Kmeans.hh

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/*
 * Copyright (C) 2014-2015 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef _GAZEBO_KMEANS_HH_
#define _GAZEBO_KMEANS_HH_

#include <vector>
#include "gazebo/math/Vector3.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace math
  {

    class GAZEBO_VISIBLE Kmeans
    {
      public: Kmeans(const std::vector<Vector3> &_obs);

      public: virtual ~Kmeans();

      public: std::vector<Vector3> Observations() const;

      public: bool Observations(const std::vector<Vector3> &_obs);

      public: bool AppendObservations(const std::vector<Vector3> &_obs);

      public: bool Cluster(int _k,
                           std::vector<Vector3> &_centroids,
                           std::vector<unsigned int> &_labels);

      private: unsigned int ClosestCentroid(const Vector3 &_p) const;

      private: std::vector<Vector3> obs;

      private: std::vector<Vector3> centroids;

      private: std::vector<unsigned int> labels;

      private: std::vector<Vector3> sums;

      private: std::vector<unsigned int> counters;
    };
  }
}

#endif