45 typedef struct pf_kdtree_node
64 struct pf_kdtree_node *children[2];
76 pf_kdtree_node_t *root;
79 int node_count, node_max_count;
80 pf_kdtree_node_t *nodes;
89 extern pf_kdtree_t *pf_kdtree_alloc(
int max_size);
92 extern void pf_kdtree_free(pf_kdtree_t *
self);
95 extern void pf_kdtree_clear(pf_kdtree_t *
self);
98 extern void pf_kdtree_insert(pf_kdtree_t *
self, pf_vector_t pose,
double value);
101 extern void pf_kdtree_cluster(pf_kdtree_t *
self);
104 extern double pf_kdtree_get_prob(pf_kdtree_t *
self, pf_vector_t pose);
107 extern int pf_kdtree_get_cluster(pf_kdtree_t *
self, pf_vector_t pose);
110 #ifdef INCLUDE_RTKGUI 113 extern void pf_kdtree_draw(pf_kdtree_t *
self, rtk_fig_t *fig);