Kmeans.hh
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2  * Copyright (C) 2014 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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17 #ifndef _GAZEBO_KMEANS_HH_
18 #define _GAZEBO_KMEANS_HH_
19 
20 #include <vector>
21 #include "gazebo/math/Vector3.hh"
22 #include "gazebo/util/system.hh"
23 
24 namespace gazebo
25 {
26  namespace math
27  {
30 
36  class GZ_MATH_VISIBLE Kmeans
37  {
41  public: Kmeans(const std::vector<Vector3> &_obs) GAZEBO_DEPRECATED(8.0);
42 
44  public: virtual ~Kmeans();
45 
48  public: std::vector<Vector3> Observations() const;
49 
53  public: bool Observations(const std::vector<Vector3> &_obs);
54 
58  public: bool AppendObservations(const std::vector<Vector3> &_obs);
59 
71  public: bool Cluster(int _k,
72  std::vector<Vector3> &_centroids,
73  std::vector<unsigned int> &_labels);
74 
78  private: unsigned int ClosestCentroid(const Vector3 &_p) const;
79 
81  private: std::vector<Vector3> obs;
82 
84  private: std::vector<Vector3> centroids;
85 
87  private: std::vector<unsigned int> labels;
88 
90  private: std::vector<Vector3> sums;
91 
93  private: std::vector<unsigned int> counters;
94  };
96  }
97 }
98 
99 #endif
100 
101 
102 
Forward declarations for the common classes.
Definition: Animation.hh:33
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:44
static const double GAZEBO_DEPRECATED(8.0) MAX_D
Double maximum value. This value will be similar to 1.79769e+308.
Definition: Helpers.hh:140
K-Means clustering algorithm.
Definition: Kmeans.hh:36