a>00104         <span class="comment">//std::cout &lt;&lt; "bin: " &lt;&lt; bin &lt;&lt; "   nbins: " &lt;&lt; nbins &lt;&lt; std::endl;</span>
<a name="l00105"></a>00105         level_bins[bin]-&gt;push_back(*pose);
<a name="l00106"></a>00106         
<a name="l00107"></a>00107         <span class="comment">// check for overlap</span>
<a name="l00108"></a>00108         my_float_t rem = val - bin;
<a name="l00109"></a>00109         <span class="keywordflow">if</span>(rem &lt;= 0.2){
<a name="l00110"></a>001