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
25 struct mcnn { // min-cost nearest neighbour
29 #pragma omp declare reduction \
30 (minn: struct mcnn: omp_out = \
31 omp_in.mc < omp_out.mc ? omp_in : omp_out) \
36 std::vector<RRTNode *> &nodes,
38 float (*cost)(RRTNode *, RRTNode *));
40 std::vector<RRTNode *> &nodes,
42 float (*cost)(RRTNode *, RRTNode *));
44 std::vector<RRTNode *> (&nodes)[IYSIZE],
46 float (*cost)(RRTNode *, RRTNode *));
48 std::vector<RRTNode *> (&nodes)[IYSIZE],
50 float (*cost)(RRTNode *, RRTNode *));
52 std::vector<RRTNode *> (&nodes)[IYSIZE],
54 float (*cost)(RRTNode *, RRTNode *),
57 std::vector<RRTNode *> (&nodes)[IYSIZE],
59 float (*cost)(RRTNode *, RRTNode *));