  }
<a name="l00085"></a>00085 
<a name="l00086"></a>00086     <span class="comment">// depends on implementation of push_back whether it is more efficient</span>
<a name="l00087"></a>00087     <span class="comment">// to store intermediaries in vectors or lists</span>
<a name="l00088"></a>00088     <span class="keywordtype">void</span> subdivide_current_bin(pose_vec *poses_in, <span class="keyword">const</span> uint level)
<a name="l00089"></a>00089     {
<a name="l00090"></a>00090       <span class="comme