int VoteWorldPosAng(VectorBuffer *pNearVB);
int LocationEstimate_NearPos( Vector3d *rstWorldPos, double *rstWorldAng, VectorBuffer *pLocVB, Vector3d worldPos );
int CalcWorldPosAng(VectorBuffer *pNearVB );
void LocationEstimate( Vector3d *rstWorldPos, double *rstWorldAng, VectorBuffer *pLocVB );
void MakeMeasureRoot( VectorBuffer *pVB );
bool CalcActiveObstacle( PrimaryVector *pPrm, VectorBuffer *pPrevVB, VectorBuffer *pNextVB );
void CombineVectorBufferToWorldMap( VectorBuffer *pAddVB );
void ChainVectorBuffer( VectorBuffer *pVecBuf );