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.