Merge pull request #1 from sniekum/master

Merging from upstream before taking ownership.

.circleci/config.yaml

@@ -0,0 +1,93 @@
+version: 2
+jobs:
+  kinetic:
+    docker:
+      - image: autonomoustuff/docker-builds:kinetic-ros-base
+    steps:
+      - checkout
+      - run:
+          name: Set Up Container
+          command: |
+            apt-get update -qq
+            source `find /opt/ros -name setup.bash | sort | head -1`
+            rosdep install --from-paths . --ignore-src -y
+            cd ..
+            catkin init
+            catkin config --extend /opt/ros/$ROS_DISTRO
+      - run:
+          name: Build
+          command: |
+            cd ..
+            catkin build
+      - run:
+          name: Run Tests
+          command: |
+            source `find /opt/ros -name setup.bash | sort | head -1`
+            cd ..
+            catkin run_tests
+            catkin_test_results
+    working_directory: ~/src
+
+  lunar:
+    docker:
+      - image: autonomoustuff/docker-builds:lunar-ros-base
+    steps:
+      - checkout
+      - run:
+          name: Set Up Container
+          command: |
+            apt-get update -qq
+            source `find /opt/ros -name setup.bash | sort | head -1`
+            rosdep install --from-paths . --ignore-src -y
+            cd ..
+            catkin init
+            catkin config --extend /opt/ros/$ROS_DISTRO
+      - run:
+          name: Build
+          command: |
+            cd ..
+            catkin build
+      - run:
+          name: Run Tests
+          command: |
+            source `find /opt/ros -name setup.bash | sort | head -1`
+            cd ..
+            catkin run_tests
+            catkin_test_results
+    working_directory: ~/src
+
+  melodic:
+    docker:
+      - image: autonomoustuff/docker-builds:melodic-ros-base
+    steps:
+      - checkout
+      - run:
+          name: Set Up Container
+          command: |
+            apt-get update -qq
+            source `find /opt/ros -name setup.bash | sort | head -1`
+            rosdep install --from-paths . --ignore-src -y
+            cd ..
+            catkin init
+            catkin config --extend /opt/ros/$ROS_DISTRO
+      - run:
+          name: Build
+          command: |
+            cd ..
+            catkin build
+      - run:
+          name: Run Tests
+          command: |
+            source `find /opt/ros -name setup.bash | sort | head -1`
+            cd ..
+            catkin run_tests
+            catkin_test_results
+    working_directory: ~/src
+
+workflows:
+  version: 2
+  ros_build:
+    jobs:
+      - kinetic
+      - lunar
+      - melodic

CMakeLists.txt

@@ -2,7 +2,11 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(ml_classifiers)
 
-find_package(catkin REQUIRED COMPONENTS message_generation std_msgs rospy roscpp pluginlib)
+find_package(catkin REQUIRED
+  COMPONENTS message_generation std_msgs roscpp pluginlib)
+find_package(Eigen3 REQUIRED)
+
+set(Eigen3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIRS})
 
 add_message_files(FILES
   ClassDataPoint.msg
@@ -16,10 +20,10 @@ add_service_files(FILES
 generate_messages(DEPENDENCIES std_msgs)
 
 catkin_package(
-    DEPENDS Eigen3
-    CATKIN_DEPENDS message_runtime std_msgs rospy roscpp pluginlib 
-    INCLUDE_DIRS include
-    LIBRARIES ZeroClassifier NearestNeighborClassifier SVMClassifier
+  DEPENDS Eigen3
+  CATKIN_DEPENDS message_runtime std_msgs roscpp pluginlib 
+  INCLUDE_DIRS include
+  LIBRARIES ZeroClassifier NearestNeighborClassifier SVMClassifier
 )
 
 add_definitions(${EIGEN3_DEFINITIONS})

nodes/classifier_server.cpp

@@ -53,13 +53,13 @@ using namespace ml_classifiers;
 using namespace std;
 
 
-map<string,Classifier*> classifier_list;
+map<string, boost::shared_ptr<Classifier>> classifier_list;
 pluginlib::ClassLoader<Classifier> c_loader("ml_classifiers", "ml_classifiers::Classifier");
 
-bool createHelper(string class_type, Classifier* &c)
+bool createHelper(string class_type, boost::shared_ptr<Classifier>& c)
 {
     try{
-        c = c_loader.createClassInstance(class_type);
+        c = c_loader.createInstance(class_type);
     }
     catch(pluginlib::PluginlibException& ex){
         ROS_ERROR("Classifer plugin failed to load! Error: %s", ex.what());
@@ -73,16 +73,16 @@ bool createCallback(CreateClassifier::Request &req,
                     CreateClassifier::Response &res )
 {
     string id = req.identifier;
-    Classifier *c;
+    boost::shared_ptr<Classifier> c;
 
-    if(!createHelper(req.class_type, c)){
+    if (!createHelper(req.class_type, c)){
         res.success = false;
         return false;
     }
 
-    if(classifier_list.find(id) != classifier_list.end()){
+    if (classifier_list.find(id) != classifier_list.end()){
         cout << "WARNING: ID already exists, overwriting: " << req.identifier << endl;
-        delete classifier_list[id];
+        classifier_list.erase(id);
     }
     classifier_list[id] = c;
 
@@ -160,7 +160,7 @@ bool loadCallback(LoadClassifier::Request &req,
 {
     string id = req.identifier;
 
-    Classifier *c;
+    boost::shared_ptr<Classifier> c;
     if(!createHelper(req.class_type, c)){
         res.success = false;
         return false;
@@ -173,7 +173,7 @@ bool loadCallback(LoadClassifier::Request &req,
 
     if(classifier_list.find(id) != classifier_list.end()){
         cout << "WARNING: ID already exists, overwriting: " << req.identifier << endl;
-        delete classifier_list[id];
+        classifier_list.erase(id);
     }
     classifier_list[id] = c;
 

package.xml

@@ -1,4 +1,5 @@
-<package>
+<?xml version="1.0"?>
+<package format="2">
   <name>ml_classifiers</name>
   <version>0.3.1</version>
   <description>ml_classifiers</description>
@@ -10,22 +11,19 @@
   <url type="website">http://ros.org/wiki/ml_classifiers</url>
 
   <author>Scott Niekum</author>
+  <author email="jwhitley@autonomoustuff.com">Joshua Whitley</author>
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>std_msgs</build_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>roslib</build_depend>
-  <build_depend>pluginlib</build_depend>
   <build_depend>message_generation</build_depend>
 
-  <run_depend>std_msgs</run_depend>
-  <run_depend>rospy</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>roslib</run_depend>
-  <run_depend>pluginlib</run_depend>
-  <run_depend>message_runtime</run_depend>
+  <depend>std_msgs</depend>
+  <depend>roscpp</depend>
+  <depend>roslib</depend>
+  <depend>pluginlib</depend>
+  <depend>eigen</depend>
+
+  <exec_depend>message_runtime</exec_depend>
 
   <export>
     <ml_classifiers plugin="${prefix}/default_classifiers_plugin.xml"/>

src/nearest_neighbor_classifier.cpp

@@ -42,9 +42,9 @@
 #include "ml_classifiers/nearest_neighbor_classifier.h"
 #include <pluginlib/class_list_macros.h>
 
-PLUGINLIB_DECLARE_CLASS(ml_classifiers, NearestNeighborClassifier, ml_classifiers::NearestNeighborClassifier, ml_classifiers::Classifier)
+#include <string>
 
-using namespace std;
+PLUGINLIB_EXPORT_CLASS(ml_classifiers::NearestNeighborClassifier, ml_classifiers::Classifier)
 
 namespace ml_classifiers{
 
@@ -56,9 +56,9 @@ namespace ml_classifiers{
 
     bool NearestNeighborClassifier::load(const std::string filename){return false;}
 
-    void NearestNeighborClassifier::addTrainingPoint(string target_class, const std::vector<double> point)
+    void NearestNeighborClassifier::addTrainingPoint(std::string target_class, const std::vector<double> point)
     {
-        class_data[target_class].push_back(point);
+      class_data[target_class].push_back(point);
     }
 
     void NearestNeighborClassifier::train(){}
@@ -68,15 +68,15 @@ namespace ml_classifiers{
         class_data.clear();
     }
 
-    string NearestNeighborClassifier::classifyPoint(const std::vector<double> point)
+    std::string NearestNeighborClassifier::classifyPoint(const std::vector<double> point)
     {
         size_t dims = point.size();
         double min_diff=0;
-        string ans;
+        std::string ans;
         bool first = true;
 
         for(ClassMap::iterator iter = class_data.begin(); iter != class_data.end(); iter++){
-            string cname = iter->first;
+            std::string cname = iter->first;
             CPointList cpl = iter->second;
 
             for(size_t i=0; i<cpl.size(); i++){

src/svm_classifier.cpp

@@ -41,11 +41,10 @@
 
 #include "ml_classifiers/svm_classifier.h"
 #include <pluginlib/class_list_macros.h>
-#include <math.h>
+#include <cmath>
+#include <string>
 
-PLUGINLIB_DECLARE_CLASS(ml_classifiers, SVMClassifier, ml_classifiers::SVMClassifier, ml_classifiers::Classifier)
-
-using namespace std;
+PLUGINLIB_EXPORT_CLASS(ml_classifiers::SVMClassifier, ml_classifiers::Classifier)
 
 namespace ml_classifiers{
 
@@ -57,7 +56,7 @@ namespace ml_classifiers{
 
     bool SVMClassifier::load(const std::string filename){return false;}
 
-    void SVMClassifier::addTrainingPoint(string target_class, const std::vector<double> point)
+    void SVMClassifier::addTrainingPoint(std::string target_class, const std::vector<double> point)
     {
         class_data[target_class].push_back(point);
     }
@@ -94,7 +93,7 @@ namespace ml_classifiers{
         label_int_to_str.clear();
         int label_n = 0;
         for(ClassMap::iterator iter = class_data.begin(); iter != class_data.end(); iter++){
-            string cname = iter->first;
+            std::string cname = iter->first;
             label_str_to_int[cname] = label_n;
             label_int_to_str[label_n] = cname;
             //cout << "MAP: " << label_n << "   " << cname << "   Size: " << iter->second.size() << endl;
@@ -136,7 +135,7 @@ namespace ml_classifiers{
         //Put the training data into the svm_problem
         int n = 0;
         for(ClassMap::iterator iter = class_data.begin(); iter != class_data.end(); iter++){
-            string cname = iter->first;
+            std::string cname = iter->first;
             CPointList cpl = iter->second;
 
             //Account for bug in libSVM with classes with only 1 data point by duplicating it.
@@ -189,7 +188,7 @@ namespace ml_classifiers{
         }
 
         //Grid Search for best C and gamma params
-        int n_folds = min(10, n_data);  //Make sure there at least as many points as folds
+        int n_folds = std::min(10, n_data);  //Make sure there at least as many points as folds
         double *resp = new double[n_data];
         double best_accy = 0.0;
         double best_g = 0.0;
@@ -264,7 +263,7 @@ namespace ml_classifiers{
         scaling_factors = NULL;
     }
 
-    string SVMClassifier::classifyPoint(const std::vector<double> point)
+    std::string SVMClassifier::classifyPoint(const std::vector<double> point)
     {
         //Copy the point to be classified into an svm_node
         int dims = point.size();

src/zero_classifier.cpp

@@ -42,9 +42,9 @@
 #include "ml_classifiers/zero_classifier.h"
 #include <pluginlib/class_list_macros.h>
 
-PLUGINLIB_DECLARE_CLASS(ml_classifiers, ZeroClassifier, ml_classifiers::ZeroClassifier, ml_classifiers::Classifier)
+#include <string>
 
-using namespace std;
+PLUGINLIB_EXPORT_CLASS(ml_classifiers::ZeroClassifier, ml_classifiers::Classifier)
 
 namespace ml_classifiers{
 
@@ -53,10 +53,10 @@ namespace ml_classifiers{
 
     void ZeroClassifier::save(const std::string filename){}
     bool ZeroClassifier::load(const std::string filename){return false;}
-    void ZeroClassifier::addTrainingPoint(string target_class, const std::vector<double> point){}
+    void ZeroClassifier::addTrainingPoint(std::string target_class, const std::vector<double> point){}
     void ZeroClassifier::train(){}
     void ZeroClassifier::clear(){}
-    string ZeroClassifier::classifyPoint(const std::vector<double> point){return "0";}
+    std::string ZeroClassifier::classifyPoint(const std::vector<double> point){return "0";}
 
 }