Detailed Description

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

Definition at line 27 of file CMultiObjMotionOpt_Scalarization.h.

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

Inheritance diagram for mrpt::nav::CMultiObjMotionOpt_Scalarization:

Classes
struct	TParams

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) noexcept

void	operator delete[] (void *ptr) noexcept

void	operator delete (void memory, void ptr) noexcept

void *	operator new (size_t size, const std::nothrow_t &) noexcept

void	operator delete (void *ptr, const std::nothrow_t &) noexcept

	CMultiObjMotionOpt_Scalarization ()

void	loadConfigFile (const mrpt::utils::CConfigFileBase &c) override

void	saveConfigFile (mrpt::utils::CConfigFileBase &c) const override

virtual void	clear () override
	Resets the object state; use if the parameters change, so they are re-read and applied. More...

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...

RTTI classes and functions
mrpt::utils::CObject::Ptr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

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

Public Attributes
TParams	parameters

Protected Member Functions
int	impl_decide (const std::vector< mrpt::nav::TCandidateMovementPTG > &movs, TResultInfo &extra_info) override

Protected Attributes
mrpt::math::CRuntimeCompiledExpression	m_expr_scalar_formula

std::map< std::string, double >	m_expr_scalar_vars

RTTI stuff
using	Ptr = std::shared_ptr< CMultiObjMotionOpt_Scalarization >

using	ConstPtr = std::shared_ptr< const CMultiObjMotionOpt_Scalarization >

static mrpt::utils::CLASSINIT	_init_CMultiObjMotionOpt_Scalarization

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CMultiObjMotionOpt_Scalarization"

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

static const mrpt::utils::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static mrpt::utils::CObject *	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::utils::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 30 of file CMultiObjMotionOpt_Scalarization.h.

◆ Ptr

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

A typedef for the associated smart pointer

Definition at line 30 of file CMultiObjMotionOpt_Scalarization.h.

Constructor & Destructor Documentation

◆ CMultiObjMotionOpt_Scalarization()

mrpt::nav::CMultiObjMotionOpt_Scalarization::CMultiObjMotionOpt_Scalarization ( )

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::nav::CMultiObjMotionOpt_Scalarization::_GetBaseClass ( )

staticprotected

◆ clear()

void CMultiObjMotionOpt_Scalarization::clear ( )

overridevirtual

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

Reimplemented from mrpt::nav::CMultiObjectiveMotionOptimizerBase.

Definition at line 26 of file CMultiObjMotionOpt_Scalarization.cpp.

References mrpt::nav::CMultiObjectiveMotionOptimizerBase::clear(), m_expr_scalar_formula, and m_expr_scalar_vars.

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◆ clone()

virtual mrpt::utils::CObject* mrpt::nav::CMultiObjMotionOpt_Scalarization::clone ( ) const

overridevirtual

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

Implements mrpt::utils::CObject.

◆ Create()

template<typename... Args>

static Ptr mrpt::nav::CMultiObjMotionOpt_Scalarization::Create ( Args &&... args )

inlinestatic

Definition at line 30 of file CMultiObjMotionOpt_Scalarization.h.

◆ CreateObject()

static mrpt::utils::CObject* mrpt::nav::CMultiObjMotionOpt_Scalarization::CreateObject ( )

static

◆ decide()

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

inherited

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.

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◆ Factory()

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

staticnoexceptinherited

Class factory from C++ class name.

Definition at line 224 of file CMultiObjectiveMotionOptimizerBase.cpp.

References mrpt::utils::TRuntimeClassId::createObject(), mrpt::utils::findRegisteredClass(), and mrpt::utils::registerAllPendingClasses().

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

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◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::nav::CMultiObjMotionOpt_Scalarization::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::nav::CMultiObjectiveMotionOptimizerBase.

◆ GetRuntimeClassIdStatic()

static const mrpt::utils::TRuntimeClassId& mrpt::nav::CMultiObjMotionOpt_Scalarization::GetRuntimeClassIdStatic ( )

static

◆ impl_decide()

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

overrideprotectedvirtual

Implements mrpt::nav::CMultiObjectiveMotionOptimizerBase.

Definition at line 53 of file CMultiObjMotionOpt_Scalarization.cpp.

References mrpt::nav::CMultiObjectiveMotionOptimizerBase::TResultInfo::final_evaluation, m_expr_scalar_formula, m_expr_scalar_vars, parameters, mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams::scalar_score_formula, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TResultInfo::score_values, THROW_EXCEPTION_FMT, and val.

◆ loadConfigFile()

void CMultiObjMotionOpt_Scalarization::loadConfigFile ( const mrpt::utils::CConfigFileBase & c )

overridevirtual

Implements mrpt::nav::CMultiObjectiveMotionOptimizerBase.

Definition at line 33 of file CMultiObjMotionOpt_Scalarization.cpp.

References mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams::loadFromConfigFile(), and parameters.

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◆ operator delete() [1/3]

void mrpt::nav::CMultiObjMotionOpt_Scalarization::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 30 of file CMultiObjMotionOpt_Scalarization.h.

◆ operator delete() [2/3]

void mrpt::nav::CMultiObjMotionOpt_Scalarization::operator delete ( void * ptr )

inlinenoexcept

Definition at line 30 of file CMultiObjMotionOpt_Scalarization.h.

◆ operator delete() [3/3]

void mrpt::nav::CMultiObjMotionOpt_Scalarization::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 30 of file CMultiObjMotionOpt_Scalarization.h.

◆ operator delete[]()

void mrpt::nav::CMultiObjMotionOpt_Scalarization::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 30 of file CMultiObjMotionOpt_Scalarization.h.

◆ operator new() [1/3]

void* mrpt::nav::CMultiObjMotionOpt_Scalarization::operator new ( size_t size )

inline

Definition at line 30 of file CMultiObjMotionOpt_Scalarization.h.

◆ operator new() [2/3]

void* mrpt::nav::CMultiObjMotionOpt_Scalarization::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 30 of file CMultiObjMotionOpt_Scalarization.h.

◆ operator new() [3/3]

static void* mrpt::nav::CMultiObjMotionOpt_Scalarization::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 30 of file CMultiObjMotionOpt_Scalarization.h.

◆ operator new[]()

void* mrpt::nav::CMultiObjMotionOpt_Scalarization::operator new[] ( size_t size )

inline

Definition at line 30 of file CMultiObjMotionOpt_Scalarization.h.

◆ saveConfigFile()

void CMultiObjMotionOpt_Scalarization::saveConfigFile ( mrpt::utils::CConfigFileBase & c ) const

overridevirtual

Implements mrpt::nav::CMultiObjectiveMotionOptimizerBase.

Definition at line 43 of file CMultiObjMotionOpt_Scalarization.cpp.

References parameters, and mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams::saveToConfigFile().

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Member Data Documentation

◆ _init_CMultiObjMotionOpt_Scalarization

mrpt::utils::CLASSINIT mrpt::nav::CMultiObjMotionOpt_Scalarization::_init_CMultiObjMotionOpt_Scalarization

staticprotected

Definition at line 30 of file CMultiObjMotionOpt_Scalarization.h.

◆ className

constexpr const char* mrpt::nav::CMultiObjMotionOpt_Scalarization::className = "CMultiObjMotionOpt_Scalarization"

static

Definition at line 30 of file CMultiObjMotionOpt_Scalarization.h.

◆ m_expr_scalar_formula

mrpt::math::CRuntimeCompiledExpression mrpt::nav::CMultiObjMotionOpt_Scalarization::m_expr_scalar_formula

protected

Definition at line 59 of file CMultiObjMotionOpt_Scalarization.h.

Referenced by clear(), and impl_decide().

◆ m_expr_scalar_vars

std::map<std::string, double> mrpt::nav::CMultiObjMotionOpt_Scalarization::m_expr_scalar_vars

protected

Definition at line 60 of file CMultiObjMotionOpt_Scalarization.h.

Referenced by clear(), and impl_decide().

◆ parameters

TParams mrpt::nav::CMultiObjMotionOpt_Scalarization::parameters

Definition at line 54 of file CMultiObjMotionOpt_Scalarization.h.

Referenced by impl_decide(), loadConfigFile(), and saveConfigFile().

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::nav::CMultiObjMotionOpt_Scalarization::runtimeClassId

staticprotected

Definition at line 30 of file CMultiObjMotionOpt_Scalarization.h.

Detailed Description

Classes

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ CMultiObjMotionOpt_Scalarization()

Member Function Documentation

◆ _GetBaseClass()

◆ clear()

◆ clone()

◆ Create()

◆ CreateObject()

◆ decide()

◆ Factory()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ impl_decide()

◆ loadConfigFile()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ saveConfigFile()

Member Data Documentation

◆ _init_CMultiObjMotionOpt_Scalarization

◆ className

◆ m_expr_scalar_formula

◆ m_expr_scalar_vars

◆ parameters

◆ runtimeClassId