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54 const std::vector<mrpt::nav::TCandidateMovementPTG>& movs,
101 const std::vector<mrpt::nav::TCandidateMovementPTG>& movs,
107 std::map<std::string, mrpt::expr::CRuntimeCompiledExpression>
m_score_exprs;
static CMultiObjectiveMotionOptimizerBase::Ptr Factory(const std::string &className) noexcept
Class factory from C++ class name.
#define DEFINE_VIRTUAL_MRPT_OBJECT(class_name)
This declaration must be inserted in virtual CObject classes definition:
std::vector< std::string > log_entries
Optionally, debug logging info will be stored here by the implementor classes.
std::shared_ptr< CMultiObjectiveMotionOptimizerBase > Ptr
std::vector< mrpt::expr::CRuntimeCompiledExpression > m_movement_assert_exprs
Common params for all children.
virtual void saveConfigFile(mrpt::config::CConfigFileBase &c) const =0
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
TParamsBase & m_params_base
std::map< std::string, std::string > formula_score
A list of name -> mathematical expression (in the format of the exprtk library) for the list of "scor...
GLsizei GLsizei GLchar * source
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 ...
CMultiObjectiveMotionOptimizerBase(TParamsBase ¶ms)
This class allows loading and storing values and vectors of different types from a configuration text...
virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string §ion) override
This method load the options from a ".ini"-like file or memory-stored string list.
virtual void clear()
Resets the object state; use if the parameters change, so they are re-read and applied.
The virtual base class of all MRPT classes with a unified RTTI system.
std::vector< std::map< std::string, double > > score_values
For each candidate (vector indices), the numerical evaluation of all scores defined in TParamsBase::f...
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
virtual int impl_decide(const std::vector< mrpt::nav::TCandidateMovementPTG > &movs, TResultInfo &extra_info)=0
Virtual base class for multi-objective motion choosers, as used for reactive navigation engines.
std::vector< std::string > scores_to_normalize
List of score names (as defined in the key of formula_score) that must be normalized across all candi...
std::vector< std::string > movement_assert
A list of exprtk expressions for conditions that any candidate movement must fulfill in order to get ...
std::map< std::string, double > m_expr_vars
GLsizei const GLchar ** string
std::vector< double > final_evaluation
The final evaluation score for each candidate.
virtual void loadConfigFile(const mrpt::config::CConfigFileBase &c)=0
std::map< std::string, mrpt::expr::CRuntimeCompiledExpression > m_score_exprs
score names -> score compiled expressions
virtual void saveToConfigFile(mrpt::config::CConfigFileBase &cfg, const std::string §ion) const override
This method saves the options to a ".ini"-like file or memory-stored string list.
GLenum const GLfloat * params
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