Returns the dim'th component of the idx'th point in the class:

returning c array is not easy to pull off, just forget it

Helper accessor to the dataset points:

Must return the number of data points

* Find all the neighbors to \a query_point[0:dim-1] within a maximum radius. * The output is given as a vector of pairs, of which the first elemen

Invert rigid body transformation matrix

* Builds the index */

Frees the previously-built index. Automatically called within * buildIndex(). */

* Called during search to add an element matching the criteria. * @return true if the search should be continued, false if the results are * suf

* Create a tree node that subdivides the list of vecs from vind[first] * to vind[last]. The routine is called recursively on each sublist. *

Loads a previous index from a binary file. * IMPORTANT NOTE: The set of data points is NOT stored in the file, so the * index object must be c

Stores the index in a binary file. * IMPORTANT NOTE: The set of data points is NOT stored in the file, so when * loading the index object it m

Frees all allocated memory chunks */

here we update globally aligned odom pose asap

* Returns a pointer to a piece of new memory of the given size in bytes * allocated from the pool. */