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    <member kind="function">
      <type>double</type>
      <name>mahalanobisDist</name>
      <anchorfile>classcollision__detection_1_1MahalanobisDist.html</anchorfile>
      <anchor>a1e2c27f4bfc6fd4abe2bb93e45277f93</anchor>
      <arglist>(MatrixXd &amp;cov_inv, VectorXd &amp;means, VectorXd &amp;pt)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>makeInv</name>
      <anchorfile>classcollision__detection_1_1MahalanobisDist.html</anchorfile>
      <anchor>a25539f751e447e8335545a9a6678fd99</anchor>
      <arglist>(MatrixXd &amp;A, MatrixXd &amp;A_inv, double min_eig_val=0.0001)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
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      <anchorfile>classcollision__detection_1_1MahalanobisDist.html</anchorfile>
      <anchor>ac2565864f51a51b07390b1e246220b0c</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>summarizeData</name>
      <anchorfile>classcollision__detection_1_1MahalanobisDist.html</anchorfile>
      <anchor>ac31b0a0318be8cb40a6cd4ceabd94242</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~MahalanobisDist</name>
      <anchorfile>classcollision__detection_1_1MahalanobisDist.html</anchorfile>
      <anchor>adb83ebeaec91ad928f81defda35d7f1d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>findFirstClass</name>
      <anchorfile>classcollision__detection_1_1MahalanobisDist.html</anchorfile>
      <anchor>ae1f1ac2e065522ce6f0533f2fd3821e4</anchor>
      <arglist>(vector&lt; pair&lt; map&lt; int, int &gt;, float &gt; &gt; *votes_list, int pos_id, float thresh)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>findFrequentClass</name>
      <anchorfile>classcollision__detection_1_1MahalanobisDist.html</anchorfile>
      <anchor>a3aa2b33e6f0ab9bf62cf54ade02c709b</anchor>
      <arglist>(vector&lt; pair&lt; map&lt; int, int &gt;, float &gt; &gt; *votes_list, int pos_id, float thresh)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>runTenFold</name>
      <anchorfile>classcollision__detection_1_1MahalanobisDist.html</anchorfile>
      <anchor>a3594282d4dc90be1e4a5e9bcdb624e37</anchor>
      <arglist>(vector&lt; SensorPoint::ConstPtr &gt; *train_test_data, int roc_id, int num_trees, vector&lt; map&lt; int, int &gt; &gt; &amp;votes_total, bool classify_first=true)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>saveCovMat</name>
      <anchorfile>classcollision__detection_1_1MahalanobisDist.html</anchorfile>
      <anchor>a846be9995c60bdee9fc8c9de82ef3384</anchor>
      <arglist>(MatrixXd &amp;var_mat, VectorXd &amp;means)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>classifier_id</name>
      <anchorfile>classcollision__detection_1_1MahalanobisDist.html</anchorfile>
      <anchor>a101202372c73ad7dd03e4cfc8417b8fd</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>classifier_loaded</name>
      <anchorfile>classcollision__detection_1_1MahalanobisDist.html</anchorfile>
      <anchor>a7e7dc22c6cd5afda7a4fb3ab314cfe1b</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>string</type>
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      <anchorfile>classcollision__detection_1_1MahalanobisDist.html</anchorfile>
      <anchor>affddac35f0ac1420cb5613a332c84326</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ros::Subscriber</type>
      <name>classify_sub</name>
      <anchorfile>classcollision__detection_1_1MahalanobisDist.html</anchorfile>
      <anchor>ab1cc4e1a4bc0a69719016a3d929aa8a6</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>DistFinder</type>
      <name>cov_inv</name>
      <anchorfile>classcollision__detection_1_1MahalanobisDist.html</anchorfile>
      <anchor>a58903f0a22fb31ddd9fb6cfea5886ef8</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>vector&lt; SensorPoint::ConstPtr &gt; *</type>
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      <anchorfile>classcollision__detection_1_1MahalanobisDist.html</anchorfile>
      <anchor>a77e3ea0dad9eeb842b7f9af492492535</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>vector&lt; int &gt;</type>
      <name>labels</name>
      <anchorfile>classcollision__detection_1_1MahalanobisDist.html</anchorfile>
      <anchor>a5aab1dccb11b57729d7127c122ec0026</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>loaded_pub</name>
      <anchorfile>classcollision__detection_1_1MahalanobisDist.html</anchorfile>
      <anchor>aee4e00e09b9442d88a5b78cce7bb66b8</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>VectorXd</type>
      <name>means</name>
      <anchorfile>classcollision__detection_1_1MahalanobisDist.html</anchorfile>
      <anchor>a5f1ff38eeb5312546185757d524023d5</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ros::NodeHandle *</type>
      <name>nh</name>
      <anchorfile>classcollision__detection_1_1MahalanobisDist.html</anchorfile>
      <anchor>a4ab5edcfda879dc8f2d849b4fadb4b19</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ros::NodeHandle *</type>
      <name>nh_priv</name>
      <anchorfile>classcollision__detection_1_1MahalanobisDist.html</anchorfile>
      <anchor>afb1a4dc72c0d4a9e68b11067197c7988</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
      <name>num_classes</name>
      <anchorfile>classcollision__detection_1_1MahalanobisDist.html</anchorfile>
      <anchor>a96cecd1ceae4f6cd4b826ef17277efb0</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>results_pub</name>
      <anchorfile>classcollision__detection_1_1MahalanobisDist.html</anchorfile>
      <anchor>a64e4925ba0ce40d74c6691dada79c813</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>boost::thread</type>
      <name>setup_thread</name>
      <anchorfile>classcollision__detection_1_1MahalanobisDist.html</anchorfile>
      <anchor>a2d669a1e3458b18ff8583989ef52bcdb</anchor>
      <arglist></arglist>
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    <filename>classcollision__detection_1_1RandomForest.html</filename>
    <member kind="function">
      <type>void</type>
      <name>classifyCallback</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>af35428cd290ffb2a6de8365b5c8adb90</anchor>
      <arglist>(const boost::shared_ptr&lt; SensorPoint &gt; &amp;inst)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>collectVotes</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>a0a4f00f52804674ebd29f11134a29610</anchor>
      <arglist>(SensorPoint::Ptr inst, map&lt; int, int &gt; &amp;class_votes)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>createCovMat</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>a92cdadb28012ccc0b7734c5244bcfc83</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>doMahalanobis</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>a47642c1ad0e412a066da591039898ac0</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>growForest</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>a59a952c5bb5b592da0458cc8e5399e85</anchor>
      <arglist>(vector&lt; SensorPoint::Ptr &gt; *c_dataset, vector&lt; int &gt; *inds, int c_num_trees=100)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>growWriteForest</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>ad7e609a4746bc0b39fe7bf54144bd029</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>loadCovMat</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>a3dc680a82c3c97bbda418400e885cb30</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>loadDataBag</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>ae039755fcaae3f4f51e8b37573b6cc52</anchor>
      <arglist>(string &amp;data_bag, int label)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>loadDataset</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>aadcaaf8591171fab7ca46c1013cba472</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>loadForest</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>ab889d93b7adaac0e43dcbcd83e36d47e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>mahalanobisDist</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>a599f3746105e104202f0f919596f2e08</anchor>
      <arglist>(LDLT&lt; MatrixXd &gt; *cov_inv, VectorXd &amp;means, VectorXd &amp;pt)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>onInit</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>ad3e4660eec5d7370ef4d5476282d1f0d</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>RandomForest</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>acbca8dd5139f83154aac1c2f8964f7b6</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>randomPermuteData</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>ac07c3acbe80204bd9e866ac5c3f1b07b</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setDataset</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>abbc50cb0c93bda1cf04654d0cbd3b7c8</anchor>
      <arglist>(vector&lt; SensorPoint::Ptr &gt; *datas)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>variableImportance</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>a7f7bc8a11e455042df1d021c2c25f5e7</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>writeForest</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>a6e1ceb83b77f7a5dca0efd8443df40cc</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>ae7309fc190f09a501fa51247b0f3a347</anchor>
      <arglist>(string file)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~RandomForest</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>a6c39b713868d7e79e1caf563368f9253</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>findFirstClass</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>a9955f4d25fbe3c5201e46314b925e3b2</anchor>
      <arglist>(vector&lt; pair&lt; map&lt; int, int &gt;, float &gt; &gt; *votes_list, int pos_id, float thresh)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>findFrequentClass</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>a4822d38836f44112f59c15ef06109861</anchor>
      <arglist>(vector&lt; pair&lt; map&lt; int, int &gt;, float &gt; &gt; *votes_list, int pos_id, float thresh)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
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      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>ae6df0d3a0c8368d992c1d36e9819bc6b</anchor>
      <arglist>(vector&lt; SensorPoint::Ptr &gt; *train_test_data, int roc_id, int num_trees, vector&lt; map&lt; int, int &gt; &gt; &amp;votes_total, bool classify_first=true)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
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      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>abf1e7157ab2e8a71356c00476cf0f81f</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>string</type>
      <name>classifier_name</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>a2c1b9d2e8ac493648d9263bee71e8655</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ros::Subscriber</type>
      <name>classify_sub</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>af3d8a6d8c3a9292a02832fe26e40d42d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>LDLT&lt; MatrixXd &gt; *</type>
      <name>cov_inv</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>a763f7cee3a7c1d3123373a48910980bd</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>vector&lt; SensorPoint::Ptr &gt; *</type>
      <name>dataset</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>a9c89727a48b8b11663c5ca6b93f7d995</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>bool</type>
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      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>a7583491a891c5c1451cb7c8908fb51d3</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>vector&lt; int &gt;</type>
      <name>labels</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>a02577caa152cf28d62df462ce167a685</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>loaded_pub</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>a43c4a25c09eafdcf63a1b726b60f2352</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>VectorXd</type>
      <name>means</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>a8f17983172371f710cf8f08d6e2ca76b</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ros::NodeHandle *</type>
      <name>nh</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>a35b1bc47466d865bd4486da022caeb1d</anchor>
      <arglist></arglist>
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      <type>ros::NodeHandle *</type>
      <name>nh_priv</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>a2bfa70fa1ed3d00252383fe2e9efe638</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
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      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>a3de3bf659c37ee27a0d04df72f0b3490</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
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      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>ab16543eca94641fd1aff4785a5075f10</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>vector&lt; vector&lt; uint32_t &gt; &gt;</type>
      <name>oobs</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>affe6f9201ff090b21f1131e5fa7bc7e4</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>results_pub</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>a88b59e3e426f5025058da04f7cf56e77</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>boost::thread</type>
      <name>setup_thread</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>a01dcc7a60f66236a5905d2e33fc4bbeb</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>RandomTree **</type>
      <name>trees</name>
      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>ada1ccc8b3e1c82126567b2b9e2e3c328</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>bool</type>
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      <anchorfile>classcollision__detection_1_1RandomForest.html</anchorfile>
      <anchor>aaf0b1bceef854c24c42d9320843d6532</anchor>
      <arglist></arglist>
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  <compound kind="class">
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    <filename>classcollision__detection_1_1RandomTree.html</filename>
    <member kind="function">
      <type>int</type>
      <name>classifyInstance</name>
      <anchorfile>classcollision__detection_1_1RandomTree.html</anchorfile>
      <anchor>aeae81804b0c09f8a2386acae0897573d</anchor>
      <arglist>(SensorPoint::Ptr inst)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>growTree</name>
      <anchorfile>classcollision__detection_1_1RandomTree.html</anchorfile>
      <anchor>a48ce6bace62120492fa6628da5b8a473</anchor>
      <arglist>(vector&lt; SensorPoint::Ptr &gt; *c_dataset, vector&lt; int &gt; *inds)</arglist>
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    <member kind="function">
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      <name>RandomTree</name>
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      <anchor>a9c3a778e0c325cb53e7d5f30c953a22b</anchor>
      <arglist>(int c_d_tree_num)</arglist>
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      <name>RandomTree</name>
      <anchorfile>classcollision__detection_1_1RandomTree.html</anchorfile>
      <anchor>a4b243136b946c97164846447acdf80b5</anchor>
      <arglist>(RandomTreeMsg::Ptr)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>writeTree</name>
      <anchorfile>classcollision__detection_1_1RandomTree.html</anchorfile>
      <anchor>a1b7cf51942f8ab09b2de4ecd76dacdba</anchor>
      <arglist>(string &amp;bag_file, bool is_first)</arglist>
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    <member kind="variable">
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      <name>d_tree_num</name>
      <anchorfile>classcollision__detection_1_1RandomTree.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
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      <name>dataset</name>
      <anchorfile>classcollision__detection_1_1RandomTree.html</anchorfile>
      <anchor>a031cfd72c45a1340fc3044620f7244e8</anchor>
      <arglist></arglist>
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    <member kind="variable">
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      <arglist>(string &amp;data_bag, int label)</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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