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pf_kdtree.h Go to the documentation of this file. /************************************************************************** * 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 tree typedef 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 tree typedef 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 tree extern pf_kdtree_t *pf_kdtree_alloc(int max_size); // Destroy a tree extern void pf_kdtree_free(pf_kdtree_t *self); // Clear all entries from the tree extern void pf_kdtree_clear(pf_kdtree_t *self); // Insert a pose into the tree extern void pf_kdtree_insert(pf_kdtree_t *self, pf_vector_t pose, double value); // Cluster the leaves in the tree extern void pf_kdtree_cluster(pf_kdtree_t *self); // Determine the probability estimate for the given pose extern double pf_kdtree_get_prob(pf_kdtree_t *self, pf_vector_t pose); // Determine the cluster label for the given pose extern int pf_kdtree_get_cluster(pf_kdtree_t *self, pf_vector_t pose); #ifdef INCLUDE_RTKGUI // Draw the tree extern void pf_kdtree_draw(pf_kdtree_t *self, rtk_fig_t *fig); #endif #endif