DataSet.java

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package edu.wpi.rail.jinteractiveworld.data;

import java.util.ArrayList;

import edu.wpi.rail.jinteractiveworld.ros.msgs.interactiveworldmsgs.*;
import weka.core.*;

public class DataSet {

        public static final int N = 4;

        public static final Attribute X_ATTRIBUTE = new Attribute("x");

        public static final Attribute Y_ATTRIBUTE = new Attribute("y");

        public static final Attribute Z_ATTRIBUTE = new Attribute("z");

        public static final Attribute THETA_ATTRIBUTE = new Attribute("theta");

        private ArrayList<DataPoint> data;
        private Item item;
        private Room room;
        private Surface surface;
        private String referenceFrame;
        public DataSet() {
                this(new Item(), new Room(), new Surface(), "");
        }

        public DataSet(Item item, Room room, Surface surface, String referenceFrame) {
                this.item = item;
                this.room = room;
                this.surface = surface;
                this.referenceFrame = referenceFrame;
                this.data = new ArrayList<DataPoint>();
        }

        public String getReferenceFrame() {
                return this.referenceFrame;
        }

        public Item getItem() {
                return this.item;
        }

        public Room getRoom() {
                return this.room;
        }

        public Surface getSurface() {
                return this.surface;
        }

        public int size() {
                return this.data.size();
        }

        public void add(double x, double y, double z, double theta) {
                this.add(new DataPoint(x, y, z, theta));
        }

        public void add(DataPoint point) {
                this.data.add(point);
        }

        public DataPoint get(int index) {
                return this.data.get(index);
        }

        public Instances toInstances() {
                // attributes for the set
                FastVector attributes = new FastVector(DataSet.N);
                attributes.addElement(DataSet.X_ATTRIBUTE);
                attributes.addElement(DataSet.Y_ATTRIBUTE);
                attributes.addElement(DataSet.Z_ATTRIBUTE);
                attributes.addElement(DataSet.THETA_ATTRIBUTE);

                Instances instances = new Instances("data", attributes, this.size());
                // add each instance
                for (int i = 0; i < this.size(); i++) {
                        // get the data
                        DataPoint point = this.get(i);

                        Instance inst = new Instance(DataSet.N);
                        inst.setDataset(instances);
                        // x, y, z, theta
                        inst.setValue(DataSet.X_ATTRIBUTE, point.getX());
                        inst.setValue(DataSet.Y_ATTRIBUTE, point.getY());
                        inst.setValue(DataSet.Z_ATTRIBUTE, point.getZ());
                        inst.setValue(DataSet.THETA_ATTRIBUTE, point.getTheta());

                        instances.add(inst);
                }

                return instances;
        }

        public double getMinX() {
                double minX = Double.POSITIVE_INFINITY;
                for (DataPoint point : this.data) {
                        if (point.getX() < minX) {
                                minX = point.getX();
                        }
                }
                return minX;
        }

        public double getMaxX() {
                double maxX = Double.NEGATIVE_INFINITY;
                for (DataPoint point : this.data) {
                        if (point.getX() > maxX) {
                                maxX = point.getX();
                        }
                }
                return maxX;
        }

        public double getMinY() {
                double minY = Double.POSITIVE_INFINITY;
                for (DataPoint point : this.data) {
                        if (point.getY() < minY) {
                                minY = point.getY();
                        }
                }
                return minY;
        }

        public double getMaxY() {
                double maxY = Double.NEGATIVE_INFINITY;
                for (DataPoint point : this.data) {
                        if (point.getY() > maxY) {
                                maxY = point.getY();
                        }
                }
                return maxY;
        }

        public double getMinZ() {
                double minZ = Double.POSITIVE_INFINITY;
                for (DataPoint point : this.data) {
                        if (point.getZ() < minZ) {
                                minZ = point.getZ();
                        }
                }
                return minZ;
        }

        public double getMaxZ() {
                double maxZ = Double.NEGATIVE_INFINITY;
                for (DataPoint point : this.data) {
                        if (point.getZ() > maxZ) {
                                maxZ = point.getZ();
                        }
                }
                return maxZ;
        }
}