46typedef 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;
88extern pf_kdtree_t *pf_kdtree_alloc(
int max_size);
91extern void pf_kdtree_free(pf_kdtree_t *self);
94extern void pf_kdtree_clear(pf_kdtree_t *self);
97extern void pf_kdtree_insert(pf_kdtree_t *self, pf_vector_t pose,
double value);
100extern void pf_kdtree_cluster(pf_kdtree_t *self);
103extern double pf_kdtree_get_prob(pf_kdtree_t *self, pf_vector_t pose);
106extern int pf_kdtree_get_cluster(pf_kdtree_t *self, pf_vector_t pose);
111extern void pf_kdtree_draw(pf_kdtree_t *self, rtk_fig_t *fig);