/************************************************************************** * Desc: KD tree functions * Author: Andrew Howard * Date: 18 Dec 2002 * CVS: $Id: pf_kdtree.h,v 1.3 2003/05/16 02:05:56 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);#ifdef INCLUDE_RTKGUI// Draw the treeextern void pf_kdtree_draw(pf_kdtree_t *self, rtk_fig_t *fig);#endif#endif