MRPT  1.9.9
mrpt::nav::CMultiObjMotionOpt_Scalarization Class Reference

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 25 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

 CMultiObjMotionOpt_Scalarization ()
 
void loadConfigFile (const mrpt::config::CConfigFileBase &c) override
 
void saveConfigFile (mrpt::config::CConfigFileBase &c) const override
 
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 for polymorphic hierarchies
mrpt::rtti::CObject::Ptr duplicateGetSmartPtr () const
 Makes a deep copy of the object and returns a smart pointer to it. More...
 

Static Public Member Functions

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::expr::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 >
 
using UniquePtr = std::unique_ptr< CMultiObjMotionOpt_Scalarization >
 
using ConstUniquePtr = std::unique_ptr< const CMultiObjMotionOpt_Scalarization >
 
static mrpt::rtti::CLASSINIT _init_CMultiObjMotionOpt_Scalarization
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "CMultiObjMotionOpt_Scalarization"
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static std::shared_ptr< CObjectCreateObject ()
 
template<typename... Args>
static Ptr Create (Args &&... args)
 
template<typename Alloc , typename... Args>
static Ptr CreateAlloc (const Alloc &alloc, Args &&... args)
 
template<typename... Args>
static UniquePtr CreateUnique (Args &&... args)
 
virtual const mrpt::rtti::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () const override
 Returns a deep copy (clone) of the object, indepently of its class. More...
 

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Constructor & Destructor Documentation

◆ CMultiObjMotionOpt_Scalarization()

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

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::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 25 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::rtti::CObject* mrpt::nav::CMultiObjMotionOpt_Scalarization::clone ( ) const
overridevirtual

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

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>
static Ptr mrpt::nav::CMultiObjMotionOpt_Scalarization::Create ( Args &&...  args)
inlinestatic

Definition at line 28 of file CMultiObjMotionOpt_Scalarization.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>
static Ptr mrpt::nav::CMultiObjMotionOpt_Scalarization::CreateAlloc ( const Alloc &  alloc,
Args &&...  args 
)
inlinestatic

Definition at line 28 of file CMultiObjMotionOpt_Scalarization.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::nav::CMultiObjMotionOpt_Scalarization::CreateObject ( )
static

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::nav::CMultiObjMotionOpt_Scalarization::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 28 of file CMultiObjMotionOpt_Scalarization.h.

◆ decide()

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 200 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

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◆ Factory()

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

Class factory from C++ class name.

Definition at line 223 of file CMultiObjectiveMotionOptimizerBase.cpp.

References mrpt::rtti::TRuntimeClassId::createObject(), mrpt::rtti::findRegisteredClass(), mrpt::ptr_cast< CAST_TO >::from(), and mrpt::rtti::registerAllPendingClasses().

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

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◆ getClassName()

static constexpr auto mrpt::nav::CMultiObjMotionOpt_Scalarization::getClassName ( )
inlinestatic

Definition at line 28 of file CMultiObjMotionOpt_Scalarization.h.

◆ GetRuntimeClass()

virtual const mrpt::rtti::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::rtti::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

◆ loadConfigFile()

void CMultiObjMotionOpt_Scalarization::loadConfigFile ( const mrpt::config::CConfigFileBase c)
overridevirtual

Implements mrpt::nav::CMultiObjectiveMotionOptimizerBase.

Definition at line 32 of file CMultiObjMotionOpt_Scalarization.cpp.

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

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◆ saveConfigFile()

void CMultiObjMotionOpt_Scalarization::saveConfigFile ( mrpt::config::CConfigFileBase c) const
overridevirtual

Implements mrpt::nav::CMultiObjectiveMotionOptimizerBase.

Definition at line 42 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::rtti::CLASSINIT mrpt::nav::CMultiObjMotionOpt_Scalarization::_init_CMultiObjMotionOpt_Scalarization
staticprotected

Definition at line 28 of file CMultiObjMotionOpt_Scalarization.h.

◆ className

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

Definition at line 28 of file CMultiObjMotionOpt_Scalarization.h.

◆ m_expr_scalar_formula

mrpt::expr::CRuntimeCompiledExpression mrpt::nav::CMultiObjMotionOpt_Scalarization::m_expr_scalar_formula
protected

Definition at line 57 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 58 of file CMultiObjMotionOpt_Scalarization.h.

Referenced by clear(), and impl_decide().

◆ parameters

TParams mrpt::nav::CMultiObjMotionOpt_Scalarization::parameters

Definition at line 52 of file CMultiObjMotionOpt_Scalarization.h.

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

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::nav::CMultiObjMotionOpt_Scalarization::runtimeClassId
staticprotected

Definition at line 28 of file CMultiObjMotionOpt_Scalarization.h.




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