38 #include "pf_vector.h"
46 typedef struct pf_kdtree_node
65 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;
88 extern pf_kdtree_t *pf_kdtree_alloc(
int max_size);
91 extern void pf_kdtree_free(pf_kdtree_t *
self);
94 extern void pf_kdtree_clear(pf_kdtree_t *
self);
97 extern void pf_kdtree_insert(pf_kdtree_t *
self, pf_vector_t pose,
double value);
100 extern void pf_kdtree_cluster(pf_kdtree_t *
self);
103 extern double pf_kdtree_get_prob(pf_kdtree_t *
self, pf_vector_t pose);
106 extern int pf_kdtree_get_cluster(pf_kdtree_t *
self, pf_vector_t pose);
108 #ifdef INCLUDE_RTKGUI
111 extern void pf_kdtree_draw(pf_kdtree_t *
self, rtk_fig_t *fig);