mrpt::nav::CMultiObjectiveMotionOptimizerBase Class Reference

Detailed Description

Virtual base class for multi-objective motion choosers, as used for reactive navigation engines.

See also

CReactiveNavigationSystem, CReactiveNavigationSystem3D

Definition at line 24 of file CMultiObjectiveMotionOptimizerBase.h.

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

Inheritance diagram for mrpt::nav::CMultiObjectiveMotionOptimizerBase:

Classes
struct	TParamsBase
	Common params for all children. More...
struct	TResultInfo

Public Types
using	UniquePtr = std::unique_ptr< CObject >
using	ConstUniquePtr = std::unique_ptr< const CObject >

Public Member Functions
int	decide (const std::vector< mrpt::nav::TCandidateMovementPTG > &movs, TResultInfo &extra_info)
	The main entry point for the class: returns the 0-based index of the best of the N motion candidates in movs. More...
virtual void	loadConfigFile (const mrpt::config::CConfigFileBase &c)=0
virtual void	saveConfigFile (mrpt::config::CConfigFileBase &c) const =0
virtual void	clear ()
	Resets the object state; use if the parameters change, so they are re-read and applied. More...
virtual CObject *	clone () const =0
	Returns a deep copy (clone) of the object, indepently of its class. More...
RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Static Public Member Functions
static CMultiObjectiveMotionOptimizerBase::Ptr	Factory (const std::string &className) noexcept
	Class factory from C++ class name. More...

Protected Member Functions
	CMultiObjectiveMotionOptimizerBase (TParamsBase &params)

Private Member Functions
virtual int	impl_decide (const std::vector< mrpt::nav::TCandidateMovementPTG > &movs, TResultInfo &extra_info)=0

Private Attributes
TParamsBase &	m_params_base
std::map< std::string, mrpt::expr::CRuntimeCompiledExpression >	m_score_exprs
	score names -> score compiled expressions More...
std::vector< mrpt::expr::CRuntimeCompiledExpression >	m_movement_assert_exprs
std::map< std::string, double >	m_expr_vars

RTTI stuff
using	Ptr = std::shared_ptr< CMultiObjectiveMotionOptimizerBase >
using	ConstPtr = std::shared_ptr< const CMultiObjectiveMotionOptimizerBase >
static const mrpt::rtti::TRuntimeClassId	runtimeClassId
static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...
static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

Member Typedef Documentation

ConstPtr

using mrpt::nav::CMultiObjectiveMotionOptimizerBase::ConstPtr = std::shared_ptr<const CMultiObjectiveMotionOptimizerBase >

Definition at line 26 of file CMultiObjectiveMotionOptimizerBase.h.

ConstUniquePtr

using mrpt::rtti::CObject::ConstUniquePtr = std::unique_ptr<const CObject>

inherited

Definition at line 183 of file CObject.h.

Ptr

using mrpt::nav::CMultiObjectiveMotionOptimizerBase::Ptr = std::shared_ptr< CMultiObjectiveMotionOptimizerBase >

Definition at line 26 of file CMultiObjectiveMotionOptimizerBase.h.

UniquePtr

using mrpt::rtti::CObject::UniquePtr = std::unique_ptr<CObject>

inherited

Definition at line 182 of file CObject.h.

Constructor & Destructor Documentation

CMultiObjectiveMotionOptimizerBase()

mrpt::nav::CMultiObjectiveMotionOptimizerBase::CMultiObjectiveMotionOptimizerBase ( TParamsBase &  params )

protected

Member Function Documentation

_GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::nav::CMultiObjectiveMotionOptimizerBase::_GetBaseClass ( )

staticprotected

clear()

void CMultiObjectiveMotionOptimizerBase::clear ( )

virtual

Resets the object state; use if the parameters change, so they are re-read and applied.

Reimplemented in mrpt::nav::CMultiObjMotionOpt_Scalarization.

Definition at line 221 of file CMultiObjectiveMotionOptimizerBase.cpp.

References m_score_exprs.

Referenced by mrpt::nav::CMultiObjMotionOpt_Scalarization::clear().

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clone()

virtual CObject* mrpt::rtti::CObject::clone ( ) const

pure virtualinherited

Returns a deep copy (clone) of the object, indepently of its class.

Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_FullEval, mrpt::nav::CLogFileRecord_ND, mrpt::img::CImage, mrpt::maps::CMultiMetricMap, mrpt::db::CSimpleDatabase, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::maps::CRandomFieldGridMap3D, mrpt::obs::CObservationVelodyneScan, mrpt::maps::TMapGenericParams, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::kinematics::CKinematicChain, mrpt::obs::CObservationGPS, mrpt::opengl::COctoMapVoxels, mrpt::maps::CMultiMetricMapPDF, mrpt::maps::CHeightGridMap2D, mrpt::obs::CRawlog, mrpt::opengl::COpenGLViewport, mrpt::opengl::COpenGLScene, mrpt::opengl::CPlanarLaserScan, mrpt::slam::CIncrementalMapPartitioner, mrpt::vision::CFeature, mrpt::maps::COccupancyGridMap2D, mrpt::nav::CHolonomicFullEval, mrpt::obs::CObservation2DRangeScan, mrpt::nav::CHolonomicND, mrpt::obs::CSensoryFrame, mrpt::opengl::CFrustum, mrpt::poses::CPose2DInterpolator, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::opengl::CPointCloudColoured, mrpt::opengl::CPointCloud, mrpt::poses::CPose3DQuat, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::pbmap::PbMap, mrpt::detectors::CDetectable2D, mrpt::maps::CBeaconMap, mrpt::opengl::CPolyhedron, mrpt::pbmap::Plane, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::opengl::CText3D, mrpt::maps::COctoMap, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::poses::CPose2D, mrpt::maps::CReflectivityGridMap2D, mrpt::nav::CPTG_DiffDrive_C, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CAssimpModel, mrpt::opengl::CBox, mrpt::poses::CPose3DPDFGaussian, mrpt::maps::CColouredOctoMap, mrpt::obs::CObservationStereoImages, mrpt::opengl::CMeshFast, mrpt::poses::CPosePDFParticles, MyNS::Bar, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DPDFParticles, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh, mrpt::hmtslam::CMHPropertiesValuesList, mrpt::maps::CBeacon, mrpt::maps::COccupancyGridMap3D, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::opengl::CText, mrpt::maps::CRBPFParticleData, mrpt::maps::CLandmark, mrpt::maps::CHeightGridMap2D_MRF, mrpt::opengl::CColorBar, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::obs::CObservationPointCloud, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::opengl::CMesh3D, mrpt::opengl::CVectorField2D, mrpt::poses::CPoint3D, mrpt::poses::CPose3DPDFSOG, mrpt::obs::CObservationBatteryState, mrpt::opengl::CSetOfLines, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::CSimplePointsMap, mrpt::opengl::CDisk, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CAxis, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPointPDFParticles, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::poses::CPosePDFGaussian, MyNS::MyDerived2, mrpt::obs::CObservationRange, mrpt::maps::CPointsMapXYZI, mrpt::nav::CMultiObjMotionOpt_Scalarization, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionCollection, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::opengl::CSetOfObjects, mrpt::img::TCamera, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::poses::CPose3DPDFGrid, mrpt::obs::CObservationVisualLandmarks, mrpt::math::CMatrixD, mrpt::math::CSplineInterpolator1D, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::poses::CPosePDFGrid, mrpt::poses::CPoses2DSequence, mrpt::img::TStereoCamera, mrpt::opengl::COpenGLStandardObject, mrpt::poses::CPoses3DSequence, mrpt::math::CMatrixF, mrpt::opengl::CSetOfTriangles, mrpt::poses::CPointPDFGaussian, mrpt::hmtslam::CPropertiesValuesList, mrpt::math::CMatrixB, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::opengl::CSetOfTexturedTriangles, MyNS::MyDerived1, mrpt::math::CPolygon, mrpt::poses::CPoint2DPDFGaussian, MyNS::Foo, mrpt::db::CSimpleDatabaseTable, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, and MyNS::Foo.

Referenced by mrpt::rtti::CObject::duplicateGetSmartPtr(), mrpt::maps::CSimpleMap::insert(), mrpt::obs::CActionCollection::insert(), and mrpt::poses::CPoseRandomSampler::setPosePDF().

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decide()

int CMultiObjectiveMotionOptimizerBase::decide	(	const std::vector< mrpt::nav::TCandidateMovementPTG > &	movs,
		TResultInfo &	extra_info
	)

The main entry point for the class: returns the 0-based index of the best of the N motion candidates in movs.

If no valid one is found, -1 will be returned.

Definition at line 27 of file CMultiObjectiveMotionOptimizerBase.cpp.

References mrpt::format(), mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase::formula_score, impl_decide(), mrpt::keep_max(), mrpt::nav::CMultiObjectiveMotionOptimizerBase::TResultInfo::log_entries, m_expr_vars, m_movement_assert_exprs, m_params_base, m_score_exprs, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase::movement_assert, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TResultInfo::score_values, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase::scores_to_normalize, THROW_EXCEPTION_FMT, and val.

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duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 200 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

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Factory()

CMultiObjectiveMotionOptimizerBase::Ptr CMultiObjectiveMotionOptimizerBase::Factory ( const std::string &  className )

staticnoexcept

Class factory from C++ class name.

Definition at line 223 of file CMultiObjectiveMotionOptimizerBase.cpp.

References mrpt::rtti::TRuntimeClassId::createObject(), mrpt::rtti::findRegisteredClass(), mrpt::ptr_cast< CAST_TO >::from(), and mrpt::rtti::registerAllPendingClasses().

Referenced by mrpt::nav::CAbstractPTGBasedReactive::loadConfigFile().

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GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::nav::CMultiObjectiveMotionOptimizerBase::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::rtti::CObject.

Reimplemented in mrpt::nav::CMultiObjMotionOpt_Scalarization.

GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::nav::CMultiObjectiveMotionOptimizerBase::GetRuntimeClassIdStatic ( )

static

impl_decide()

virtual int mrpt::nav::CMultiObjectiveMotionOptimizerBase::impl_decide ( const std::vector< mrpt::nav::TCandidateMovementPTG > &  movs, TResultInfo &  extra_info  )

privatepure virtual

Implemented in mrpt::nav::CMultiObjMotionOpt_Scalarization.

Referenced by decide().

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loadConfigFile()

virtual void mrpt::nav::CMultiObjectiveMotionOptimizerBase::loadConfigFile ( const mrpt::config::CConfigFileBase &  c )

pure virtual

Implemented in mrpt::nav::CMultiObjMotionOpt_Scalarization.

saveConfigFile()

virtual void mrpt::nav::CMultiObjectiveMotionOptimizerBase::saveConfigFile ( mrpt::config::CConfigFileBase &  c ) const

pure virtual

Implemented in mrpt::nav::CMultiObjMotionOpt_Scalarization.

Member Data Documentation

m_expr_vars

std::map<std::string, double> mrpt::nav::CMultiObjectiveMotionOptimizerBase::m_expr_vars

private

Definition at line 107 of file CMultiObjectiveMotionOptimizerBase.h.

Referenced by decide().

m_movement_assert_exprs

std::vector<mrpt::expr::CRuntimeCompiledExpression> mrpt::nav::CMultiObjectiveMotionOptimizerBase::m_movement_assert_exprs

private

Definition at line 106 of file CMultiObjectiveMotionOptimizerBase.h.

Referenced by decide().

m_params_base

TParamsBase& mrpt::nav::CMultiObjectiveMotionOptimizerBase::m_params_base

private

Definition at line 102 of file CMultiObjectiveMotionOptimizerBase.h.

Referenced by decide().

m_score_exprs

std::map<std::string, mrpt::expr::CRuntimeCompiledExpression> mrpt::nav::CMultiObjectiveMotionOptimizerBase::m_score_exprs

private

score names -> score compiled expressions

Definition at line 105 of file CMultiObjectiveMotionOptimizerBase.h.

Referenced by clear(), and decide().

runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::nav::CMultiObjectiveMotionOptimizerBase::runtimeClassId

staticprotected

Definition at line 26 of file CMultiObjectiveMotionOptimizerBase.h.