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<div class="title">CHistogram.h</div> </div>
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<a href="_c_histogram_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CHISTOGRAM_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CHISTOGRAM_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <cmath></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="utils__defs_8h.html">mrpt/utils/utils_defs.h</a>></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="comment">/*---------------------------------------------------------------</span>
<a name="l00035"></a>00035 <span class="comment"> Class</span>
<a name="l00036"></a>00036 <span class="comment"> ---------------------------------------------------------------*/</span>
<a name="l00037"></a>00037 <span class="keyword">namespace </span>mrpt
<a name="l00038"></a>00038 {
<a name="l00039"></a>00039 <span class="keyword">namespace </span>math
<a name="l00040"></a>00040 {<span class="comment"></span>
<a name="l00041"></a>00041 <span class="comment"> /** This class provides an easy way of computing histograms for unidimensional real valued variables.</span>
<a name="l00042"></a>00042 <span class="comment"> * Call "getHistogram" or "getHistogramNormalized" to retrieve the full list of bin positions & hit counts.</span>
<a name="l00043"></a>00043 <span class="comment"> *</span>
<a name="l00044"></a>00044 <span class="comment"> * Example:</span>
<a name="l00045"></a>00045 <span class="comment"> \code</span>
<a name="l00046"></a>00046 <span class="comment"> CHistogram hist(0,100,10);</span>
<a name="l00047"></a>00047 <span class="comment"> hist.add(86);</span>
<a name="l00048"></a>00048 <span class="comment"> hist.add(7);</span>
<a name="l00049"></a>00049 <span class="comment"> hist.add(45);</span>
<a name="l00050"></a>00050 <span class="comment"></span>
<a name="l00051"></a>00051 <span class="comment"> std::cout << hist.getBinCount(0) << std::endl; // Result: "1"</span>
<a name="l00052"></a>00052 <span class="comment"> std::cout << hist.getBinRatio(0) << std::endl; // Result: "0.33"</span>
<a name="l00053"></a>00053 <span class="comment"> \endcode</span>
<a name="l00054"></a>00054 <span class="comment"> * \ingroup mrpt_base_grp</span>
<a name="l00055"></a>00055 <span class="comment"> */</span>
<a name="l00056"></a>00056 <span class="keyword">class </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> CHistogram
<a name="l00057"></a>00057 {
<a name="l00058"></a>00058 <span class="keyword">private</span>:
<a name="l00059"></a><a class="code" href="classmrpt_1_1math_1_1_c_histogram.html#abc718509888dac1c2065289618c69730">00059</a> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1math_1_1_c_histogram.html#abc718509888dac1c2065289618c69730">m_min</a>,m_max; <span class="comment">//!< The histogram limits</span>
<a name="l00060"></a><a class="code" href="classmrpt_1_1math_1_1_c_histogram.html#a29c90373d2d13e2384e45edd48e020fb">00060</a> <span class="comment"></span> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1math_1_1_c_histogram.html#a29c90373d2d13e2384e45edd48e020fb" title="((max-min)/nBins)^-1">m_binSizeInv</a>; <span class="comment">//!< ((max-min)/nBins)^-1</span>
<a name="l00061"></a><a class="code" href="classmrpt_1_1math_1_1_c_histogram.html#afa073ffa971f0a4c7b709591589745b4">00061</a> <span class="comment"></span> std<a class="code" href="classstd_1_1vector.html">::vector<size_t></a> <a class="code" href="classmrpt_1_1math_1_1_c_histogram.html#afa073ffa971f0a4c7b709591589745b4" title="The bins counter.">m_bins</a>; <span class="comment">//!< The bins counter</span>
<a name="l00062"></a><a class="code" href="classmrpt_1_1math_1_1_c_histogram.html#a0c26aea9378681158821eb613d263649">00062</a> <span class="comment"></span> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1math_1_1_c_histogram.html#a0c26aea9378681158821eb613d263649" title="The total elements count.">m_count</a>; <span class="comment">//!< The total elements count</span>
<a name="l00063"></a>00063 <span class="comment"></span>
<a name="l00064"></a>00064 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00065"></a>00065 <span class="comment"> /** Constructor</span>
<a name="l00066"></a>00066 <span class="comment"> * \exception std::exception On nBins<=0 or max<=min</span>
<a name="l00067"></a>00067 <span class="comment"> */</span>
<a name="l00068"></a>00068 <a class="code" href="classmrpt_1_1math_1_1_c_histogram.html" title="This class provides an easy way of computing histograms for unidimensional real valued variables...">CHistogram</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> min, <span class="keyword">const</span> <span class="keywordtype">double</span> max, <span class="keyword">const</span> <span class="keywordtype">size_t</span> nBins);
<a name="l00069"></a>00069 <span class="comment"></span>
<a name="l00070"></a>00070 <span class="comment"> /** Constructor with a fixed bin width.</span>
<a name="l00071"></a>00071 <span class="comment"> * \exception std::exception On max<=min or width<=0</span>
<a name="l00072"></a>00072 <span class="comment"> */</span>
<a name="l00073"></a><a class="code" href="classmrpt_1_1math_1_1_c_histogram.html#a8931022cfda54ec20e289cc195328566">00073</a> <span class="keyword">static</span> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1math_1_1_c_histogram.html" title="This class provides an easy way of computing histograms for unidimensional real valued variables...">CHistogram</a> <a class="code" href="classmrpt_1_1math_1_1_c_histogram.html#a8931022cfda54ec20e289cc195328566" title="Constructor with a fixed bin width.">createWithFixedWidth</a>(<span class="keywordtype">double</span> min,<span class="keywordtype">double</span> max,<span class="keywordtype">double</span> binWidth) {
<a name="l00074"></a>00074 <a class="code" href="mrpt__macros_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>(max>min);
<a name="l00075"></a>00075 <a class="code" href="mrpt__macros_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>(binWidth>0);
<a name="l00076"></a>00076 <span class="keywordflow">return</span> <a class="code" href="classmrpt_1_1math_1_1_c_histogram.html" title="This class provides an easy way of computing histograms for unidimensional real valued variables...">CHistogram</a>(min,max,static_cast<size_t>(ceil((max-min)/binWidth)));
<a name="l00077"></a>00077 }
<a name="l00078"></a>00078 <span class="comment"></span>
<a name="l00079"></a>00079 <span class="comment"> /** Clear the histogram:</span>
<a name="l00080"></a>00080 <span class="comment"> */</span>
<a name="l00081"></a>00081 <span class="keywordtype">void</span> clear();
<a name="l00082"></a>00082 <span class="comment"></span>
<a name="l00083"></a>00083 <span class="comment"> /** Add an element to the histogram. If element is out of [min,max] it is ignored. */</span>
<a name="l00084"></a>00084 <span class="keywordtype">void</span> add(<span class="keyword">const</span> <span class="keywordtype">double</span> x);
<a name="l00085"></a>00085 <span class="comment"></span>
<a name="l00086"></a>00086 <span class="comment"> /** Add all the elements from a MRPT container to the histogram. If an element is out of [min,max] it is ignored. */</span>
<a name="l00087"></a>00087 <span class="keyword">template</span> <<span class="keyword">typename</span> Derived>
<a name="l00088"></a><a class="code" href="classmrpt_1_1math_1_1_c_histogram.html#a643b3e9431e6edf89ae383c380205997">00088</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> add(<span class="keyword">const</span> <a class="code" href="class_eigen_1_1_matrix_base.html">Eigen::MatrixBase<Derived></a> &x)
<a name="l00089"></a>00089 {
<a name="l00090"></a>00090 <span class="keyword">const</span> <span class="keywordtype">size_t</span> N = x.size();
<a name="l00091"></a>00091 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0;i<N;i++)
<a name="l00092"></a>00092 this->add(static_cast<const double>(x(i)));
<a name="l00093"></a>00093 }
<a name="l00094"></a>00094 <span class="comment"></span>
<a name="l00095"></a>00095 <span class="comment"> //! \overload</span>
<a name="l00096"></a>00096 <span class="comment"></span> <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00097"></a><a class="code" href="classmrpt_1_1math_1_1_c_histogram.html#aabe3a238ce6c64fb04136158d206cf46">00097</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> add(<span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html">std::vector<T></a> &x)
<a name="l00098"></a>00098 {
<a name="l00099"></a>00099 <span class="keyword">const</span> <span class="keywordtype">size_t</span> N = x.size();
<a name="l00100"></a>00100 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0;i<N;i++)
<a name="l00101"></a>00101 this->add(static_cast<const double>(x[i]));
<a name="l00102"></a>00102 }
<a name="l00103"></a>00103 <span class="comment"></span>
<a name="l00104"></a>00104 <span class="comment"> /** Retuns the elements count into the selected bin index, where first one is 0.</span>
<a name="l00105"></a>00105 <span class="comment"> * \exception std::exception On invalid index</span>
<a name="l00106"></a>00106 <span class="comment"> */</span>
<a name="l00107"></a>00107 <span class="keywordtype">int</span> getBinCount(<span class="keyword">const</span> <span class="keywordtype">size_t</span> index) <span class="keyword">const</span>;
<a name="l00108"></a>00108 <span class="comment"></span>
<a name="l00109"></a>00109 <span class="comment"> /** Retuns the ratio in [0,1] range for the selected bin index, where first one is 0.</span>
<a name="l00110"></a>00110 <span class="comment"> * It returns 0 if no elements have been added.</span>
<a name="l00111"></a>00111 <span class="comment"> * \exception std::exception On invalid index.</span>
<a name="l00112"></a>00112 <span class="comment"> */</span>
<a name="l00113"></a>00113 <span class="keywordtype">double</span> getBinRatio(<span class="keyword">const</span> <span class="keywordtype">size_t</span> index) <span class="keyword">const</span>;
<a name="l00114"></a>00114 <span class="comment"></span>
<a name="l00115"></a>00115 <span class="comment"> /** Returns the list of bin centers & hit counts</span>
<a name="l00116"></a>00116 <span class="comment"> * \sa getHistogramNormalized</span>
<a name="l00117"></a>00117 <span class="comment"> */</span>
<a name="l00118"></a>00118 <span class="keywordtype">void</span> getHistogram( <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_double</a> &x, <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_double</a> &hits ) <span class="keyword">const</span>;
<a name="l00119"></a>00119 <span class="comment"></span>
<a name="l00120"></a>00120 <span class="comment"> /** Returns the list of bin centers & hit counts, normalized such as the integral of the histogram, interpreted as a density PDF, amounts to 1.</span>
<a name="l00121"></a>00121 <span class="comment"> * \sa getHistogram</span>
<a name="l00122"></a>00122 <span class="comment"> */</span>
<a name="l00123"></a>00123 <span class="keywordtype">void</span> getHistogramNormalized( <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_double</a> &x, <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_double</a> &hits ) <span class="keyword">const</span>;
<a name="l00124"></a>00124
<a name="l00125"></a>00125
<a name="l00126"></a>00126 }; <span class="comment">// End of class def.</span>
<a name="l00127"></a>00127
<a name="l00128"></a>00128 } <span class="comment">// End of namespace</span>
<a name="l00129"></a>00129 } <span class="comment">// End of namespace</span>
<a name="l00130"></a>00130 <span class="preprocessor">#endif</span>
</pre></div></div>
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