diff --git a/SimoxUtility/CMakeLists.txt b/SimoxUtility/CMakeLists.txt
index a88c86cefac5190551030afe8effefc7569647a4..e1372578d523819a798ef22e53220cb64be0ffff 100644
--- a/SimoxUtility/CMakeLists.txt
+++ b/SimoxUtility/CMakeLists.txt
@@ -82,7 +82,6 @@ SET(SOURCES
math/statistics/BoxPlotStats.cpp
math/statistics/Histogram.cpp
- math/statistics/measures.cpp
shapes/AxisAlignedBoundingBox.cpp
diff --git a/SimoxUtility/math/statistics/BoxPlotStats.h b/SimoxUtility/math/statistics/BoxPlotStats.h
index 9295fc7ea5ac3f58df5d8574b7d62eb2bf8ff964..ecd2057398bd550eb53660280f1c8e3121673598 100644
--- a/SimoxUtility/math/statistics/BoxPlotStats.h
+++ b/SimoxUtility/math/statistics/BoxPlotStats.h
@@ -13,7 +13,6 @@ namespace simox::math
{
public:
-
BoxPlotStats();
BoxPlotStats(const std::vector<float>& values, bool isSorted = false, float whisk = 1.5);
diff --git a/SimoxUtility/math/statistics/measures.cpp b/SimoxUtility/math/statistics/measures.cpp
deleted file mode 100644
index 044b4d5a501cd2a5d0d9562ae553e96801168933..0000000000000000000000000000000000000000
--- a/SimoxUtility/math/statistics/measures.cpp
+++ /dev/null
@@ -1,120 +0,0 @@
-#include "measures.h"
-
-#include <algorithm>
-#include <cmath>
-#include <stdexcept>
-
-#include <SimoxUtility/error/SimoxError.h>
-
-
-static void checkNotEmpty(const std::vector<float>& values)
-{
- if (values.empty())
- {
- throw simox::error::SimoxError("Passed vector of values is empty.");
- }
-}
-
-void simox::math::sort(std::vector<float>& values)
-{
- std::sort(values.begin(), values.end());
-}
-
-std::vector<float> simox::math::sorted(const std::vector<float>& values)
-{
- std::vector<float> s = values;
- std::sort(s.begin(), s.end());
- return s;
-}
-
-float simox::math::min(const std::vector<float>& values, bool isSorted)
-{
- checkNotEmpty(values);
- return isSorted ? values.front() : *std::min_element(values.begin(), values.end());
-}
-
-float simox::math::max(const std::vector<float>& values, bool isSorted)
-{
- checkNotEmpty(values);
- return isSorted ? values.back() : *std::max_element(values.begin(), values.end());
-}
-
-float simox::math::mean(const std::vector<float>& values)
-{
- checkNotEmpty(values);
-
- float sum = 0;
- for (float v : values)
- {
- sum += v;
- }
- return sum / values.size();
-}
-
-float simox::math::stddev(const std::vector<float>& values)
-{
- return stddev(values, mean(values));
-}
-
-float simox::math::stddev(const std::vector<float>& values, float mean)
-{
- checkNotEmpty(values);
- float sum = 0;
- for (float v : values)
- {
- float diff = v - mean;
- sum += diff * diff;
- }
- float variance = sum / (values.size() - 1);
- return std::sqrt(variance);
-}
-
-float simox::math::quantile(const std::vector<float>& _values, float p, bool isSorted)
-{
- checkNotEmpty(_values);
- const std::vector<float>& values = isSorted ? _values : sorted(_values);
-
- float location = p < 1 ? p * values.size() : values.size() - 1;
-
- std::size_t floor = static_cast<std::size_t>(std::floor(location));
- std::size_t ceil = static_cast<std::size_t>(std::ceil(location));
-
- if (floor == ceil)
- {
- return values.at(floor);
- }
- else
- {
- float t = location - floor;
- return (1 - t) * values.at(floor) + t * values.at(ceil);
- }
-}
-
-float simox::math::lower_quartile(const std::vector<float>& values, bool isSorted)
-{
- return quantile(values, .25, isSorted);
-}
-
-float simox::math::median(const std::vector<float>& values, bool isSorted)
-{
- return quantile(values, .5, isSorted);
-}
-
-float simox::math::upper_quartile(const std::vector<float>& values, bool isSorted)
-{
- return quantile(values, .75, isSorted);
-}
-
-float simox::math::interquartile_range(const std::vector<float>& _values, bool isSorted)
-{
- checkNotEmpty(_values);
-
- const std::vector<float>& values = isSorted ? _values : sorted(_values);
- return interquartile_range(lower_quartile(values, true), upper_quartile(values, true));
-}
-
-float simox::math::interquartile_range(float lowerQuartile, float upperQuartile)
-{
- return upperQuartile - lowerQuartile;
-}
-
diff --git a/SimoxUtility/math/statistics/measures.h b/SimoxUtility/math/statistics/measures.h
index fe0d5e44674531e36d5ae90e442e2ab2178ec8b7..c690f84c817253cd8c9ad983658a9295265a14bd 100644
--- a/SimoxUtility/math/statistics/measures.h
+++ b/SimoxUtility/math/statistics/measures.h
@@ -1,29 +1,153 @@
#pragma once
+#include <algorithm>
+#include <cmath>
+#include <sstream>
#include <vector>
+#include <SimoxUtility/error/SimoxError.h>
+
+
namespace simox::math
{
- void sort(std::vector<float>& values);
- std::vector<float> sorted(const std::vector<float>& values);
+namespace detail
+{
+ template <typename Float>
+ void check_not_empty(const std::vector<Float>& values)
+ {
+ if (values.empty())
+ {
+ throw simox::error::SimoxError("Passed vector of values is empty.");
+ }
+ }
+}
+
+ template <typename Float>
+ std::vector<Float> sorted(const std::vector<Float>& values)
+ {
+ std::vector<Float> s = values;
+ std::sort(s.begin(), s.end());
+ return s;
+ }
+
+
+ template <typename Float>
+ Float min(const std::vector<Float>& values, bool isSorted = false)
+ {
+ detail::check_not_empty(values);
+ return isSorted ? values.front() : *std::min_element(values.begin(), values.end());
+ }
+
+ template <typename Float>
+ Float max(const std::vector<Float>& values, bool isSorted = false)
+ {
+ detail::check_not_empty(values);
+ return isSorted ? values.back() : *std::max_element(values.begin(), values.end());
+ }
+
+ template <typename Float>
+ Float mean(const std::vector<Float>& values)
+ {
+ detail::check_not_empty(values);
+ Float sum = 0;
+ for (Float v : values)
+ {
+ sum += v;
+ }
+ return sum / values.size();
+ }
- float min(const std::vector<float>& values, bool isSorted=false);
- float max(const std::vector<float>& values, bool isSorted=false);
- float mean(const std::vector<float>& values);
+ template <typename Float>
+ Float stddev(const std::vector<Float>& values, Float mean)
+ {
+ detail::check_not_empty(values);
+ Float sum = 0;
+ for (Float v : values)
+ {
+ Float diff = v - mean;
+ sum += diff * diff;
+ }
+ Float variance = sum / (values.size() - 1);
+ return std::sqrt(variance);
+ }
- float stddev(const std::vector<float>& values);
- float stddev(const std::vector<float>& values, float mean);
+ template <typename Float>
+ Float stddev(const std::vector<Float>& values)
+ {
+ return stddev(values, mean(values));
+ }
- float quantile(const std::vector<float>& values, float p, bool isSorted=false);
- float lower_quartile(const std::vector<float>& values, bool isSorted=false);
- float median(const std::vector<float>& values, bool isSorted=false);
- float upper_quartile(const std::vector<float>& values, bool isSorted=false);
+ template <typename Float>
+ Float quantile(const std::vector<Float>& _values, Float q, bool isSorted = false)
+ {
+ if (q < 0 || q > 1)
+ {
+ std::stringstream ss;
+ ss << "Quantile must be in [0, 1], but was " << q << ".";
+ throw error::SimoxError(ss.str());
+ }
+ detail::check_not_empty(_values);
+ const std::vector<Float>& values = isSorted ? _values : sorted(_values);
- float interquartile_range(const std::vector<float>& values, bool isSorted=false);
- float interquartile_range(float lower_quartile, float upper_quartile);
+ if (q <= 0)
+ {
+ return values.front();
+ }
+ if (q >= 1)
+ {
+ return values.back();
+ }
+
+ Float loc = q * (values.size() - 1);
+ int iloc = int(std::floor(loc));
+
+ if (loc == iloc)
+ {
+ return values[iloc];
+ }
+ else
+ {
+ Float t = loc - iloc;
+ return (1 - t) * values[iloc] + t * values[iloc + 1];
+ }
+ }
+
+ template <typename Float>
+ Float lower_quartile(const std::vector<Float>& values, bool isSorted = false)
+ {
+ return quantile<Float>(values, .25, isSorted);
+ }
+
+ template <typename Float>
+ Float median(const std::vector<Float>& values, bool isSorted = false)
+ {
+ return quantile<Float>(values, .5, isSorted);
+ }
+
+ template <typename Float>
+ Float upper_quartile(const std::vector<Float>& values, bool isSorted = false)
+ {
+ return quantile<Float>(values, .75, isSorted);
+ }
+
+ template <typename Float>
+ Float interquartile_range(Float lowerQuartile, Float upperQuartile)
+ {
+ return upperQuartile - lowerQuartile;
+ }
+
+ template <typename Float>
+ Float interquartile_range(const std::vector<Float>& _values, bool isSorted = false)
+ {
+ detail::check_not_empty(_values);
+
+ const std::vector<Float>& values = isSorted ? _values : sorted(_values);
+ return interquartile_range(lower_quartile(values, true), upper_quartile(values, true));
+ }
}
+
diff --git a/VirtualRobot/math/statistics/measures.cpp b/VirtualRobot/math/statistics/measures.cpp
index 73aa17070690b24b5550180d392ffd0e5ae8cb40..baaf92dcdd9364b177ca67335db2115661ec161b 100644
--- a/VirtualRobot/math/statistics/measures.cpp
+++ b/VirtualRobot/math/statistics/measures.cpp
@@ -8,7 +8,7 @@ namespace math { namespace stat
void sort(std::vector<float>& values)
{
- simox::math::sort(values);
+ std::sort(values.begin(), values.end());
}
std::vector<float> sorted(const std::vector<float>& values)