Program Listing for File pf_kdtree.hpp
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/*
* Player - One Hell of a Robot Server
* Copyright (C) 2000 Brian Gerkey & Kasper Stoy
* gerkey@usc.edu kaspers@robotics.usc.edu
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
/**************************************************************************
* Desc: KD tree functions
* Author: Andrew Howard
* Date: 18 Dec 2002
* CVS: $Id: pf_kdtree.h 6532 2008-06-11 02:45:56Z gbiggs $
*************************************************************************/
#ifndef NAV2_AMCL__PF__PF_KDTREE_HPP_
#define NAV2_AMCL__PF__PF_KDTREE_HPP_
#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 // NAV2_AMCL__PF__PF_KDTREE_HPP_