CMultiObjMotionOpt_Scalarization.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#pragma once

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

namespace mrpt
{
namespace 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)

   public:
        CMultiObjMotionOpt_Scalarization();

        void loadConfigFile(const mrpt::utils::CConfigFileBase& c) override;
        void saveConfigFile(mrpt::utils::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::utils::CConfigFileBase& source,
                        const std::string& section) override;  // See base docs
                void saveToConfigFile(
                        mrpt::utils::CConfigFileBase& cfg,
                        const std::string& section) const override;  // See base docs
        };

        TParams parameters;

        virtual void clear() override;

   protected:
        mrpt::math::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;
};
}
}