class mrpt::nav::CMultiObjMotionOpt_Scalarization
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
See also:
CReactiveNavigationSystem, CReactiveNavigationSystem3D
#include <mrpt/nav/reactive/CMultiObjMotionOpt_Scalarization.h> class CMultiObjMotionOpt_Scalarization: public mrpt::nav::CMultiObjectiveMotionOptimizerBase { public: // structs struct TParams; // fields TParams parameters; // construction CMultiObjMotionOpt_Scalarization(); // methods virtual void loadConfigFile(const mrpt::config::CConfigFileBase& c); virtual void saveConfigFile(mrpt::config::CConfigFileBase& c) const; virtual void clear(); };
Inherited Members
public: // structs struct TParamsBase; struct TResultInfo; // methods static CMultiObjectiveMotionOptimizerBase::Ptr Factory(const std::string& className); int decide(const std::vector<mrpt::nav::TCandidateMovementPTG>& movs, TResultInfo& extra_info); virtual void loadConfigFile(const mrpt::config::CConfigFileBase& c) = 0; virtual void saveConfigFile(mrpt::config::CConfigFileBase& c) const = 0; virtual void clear();
Methods
virtual void clear()
Resets the object state; use if the parameters change, so they are re-read and applied.