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00042 #include "ml_classifiers/nearest_neighbor_classifier.h"
00043 #include <pluginlib/class_list_macros.h>
00044
00045 PLUGINLIB_DECLARE_CLASS(ml_classifiers, NearestNeighborClassifier, ml_classifiers::NearestNeighborClassifier, ml_classifiers::Classifier)
00046
00047 using namespace std;
00048
00049 namespace ml_classifiers{
00050
00051 NearestNeighborClassifier::NearestNeighborClassifier(){}
00052
00053 NearestNeighborClassifier::~NearestNeighborClassifier(){}
00054
00055 void NearestNeighborClassifier::save(const std::string filename){}
00056
00057 bool NearestNeighborClassifier::load(const std::string filename){return false;}
00058
00059 void NearestNeighborClassifier::addTrainingPoint(string target_class, const std::vector<double> point)
00060 {
00061 class_data[target_class].push_back(point);
00062 }
00063
00064 void NearestNeighborClassifier::train(){}
00065
00066 void NearestNeighborClassifier::clear()
00067 {
00068 class_data.clear();
00069 }
00070
00071 string NearestNeighborClassifier::classifyPoint(const std::vector<double> point)
00072 {
00073 size_t dims = point.size();
00074 double min_diff=0;
00075 string ans;
00076 bool first = true;
00077
00078 for(ClassMap::iterator iter = class_data.begin(); iter != class_data.end(); iter++){
00079 string cname = iter->first;
00080 CPointList cpl = iter->second;
00081
00082 for(size_t i=0; i<cpl.size(); i++){
00083 double diff = 0;
00084 for(size_t j=0; j<dims; j++){
00085 diff += fabs(cpl[i][j] - point[j]);
00086 }
00087 if(first){
00088 first = false;
00089 min_diff = diff;
00090 ans = cname;
00091 }
00092 else if(diff < min_diff){
00093 min_diff = diff;
00094 ans = cname;
00095 }
00096 }
00097 }
00098 return ans;
00099 }
00100
00101 }
00102