I want to : Recover the minimum distance from the obstacle Retrieve the minimum angle (at neighbor 0) for(size_t i = 0; i < tProxReads.size(); ++i) { if (tProxReads[i].Value < valeurMinimale ){ valeurMinimale = tProxReads[i].Value; angleMinimale= tProxReads[i].Angle; } /*if ( tProxReads[i].Angle < a...