std::cout &lt;&lt; "lower bound is: " &lt;&lt; bnds[level] &lt;&lt; std::endl;</span>
<a name="l00096"></a>00096       <span class="comment">//std::cout &lt;&lt; "step size is: " &lt;&lt; step_sizes[level] &lt;&lt; std::endl;</span>
<a name="l00097"></a>00097       pose_vec::iterator pose;
<a name="l00098"></a>00098       <span class="keywordflow">for</span>(pose = poses_in-&gt;begin(); pose != poses_in-&gt;end(); ++pose){
<a name="l00099"></a>00099         <span class="comment">//for(uint i = 0; i &lt; 6; 