#include <assert.h>
#include <math.h>
#include <stdlib.h>
#include <string.h>
#include "amcl/pf/pf_vector.h"
#include "amcl/pf/pf_kdtree.h"

Include dependency graph for pf_kdtree.c:

Functions
pf_kdtree_t *	pf_kdtree_alloc (int max_size)

void	pf_kdtree_clear (pf_kdtree_t *self)

void	pf_kdtree_cluster (pf_kdtree_t *self)

static void	pf_kdtree_cluster_node (pf_kdtree_t self, pf_kdtree_node_t node, int depth)

static int	pf_kdtree_equal (pf_kdtree_t *self, int key_a[], int key_b[])

static pf_kdtree_node_t *	pf_kdtree_find_node (pf_kdtree_t self, pf_kdtree_node_t node, int key[])

void	pf_kdtree_free (pf_kdtree_t *self)

int	pf_kdtree_get_cluster (pf_kdtree_t *self, pf_vector_t pose)

double	pf_kdtree_get_prob (pf_kdtree_t *self, pf_vector_t pose)

void	pf_kdtree_insert (pf_kdtree_t *self, pf_vector_t pose, double value)

static pf_kdtree_node_t *	pf_kdtree_insert_node (pf_kdtree_t self, pf_kdtree_node_t parent, pf_kdtree_node_t *node, int key[], double value)

Function Documentation

pf_kdtree_t* pf_kdtree_alloc ( int max_size )

Definition at line 66 of file pf_kdtree.c.

void pf_kdtree_clear ( pf_kdtree_t * self )

Definition at line 100 of file pf_kdtree.c.

void pf_kdtree_cluster ( pf_kdtree_t * self )

Definition at line 358 of file pf_kdtree.c.

void pf_kdtree_cluster_node	(	pf_kdtree_t *	self,
		pf_kdtree_node_t *	node,
		int	depth
	)

static

Definition at line 407 of file pf_kdtree.c.

int pf_kdtree_equal	(	pf_kdtree_t *	self,
		int	key_a[],
		int	key_b[]
	)

static

Definition at line 186 of file pf_kdtree.c.

pf_kdtree_node_t * pf_kdtree_find_node	(	pf_kdtree_t *	self,
		pf_kdtree_node_t *	node,
		int	key[]
	)

static

Definition at line 305 of file pf_kdtree.c.

void pf_kdtree_free ( pf_kdtree_t * self )

Definition at line 90 of file pf_kdtree.c.

int pf_kdtree_get_cluster	(	pf_kdtree_t *	self,
		pf_vector_t	pose
	)

Definition at line 168 of file pf_kdtree.c.

double pf_kdtree_get_prob	(	pf_kdtree_t *	self,
		pf_vector_t	pose
	)

Definition at line 150 of file pf_kdtree.c.

void pf_kdtree_insert	(	pf_kdtree_t *	self,
		pf_vector_t	pose,
		double	value
	)

Definition at line 112 of file pf_kdtree.c.

pf_kdtree_node_t * pf_kdtree_insert_node	(	pf_kdtree_t *	self,
		pf_kdtree_node_t *	parent,
		pf_kdtree_node_t *	node,
		int	key[],
		double	value
	)

static

Definition at line 215 of file pf_kdtree.c.

Functions

Function Documentation