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
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::config::CConfigFileBase &c) override

void	saveConfigFile (mrpt::config::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 for polymorphic hierarchies
mrpt::rtti::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::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::TRuntimeClassId &	GetRuntimeClassIdStatic ()

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

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

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

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

virtual mrpt::rtti::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 28 of file CMultiObjMotionOpt_Scalarization.h.

◆ ConstUniquePtr

using mrpt::nav::CMultiObjMotionOpt_Scalarization::ConstUniquePtr = std::unique_ptr<const CMultiObjMotionOpt_Scalarization >

Definition at line 28 of file CMultiObjMotionOpt_Scalarization.h.

◆ Ptr

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

A type for the associated smart pointer

Definition at line 28 of file CMultiObjMotionOpt_Scalarization.h.

◆ UniquePtr

using mrpt::nav::CMultiObjMotionOpt_Scalarization::UniquePtr = std::unique_ptr< CMultiObjMotionOpt_Scalarization >

Definition at line 28 of file CMultiObjMotionOpt_Scalarization.h.

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.

◆ 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.

◆ CreateObject()

static mrpt::rtti::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()

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.

◆ duplicateGetSmartPtr()

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

inlineinherited

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).

Definition at line 168 of file CObject.h.

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

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