Autonomic Obstacle Detection and Avoidance in MANETs Driven by Cartography Enhanced OLSR

Algorithm 4

FindNearestInnerPointToEdge function.

Require:

    : List of points.

    : edge for which we try to find the nearest inner point.

Ensure:    Nearest inner point to .

 ()    function  FindNearestInnerPointToEdge()

 ()         minDistance ← positiveInfinity

 ()         nearestPoint ← Null

 ()          for each  point   in    do

 ()            previousEdge ← .previousEdge

 ()            nextEdge ← .nextEdge

 ()            distToPreviousEdge ← distanceToEdge(previousEdge, )

 ()            distToNextEdge ← distanceToEdge(nextEdge, )

 ()            distTo ← distanceToEdge()

 ()         if  ((distTo < minDistance)  and  (distTo < distToPreviousEdge)  and  (distTo < distToNextEdge))  then

 ()             minDistance ← distTo

 ()             nearestPoint ← 

 ()         end if

 ()       end for

 ()       return  nearestPoint

 () end function