Quadrotor

//----------------------------------------------------------------------

// File:                        kd_search.h

// Programmer:                Sunil Arya and David Mount

// Description:                Standard kd-tree search

// Last modified:        01/04/05 (Version 1.0)

//----------------------------------------------------------------------

// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and

// David Mount.  All Rights Reserved.

// 

// This software and related documentation is part of the Approximate

// Nearest Neighbor Library (ANN).  This software is provided under

// the provisions of the Lesser GNU Public License (LGPL).  See the

// file ../ReadMe.txt for further information.

// 

// The University of Maryland (U.M.) and the authors make no

// representations about the suitability or fitness of this software for

// any purpose.  It is provided "as is" without express or implied

// warranty.

//----------------------------------------------------------------------

// History:

//        Revision 0.1  03/04/98

//                Initial release

//----------------------------------------------------------------------

#ifndef ANN_kd_search_H

#define ANN_kd_search_H

#include "kd_tree.h"                                        // kd-tree declarations

#include "kd_util.h"                                        // kd-tree utilities

#include "pr_queue_k.h"                                        // k-element priority queue

#include <ANN/ANNperf.h>                                // performance evaluation

//----------------------------------------------------------------------

//        More global variables

//                These are active for the life of each call to annkSearch(). They

//                are set to save the number of variables that need to be passed

//                among the various search procedures.

//----------------------------------------------------------------------

extern int                                ANNkdDim;                // dimension of space (static copy)

extern ANNpoint                        ANNkdQ;                        // query point (static copy)

extern double                        ANNkdMaxErr;        // max tolerable squared error

extern ANNpointArray        ANNkdPts;                // the points (static copy)

extern ANNmin_k                        *ANNkdPointMK;        // set of k closest points

extern int                                ANNptsVisited;        // number of points visited

#endif