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// robert - programme du robot 2005 
// 
// Copyright (C) 2005 Olivier Gaillard
//
// Robot APB Team/Efrei 2005.
//        Web: http://assos.efrei.fr/robot/
//      Email: robot AT efrei DOT fr
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
// 
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.

#ifndef hotelling_h
#define hotelling_h

#include <vector>

#include "oconfig.hh"

class Hpoint
{
    double p_[2];
  public:
    Hpoint () {p_[0]=0; p_[1]=0;}
    Hpoint (const int i, const int j) {set (i, j);}
    inline double operator [] (const unsigned i) const {return i<2?p_[i]:0;}
    inline Hpoint& operator = (Hpoint &h)
      {
	if (&h != this)
	  {
	    h.p_[0] = p_[0];
	    h.p_[1] = p_[1];
	  }
	return *this;
      }
    inline void set (const double i, const double j)
      {p_[0]=i; p_[1]=j;}
    inline void norm ()
      {
	double n = sqrt (p_[0]*p_[0] + p_[1]*p_[1]); 
	p_[0] /= n; p_[1] /= n;
      }
};

/// Detecte l'orientation principale d'une masse de donn�es
class Hotelling
{
    /// Classe oconfig
    OConfig *oconfig_;
    /// Matrice de covariance
    double covMatrix_[2][2];
    /// Donn�es � trait�es ajust�es
    Hpoint *data_;
    /// Nombre d'�chantillons de donn�es
    unsigned dataSize_;
    /// Moyenne de la premi�re et deuxi�me composante
    double meanX_, meanY_;
    /// EigenValues
    double val1_, val2_; 
    /// EigenVectors
    Hpoint e1_, e2_;

  public:
    /// Constructeur
    Hotelling (const std::vector<Hpoint> &dataList);
    /// Destructeur
    ~Hotelling (void);
    /// Affiche la matrice de covariance
    void showCovMatrix () const;
    /// Affiche les eigenvectors
    void showEigenVectors () const;
    /// Calcul des eigenvectors
    void eigenVectors ();
    /// Accessors
    void getPC (Hpoint &pca);
    void getPC (double &x, double &y);

  private:
    /// Calcul des eigenvalues
    void eigenValues ();
    /// Calcul de la variance
    double cov (const unsigned i, const unsigned j);
    /// Calcul de la matrice de covariance
    void covMatrix ();
    /// Calcul de la moyenne
    void mean (const std::vector<Hpoint> &dataList);
};


#endif // hotelling_h