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Thank you very much!sorry I didn't get back you both but I'd forgotten I'd posted on here. Here is the answer I came up with. I for the life of me can't figure out why my formatting isn't working properly. So if anyone can help me out I'd appreciate it. The code works well, but I ended up making some case specific adjustments to make it more effective.

vector<vector<int>> RAPC(vector<rotatedrect> minRect, float radius) {

vector<vector<int>> clusters; // vector that will contain identify who belongs to which cluster vector<bool> touched(minRect.size(), false); // initializing vector that will identify whether or not a rectangle has been assigned to a cluster

// for every rect for (int i = 0; i < minRect.size()-1; i++) { // compare to every other rect for (int n = (i + 1); n < minRect.size(); n++) { // distance from rect i to rect n float distance = sqrt(pow((minRect[i].center.x - minRect[n].center.x), 2) + pow((minRect[i].center.y - minRect[n].center.y), 2));

    //criteria to determine whether the two rectangles belong in the same cluster
    if ( distance < radius)
    {
        // if neither rectangle has been assigned to a cluster yet
        if (touched[i] == false && touched[n] == false) {

            // create new cluster in clusters with i and n as members
            clusters.emplace_back(initializer_list<int>{i, n});

            touched[i] = true; // make note of i being placed

            touched[n] = true; // make note of n being placed
        }

        // if i has already been assigned to a cluster
        else if (touched[i] == true && touched[n] == false) {

            int loc = findLoc(i, clusters); // find i in clusters

            clusters[loc].emplace_back(n); // place n in that cluster

            touched[n] = true; // make note of n being placed
        }

        // if n has already been assigned to a cluster
        else if (touched[n] == true && touched[i] == false) {

            int loc = findLoc(n, clusters); // find n in clusters

            clusters[loc].emplace_back(i); // place n in that cluster

            touched[i] = true; // make note of i being placed
        }
        // if both rectangles have already been assigned
        else (touched[i] == true && touched[n] == true); {

            int locI = findLoc(i, clusters); // search for location of i
            int locN = findLoc(n, clusters); // search for location of n

            // if both rectangles are already part of the same cluster, ignore
            if (locI == locN) {
                break;
            }

            // concatenate vector n with vector i
            clusters[locI].insert(clusters[locI].end(), clusters[locN].begin(), clusters[locN].end());

            // erase original location of vector n
            clusters[locN].erase(clusters[locN].begin(), clusters[locN].end()); 
        }

    }
}

} return clusters;

// function used by RAPC mainly just to make code more concise

int findLoc(int numSearchedFor, vector<vector<int>> clusters) { bool searchComplete = false; int ans; // initializing function output ie the cluster ID where the value is found for (int i = 0; i < clusters.size(); i++) { for (int n = 0; n < clusters[i].size(); n++) { if (clusters[i][n] == numSearchedFor) { ans = i; searchComplete = true; break; } } if (searchComplete == true) { break; } } return ans; }