Public Member Functions
void	classifyCallback (const boost::shared_ptr< SensorPoint > &inst)
void	createCovMat ()
void	doMahalanobis ()
void	loadCovMat ()
void	loadDataBag (string &data_bag, int label)
void	loadDataset ()
	MahalanobisDist ()
double	mahalanobisDist (MatrixXd &cov_inv, VectorXd &means, VectorXd &pt)
void	makeInv (MatrixXd &A, MatrixXd &A_inv, double min_eig_val=0.0001)
void	onInit ()
void	summarizeData ()
	~MahalanobisDist ()
Static Public Member Functions
static int	findFirstClass (vector< pair< map< int, int >, float > > *votes_list, int pos_id, float thresh)
static int	findFrequentClass (vector< pair< map< int, int >, float > > *votes_list, int pos_id, float thresh)
static void	runTenFold (vector< SensorPoint::ConstPtr > *train_test_data, int roc_id, int num_trees, vector< map< int, int > > &votes_total, bool classify_first=true)
Protected Member Functions
void	saveCovMat (MatrixXd &var_mat, VectorXd &means)
Protected Attributes
int	classifier_id
bool	classifier_loaded
string	classifier_name
ros::Subscriber	classify_sub
DistFinder	cov_inv
vector< SensorPoint::ConstPtr > *	dataset
vector< int >	labels
ros::Publisher	loaded_pub
VectorXd	means
ros::NodeHandle *	nh
ros::NodeHandle *	nh_priv
int	num_classes
ros::Publisher	results_pub
boost::thread	setup_thread

Detailed Description

Definition at line 82 of file mahalanobis_dist.h.

Constructor & Destructor Documentation

collision_detection::MahalanobisDist::MahalanobisDist ( ) [inline]

Definition at line 84 of file mahalanobis_dist.h.

collision_detection::MahalanobisDist::~MahalanobisDist ( )

Definition at line 55 of file mahalanobis_dist.cpp.

void collision_detection::MahalanobisDist::classifyCallback ( const boost::shared_ptr< SensorPoint > & inst )

Definition at line 148 of file mahalanobis_dist.cpp.

void collision_detection::MahalanobisDist::createCovMat ( )

Definition at line 92 of file mahalanobis_dist.cpp.

void collision_detection::MahalanobisDist::doMahalanobis ( )

Definition at line 190 of file mahalanobis_dist.cpp.

static int collision_detection::MahalanobisDist::findFirstClass	(	vector< pair< map< int, int >, float > > *	votes_list,
		int	pos_id,
		float	thresh
	)		`[static]`

static int collision_detection::MahalanobisDist::findFrequentClass	(	vector< pair< map< int, int >, float > > *	votes_list,
		int	pos_id,
		float	thresh
	)		`[static]`

void collision_detection::MahalanobisDist::loadCovMat ( )

Definition at line 58 of file mahalanobis_dist.cpp.

void collision_detection::MahalanobisDist::loadDataBag	(	string &	data_bag,
		int	label
	)

Definition at line 32 of file mahalanobis_dist.cpp.

void collision_detection::MahalanobisDist::loadDataset ( )

Definition at line 15 of file mahalanobis_dist.cpp.

double collision_detection::MahalanobisDist::mahalanobisDist	(	MatrixXd &	cov_inv,
		VectorXd &	means,
		VectorXd &	pt
	)

Definition at line 168 of file mahalanobis_dist.cpp.

void collision_detection::MahalanobisDist::makeInv	(	MatrixXd &	A,
		MatrixXd &	A_inv,
		double	min_eig_val = `0.0001`
	)

Definition at line 172 of file mahalanobis_dist.cpp.

void collision_detection::MahalanobisDist::onInit ( )

Definition at line 330 of file mahalanobis_dist.cpp.

static void collision_detection::MahalanobisDist::runTenFold	(	vector< SensorPoint::ConstPtr > *	train_test_data,
		int	roc_id,
		int	num_trees,
		vector< map< int, int > > &	votes_total,
		bool	classify_first = `true`
	)		`[static]`