class mrpt::nav::CMultiObjectiveMotionOptimizerBase
Virtual base class for multi-objective motion choosers, as used for reactive navigation engines.
See also:
CReactiveNavigationSystem, CReactiveNavigationSystem3D
#include <mrpt/nav/reactive/CMultiObjectiveMotionOptimizerBase.h> class CMultiObjectiveMotionOptimizerBase: public mrpt::rtti::CObject { 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(); }; // direct descendants class CMultiObjMotionOpt_Scalarization;
Methods
static CMultiObjectiveMotionOptimizerBase::Ptr Factory(const std::string& className)
Class factory from C++ class name.
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
.
If no valid one is found, -1
will be returned.
virtual void clear()
Resets the object state; use if the parameters change, so they are re-read and applied.