f ← # of features

X ← features measurements at each window; ∈ ℝf

ND ← # of discrete motion classes

DMC ← {set of all Discrete Motion Classes}

MC ← {set of discrete and dual combined motion classes}

for i = 1:ND

OUTPUT_CLASS1,i = DMCi

OUTPUT_CLASS2,i = arg max(p(X|Movement#1 = DMCi))

end

Np ← # of paired of columns in OUTPUT_CLASS

P ← {set of all columns appearing twice in OUTPUT_CLASS} ∈ ℝNp

if Np = 0

RETURN(No Motion)

elseif Np = 1

RETURN(P)

elseif Np > 1

RETURN(arg max (p(X|P)))

end