Kmeans.hh
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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  {
40  public: Kmeans(const std::vector<Vector3> &_obs);
41 
43  public: virtual ~Kmeans();
44 
47  public: std::vector<Vector3> Observations() const;
48 
52  public: bool Observations(const std::vector<Vector3> &_obs);
53 
57  public: bool AppendObservations(const std::vector<Vector3> &_obs);
58 
70  public: bool Cluster(int _k,
71  std::vector<Vector3> &_centroids,
72  std::vector<unsigned int> &_labels);
73 
77  private: unsigned int ClosestCentroid(const Vector3 &_p) const;
78 
80  private: std::vector<Vector3> obs;
81 
83  private: std::vector<Vector3> centroids;
84 
86  private: std::vector<unsigned int> labels;
87 
89  private: std::vector<Vector3> sums;
90 
92  private: std::vector<unsigned int> counters;
93  };
95  }
96 }
97 
98 #endif
99 
100 
101 
Forward declarations for the common classes.
Definition: Animation.hh:33
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
K-Means clustering algorithm.
Definition: Kmeans.hh:36