Class GMMTMap
Defined in File gmmtmap.hpp
Inheritance Relationships
Base Type
public MoD::Base(Class Base)
Class Documentation
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class GMMTMap : public MoD::Base
Public Functions
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inline explicit GMMTMap(const std::string &fileName)
Constructor that reads a GMMTMap from an xml file.
- Parameters:
fileName – Filename of XML file.
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void readFromXML(const std::string &fileName)
Read a GMMTMap from an xml file.
- Parameters:
fileName – Filename of XML file.
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void computeHeadingAndConstructRTree()
Prepares the Boost RTree and computes all headings as well.
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std::vector<TreeValue> getNearestNeighbors(double x, double y) const
Computes closest points (within a radius of @stddev_) from each motion pattern.
- Parameters:
x – The x coordinate of the position for which the query needs to be done.
y – The y coordinate of the position for which the query needs to be done.
- Returns:
Closest points with their cluster_id and ‘k’.
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inline int getM() const
Get the number of motion patterns in this GMMT-map.
- Returns:
The number of motion patterns.
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inline int getK() const
Get the number of Gaussians in each motion pattern.
- Returns:
The number of Gaussians.
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inline double getStdDev() const
Get the standard deviation of each Gaussian.
- Returns:
The standard deviation.
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inline double getMixingFactorByClusterID(size_t cluster_idx)
Get the mixing factor for a certain cluster index.
- Parameters:
cluster_id – The index of the cluster.
- Returns:
The mixing factor for that cluster.
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inline double getHeadingAtDist(size_t cluster_idx, size_t mean_idx)
Protected Attributes
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int M_
The number of motion patterns in the GMM Trajectory Map.
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int K_
The number of Gaussians per motion pattern in the GMM Trajectory Map.
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double stddev_
The standard deviation used in the GMM Trajectory Map. The 2D Gaussians in each motion pattern are circular.
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std::vector<GMMTMapCluster> clusters_
A vector containing all the clusters (motion patterns).
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inline explicit GMMTMap(const std::string &fileName)