearest neighbour
30 #pragma omp declare reduction \
31 (minn: struct mcnn: omp_out = \
32 omp_in.mc < omp_out.mc ? omp_in : omp_out) \
37 std::vector<RRTNode *> &nodes,
39 float (*cost)(RRTNode *, RRTNode *));
41 std::vector<RRTNode *> &nodes,
43 float (*cost)(RRTNode *, RRTNode *));
45 std::vector<RRTNode *> (&nodes)[IYSIZE],
47 float (*cost)(RRTNode *, RRTNode *));
49 std::array<std::vector<RRTNode *>, IYSIZE> &nodes,
51 float (*cost)(RRTNode *, RRTNode *));
53 std::vector<RRTNode *> (&nodes)[IYSIZE],
55 float (*cost)(RRTNode *, RRTNode *),
58 std::vector<RRTNode *> (&nodes)[IYSIZE],
60 float (*cost)(RRTNode *, RRTNode *));