10           <span class="keywordflow">if</span>(bin) level_bins[bin - 1]-&gt;push_back(*pose);
<a name="l00111"></a>00111           <span class="keywordflow">else</span> <span class="keywordflow">if</span>(circular[level]) level_bins[nbins - 1]-&gt;push_back(*pose);
<a name="l00112"></a>00112         }<span class="keywordflow">else</span> <span class="keywordflow">if</span>(rem &gt;= 0.8){
<a name="l00113"></a>00113           <span class="keywordflow">if</span>(bin + 1 &lt; nbins) level_bins[bin + 1]-&gt;p