?? pf_kdtree.h
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/************************************************************************** * Desc: KD tree functions * Author: Andrew Howard * Date: 18 Dec 2002 * CVS: $Id: pf_kdtree.h,v 1.1.4.2 2003/05/23 20:57:25 inspectorg Exp $ *************************************************************************/#ifndef PF_KDTREE_H#define PF_KDTREE_H#ifdef INCLUDE_RTKGUI#include "rtk.h"#endif// Info for a node in the treetypedef struct pf_kdtree_node{ // Depth in the tree int leaf, depth; // Pivot dimension and value int pivot_dim; double pivot_value; // The key for this node int key[3]; // The value for this node double value; // The cluster label (leaf nodes) int cluster; // Child nodes struct pf_kdtree_node *children[2];} pf_kdtree_node_t;// A kd treetypedef struct{ // Cell size double size[3]; // The root node of the tree pf_kdtree_node_t *root; // The number of nodes in the tree int node_count, node_max_count; pf_kdtree_node_t *nodes; // The number of leaf nodes in the tree int leaf_count;} pf_kdtree_t;// Create a treeextern pf_kdtree_t *pf_kdtree_alloc(int max_size);// Destroy a treeextern void pf_kdtree_free(pf_kdtree_t *self);// Clear all entries from the treeextern void pf_kdtree_clear(pf_kdtree_t *self);// Insert a pose into the treeextern void pf_kdtree_insert(pf_kdtree_t *self, pf_vector_t pose, double value);// Cluster the leaves in the treeextern void pf_kdtree_cluster(pf_kdtree_t *self);// Determine the probability estimate for the given poseextern double pf_kdtree_get_prob(pf_kdtree_t *self, pf_vector_t pose);// Determine the cluster label for the given poseextern int pf_kdtree_get_cluster(pf_kdtree_t *self, pf_vector_t pose);// Determine the cluster label for the given poseextern int pf_kdtree_get_cluster(pf_kdtree_t *self, pf_vector_t pose);#ifdef INCLUDE_RTKGUI// Draw the treeextern void pf_kdtree_draw(pf_kdtree_t *self, rtk_fig_t *fig);#endif#endif
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