private static void SetObstacleTreeNode(AbstractParams p)
{
KdTree tree = p.ReadObject() as KdTree;
tree.obstacleTree_ = p.ReadObject() as ObstacleTreeNode;
}
private static void SetObstacleRightTreeNode(AbstractParams p)
{
ObstacleTreeNode node = p.ReadObject() as ObstacleTreeNode;
node.right_ = p.ReadObject() as ObstacleTreeNode;
}