mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams Struct Reference

Detailed Description

Definition at line 38 of file CMultiObjMotionOpt_Scalarization.h.

#include <mrpt/nav/reactive/CMultiObjMotionOpt_Scalarization.h>

Inheritance diagram for mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams:

Public Member Functions
	TParams ()
void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section) MRPT_OVERRIDE
	This method load the options from a ".ini"-like file or memory-stored string list. More...
void	saveToConfigFile (mrpt::utils::CConfigFileBase &cfg, const std::string &section) const MRPT_OVERRIDE
	This method saves the options to a ".ini"-like file or memory-stored string list. More...
void	loadFromConfigFileName (const std::string &config_file, const std::string &section)
	Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More...
void	saveToConfigFileName (const std::string &config_file, const std::string &section) const
	Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More...
void	dumpToConsole () const
	Just like dumpToTextStream() but sending the text to the console (std::cout) More...
virtual void	dumpToTextStream (mrpt::utils::CStream &out) const
	This method should clearly display all the contents of the structure in textual form, sending it to a CStream. More...

Public Attributes
std::string	scalar_score_formula
	A formula that takes all/a subset of scores and generates a scalar global score. More...
std::map< std::string, std::string >	formula_score
	A list of name -> mathematical expression (in the format of the exprtk library) for the list of "score" factors to evaluate. More...
std::vector< std::string >	movement_assert
	A list of exprtk expressions for conditions that any candidate movement must fulfill in order to get through the evaluation process. More...
std::vector< std::string >	scores_to_normalize
	List of score names (as defined in the key of formula_score) that must be normalized across all candidates, such that the maximum value is 1. More...

Static Protected Member Functions
static void	dumpVar_int (CStream &out, const char *varName, int v)
	Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...
static void	dumpVar_float (CStream &out, const char *varName, float v)
static void	dumpVar_double (CStream &out, const char *varName, double v)
static void	dumpVar_bool (CStream &out, const char *varName, bool v)
static void	dumpVar_string (CStream &out, const char *varName, const std::string &v)

Constructor & Destructor Documentation

TParams()

CMultiObjMotionOpt_Scalarization::TParams::TParams

(

)

Definition at line 108 of file CMultiObjMotionOpt_Scalarization.cpp.

Member Function Documentation

dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const

inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

Definition at line 47 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::dumpToTextStream(), and loadable_opts_my_cout.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::hmtslam::CHMTSLAM::loadOptions(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::printParams().

dumpToTextStream()

void CLoadableOptions::dumpToTextStream ( mrpt::utils::CStream &  out ) const

virtualinherited

This method should clearly display all the contents of the structure in textual form, sending it to a CStream.

The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.

Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams, mrpt::vision::TMultiResDescMatchOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams, mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions, mrpt::hmtslam::CHMTSLAM::TOptions, mrpt::maps::COccupancyGridMap2D::TInsertionOptions, mrpt::vision::TMatchingOptions, mrpt::maps::TSetOfMetricMapInitializers, mrpt::maps::CLandmarksMap::TLikelihoodOptions, mrpt::maps::CColouredPointsMap::TColourOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams, mrpt::maps::CPointsMap::TLikelihoodOptions, mrpt::maps::CLandmarksMap::TInsertionOptions, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams, mrpt::vision::TStereoSystemParams, mrpt::maps::CPointsMap::TInsertionOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TLikelihoodOptions, mrpt::slam::CRangeBearingKFSLAM::TOptions, mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams, mrpt::maps::CBeaconMap::TInsertionOptions, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions, mrpt::maps::CMultiMetricMapPDF::TPredictionParams, mrpt::maps::CBeaconMap::TLikelihoodOptions, mrpt::slam::CRangeBearingKFSLAM2D::TOptions, mrpt::maps::CHeightGridMap2D::TInsertionOptions, mrpt::graphslam::TSlidingWindow, mrpt::slam::CGridMapAligner::TConfigParams, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions, mrpt::bayes::TKF_options, mrpt::maps::CReflectivityGridMap2D::TInsertionOptions, mrpt::vision::CFeatureExtraction::TOptions, mrpt::graphslam::TUncertaintyPath< GRAPH_T >, mrpt::maps::TMapGenericParams, mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions, mrpt::hmtslam::CTopLCDetector_GridMatching::TOptions, mrpt::hmtslam::CTopLCDetector_FabMap::TOptions, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions, mrpt::slam::CICP::TConfigParams, mrpt::slam::CIncrementalMapPartitioner::TOptions, mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions, mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions, mrpt::slam::CMetricMapBuilderICP::TConfigParams, mrpt::maps::TMetricMapInitializer, mrpt::vision::CCamModel, and mrpt::slam::TKLDParams.

Definition at line 80 of file CLoadableOptions.cpp.

References mrpt::utils::CConfigFileMemory::getContent(), mrpt::utils::CStream::printf(), and mrpt::utils::CLoadableOptions::saveToConfigFile().

Referenced by mrpt::utils::CLoadableOptions::dumpToConsole().

dumpVar_bool()

void CLoadableOptions::dumpVar_bool ( CStream &  out, const char *  varName, bool  v  )

staticprotectedinherited

Definition at line 67 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

dumpVar_double()

void CLoadableOptions::dumpVar_double ( CStream &  out, const char *  varName, double  v  )

staticprotectedinherited

Definition at line 62 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

dumpVar_float()

void CLoadableOptions::dumpVar_float ( CStream &  out, const char *  varName, float  v  )

staticprotectedinherited

Definition at line 57 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

dumpVar_int()

void CLoadableOptions::dumpVar_int ( CStream &  out, const char *  varName, int  v  )

staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

Definition at line 52 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

dumpVar_string()

void CLoadableOptions::dumpVar_string ( CStream &  out, const char *  varName, const std::string &  v  )

staticprotectedinherited

Definition at line 72 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

loadFromConfigFile()

void CMultiObjMotionOpt_Scalarization::TParams::loadFromConfigFile ( const mrpt::utils::CConfigFileBase &  source, const std::string &  section  )

virtual

This method load the options from a ".ini"-like file or memory-stored string list.

Only those parameters found in the given "section" and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an ".ini" file:

[section]
resolution    = 0.10   // blah blah...
modeSelection = 1      // 0=blah, 1=blah,...

See also

loadFromConfigFileName, saveToConfigFile

Reimplemented from mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase.

Definition at line 112 of file CMultiObjMotionOpt_Scalarization.cpp.

References MRPT_LOAD_CONFIG_VAR_REQUIRED_CS.

loadFromConfigFileName()

void CLoadableOptions::loadFromConfigFileName ( const std::string &  config_file, const std::string &  section  )

inherited

Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

See also

loadFromConfigFile

Definition at line 23 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::loadFromConfigFile().

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams().

saveToConfigFile()

void CMultiObjMotionOpt_Scalarization::TParams::saveToConfigFile ( mrpt::utils::CConfigFileBase &  target, const std::string &  section  ) const

virtual

This method saves the options to a ".ini"-like file or memory-stored string list.

See also

loadFromConfigFile, saveToConfigFileName

Reimplemented from mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase.

Definition at line 118 of file CMultiObjMotionOpt_Scalarization.cpp.

References MRPT_SAVE_CONFIG_VAR_COMMENT.

saveToConfigFileName()

void CLoadableOptions::saveToConfigFileName ( const std::string &  config_file, const std::string &  section  ) const

inherited

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See also

saveToConfigFile, loadFromConfigFileName

Definition at line 39 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::saveToConfigFile().

Member Data Documentation

formula_score

std::map<std::string, std::string> mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase::formula_score

inherited

A list of name -> mathematical expression (in the format of the exprtk library) for the list of "score" factors to evaluate.

Definition at line 62 of file CMultiObjectiveMotionOptimizerBase.h.

movement_assert

std::vector<std::string> mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase::movement_assert

inherited

A list of exprtk expressions for conditions that any candidate movement must fulfill in order to get through the evaluation process.

All assert conditions must be satisfied.

Definition at line 67 of file CMultiObjectiveMotionOptimizerBase.h.

scalar_score_formula

std::string mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams::scalar_score_formula

A formula that takes all/a subset of scores and generates a scalar global score.

Definition at line 40 of file CMultiObjMotionOpt_Scalarization.h.

scores_to_normalize

std::vector<std::string> mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase::scores_to_normalize

inherited

List of score names (as defined in the key of formula_score) that must be normalized across all candidates, such that the maximum value is 1.

Definition at line 71 of file CMultiObjectiveMotionOptimizerBase.h.