clustering.h

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#ifndef _COIMBRA_CLUSTERING_H_
#define _COIMBRA_CLUSTERING_H_

#include <vector>
#include "geometry_msgs/Point.h"
#include "sensor_msgs/LaserScan.h"

using namespace std;

class Point;
typedef boost::shared_ptr<Point> PointPtr;


class Cluster
{
public:
        int id;                                                 
        PointPtr centroid;                              
        PointPtr central_point;                 
        vector<double> ranges;             
        vector<PointPtr> support_points;        
};


//Shared pointer to the Cluster class
typedef boost::shared_ptr<Cluster> ClusterPtr;

/* Clustering functions */

int simpleClustering(vector<PointPtr>& points, double threshold, vector<ClusterPtr>& clusters);

int dietmayerClustering( vector<PointPtr>& points, double C0 ,vector<ClusterPtr>& clusters_Dietmayer);

int premebidaClustering( vector<PointPtr>& points, double threshold_prem , vector<ClusterPtr>& clusters_Premebida);

int abdClustering( vector<PointPtr>& points , double lambda ,vector<ClusterPtr>& clusters_ABD);

int nnClustering( vector<PointPtr>& points, double threshold , vector<ClusterPtr>& clusters_nn);

int santosClustering( vector<PointPtr>& points, double C0, double beta, vector<ClusterPtr>& clusters_Santos);

vector<double>  rangeFeatures( double range1, double range2, PointPtr range1cart, PointPtr range2cart);

double cosineDistance(vector<double>& vect1, vector<double>& vect2);

double deg2rad(double angle);


PointPtr calculateClusterCentroid( vector<PointPtr> support_points );

PointPtr calculateClusterMedian(vector<PointPtr> support_points);

#endif