CMultiObjMotionOpt_Scalarization.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

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

namespace mrpt::nav
{
/** Implementation of multi-objective motion chooser using scalarization: a
 * user-given formula is used to
 * collapse all the scores into a single scalar score. The candidate with the
 * highest positive score is selected.
 * Note that assert expressions are honored via the base class
 * CMultiObjectiveMotionOptimizerBase
 *
 * \sa CReactiveNavigationSystem, CReactiveNavigationSystem3D
 * \ingroup nav_reactive
 */
class CMultiObjMotionOpt_Scalarization
    : public mrpt::nav::CMultiObjectiveMotionOptimizerBase
{
    DEFINE_MRPT_OBJECT(CMultiObjMotionOpt_Scalarization, mrpt::nav)

   public:
    CMultiObjMotionOpt_Scalarization();

    void loadConfigFile(const mrpt::config::CConfigFileBase& c) override;
    void saveConfigFile(mrpt::config::CConfigFileBase& c) const override;

    struct TParams
        : public mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase
    {
        /** A formula that takes all/a subset of scores and generates a scalar
         * global score. */
        std::string scalar_score_formula;

        TParams();
        void loadFromConfigFile(
            const mrpt::config::CConfigFileBase& source,
            const std::string& section) override;  // See base docs
        void saveToConfigFile(
            mrpt::config::CConfigFileBase& cfg,
            const std::string& section) const override;  // See base docs
    };

    TParams parameters;

    void clear() override;

   protected:
    mrpt::expr::CRuntimeCompiledExpression m_expr_scalar_formula;
    std::map<std::string, double> m_expr_scalar_vars;

    // This virtual method is called by decide().
    int impl_decide(
        const std::vector<mrpt::nav::TCandidateMovementPTG>& movs,
        TResultInfo& extra_info) override;
};
}  // namespace mrpt::nav