pf_kdtree.h
/*
* Player - One Hell of a Robot Server
* Copyright (C) 2003
* Andrew Howard
* Brian Gerkey
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program 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 General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; 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 8108 2009-07-23 23:03:37Z thjc $
*************************************************************************/
#ifndef PF_KDTREE_H
#define PF_KDTREE_H
#include <playerconfig.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
pf_kdtree_node
Definition: pf_kdtree.h:42
pf_kdtree_t
Definition: pf_kdtree.h:67
pf_vector_t
Definition: pf_vector.h:41

Last updated 12 September 2005 21:38:45