Public Member Functions
void	classifyCallback (const boost::shared_ptr< SensorPoint > &inst)
void	collectVotes (SensorPoint::Ptr inst, map< int, int > &class_votes)
void	createCovMat ()
void	doMahalanobis ()
void	growForest (vector< SensorPoint::Ptr > c_dataset, vector< int > inds, int c_num_trees=100)
void	growWriteForest ()
void	loadCovMat ()
void	loadDataBag (string &data_bag, int label)
void	loadDataset ()
void	loadForest ()
double	mahalanobisDist (LDLT< MatrixXd > *cov_inv, VectorXd &means, VectorXd &pt)
void	onInit ()
	RandomForest ()
void	randomPermuteData ()
void	setDataset (vector< SensorPoint::Ptr > *datas)
void	variableImportance ()
void	writeForest ()
void	writeForest (string file)
	~RandomForest ()
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::Ptr > *train_test_data, int roc_id, int num_trees, vector< map< int, int > > &votes_total, bool classify_first=true)
Protected Attributes
int	classifier_id
string	classifier_name
ros::Subscriber	classify_sub
LDLT< MatrixXd > *	cov_inv
vector< SensorPoint::Ptr > *	dataset
bool	is_abs
vector< int >	labels
ros::Publisher	loaded_pub
VectorXd	means
ros::NodeHandle *	nh
ros::NodeHandle *	nh_priv
int	num_classes
int	num_trees
vector< vector< uint32_t > >	oobs
ros::Publisher	results_pub
boost::thread	setup_thread
RandomTree **	trees
bool	trees_loaded

Detailed Description

Definition at line 77 of file random_forest.h.

Constructor & Destructor Documentation

collision_detection::RandomForest::RandomForest ( ) [inline]

Definition at line 79 of file random_forest.h.

collision_detection::RandomForest::~RandomForest ( )

Definition at line 446 of file random_forest.cpp.

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

Definition at line 632 of file random_forest.cpp.

void collision_detection::RandomForest::collectVotes	(	SensorPoint::Ptr	inst,
		map< int, int > &	class_votes
	)

Definition at line 619 of file random_forest.cpp.

void collision_detection::RandomForest::createCovMat ( )

Definition at line 572 of file random_forest.cpp.

void collision_detection::RandomForest::doMahalanobis ( )

Definition at line 1005 of file random_forest.cpp.

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

Definition at line 661 of file random_forest.cpp.

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

Definition at line 686 of file random_forest.cpp.

void collision_detection::RandomForest::growForest	(	vector< SensorPoint::Ptr > *	c_dataset,
		vector< int > *	inds,
		int	c_num_trees = `100`
	)

Definition at line 417 of file random_forest.cpp.

void collision_detection::RandomForest::growWriteForest ( )

Definition at line 467 of file random_forest.cpp.

void collision_detection::RandomForest::loadCovMat ( )

Definition at line 544 of file random_forest.cpp.

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

Definition at line 396 of file random_forest.cpp.

void collision_detection::RandomForest::loadDataset ( )

Definition at line 383 of file random_forest.cpp.

void collision_detection::RandomForest::loadForest ( )

Definition at line 517 of file random_forest.cpp.

double collision_detection::RandomForest::mahalanobisDist	(	LDLT< MatrixXd > *	cov_inv,
		VectorXd &	means,
		VectorXd &	pt
	)

Definition at line 1001 of file random_forest.cpp.

void collision_detection::RandomForest::onInit ( )

Definition at line 1086 of file random_forest.cpp.

void collision_detection::RandomForest::randomPermuteData ( )

Definition at line 938 of file random_forest.cpp.

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