Common params for all children.
Definition at line 61 of file CMultiObjectiveMotionOptimizerBase.h.
#include <mrpt/nav/reactive/CMultiObjectiveMotionOptimizerBase.h>
Public Member Functions | |
TParamsBase () | |
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. More... | |
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. More... | |
void | loadFromConfigFileName (const std::string &config_file, const std::string §ion) |
Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More... | |
void | saveToConfigFileName (const std::string &config_file, const std::string §ion) const |
Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More... | |
void | dumpToConsole () const |
Just like dumpToTextStream() but sending the text to the console (std::cout) More... | |
virtual void | dumpToTextStream (std::ostream &out) const |
This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream. More... | |
Public Attributes | |
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 "score" factors to evaluate. More... | |
std::vector< std::string > | movement_assert |
A list of exprtk expressions for conditions that any candidate movement must fulfill in order to get through the evaluation process. More... | |
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 candidates, such that the maximum value is 1. More... | |
Static Protected Member Functions | |
static void | dumpVar_int (std::ostream &out, const char *varName, int v) |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More... | |
static void | dumpVar_float (std::ostream &out, const char *varName, float v) |
static void | dumpVar_double (std::ostream &out, const char *varName, double v) |
static void | dumpVar_bool (std::ostream &out, const char *varName, bool v) |
static void | dumpVar_string (std::ostream &out, const char *varName, const std::string &v) |
CMultiObjectiveMotionOptimizerBase::TParamsBase::TParamsBase | ( | ) |
Definition at line 245 of file CMultiObjectiveMotionOptimizerBase.cpp.
References formula_score, and scores_to_normalize.
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inherited |
Just like dumpToTextStream() but sending the text to the console (std::cout)
Definition at line 44 of file CLoadableOptions.cpp.
References mrpt::config::CLoadableOptions::dumpToTextStream().
Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().
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virtualinherited |
This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream.
The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.
Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions, mrpt::maps::COccupancyGridMap2D::TInsertionOptions, mrpt::vision::TMatchingOptions, mrpt::hmtslam::CHMTSLAM::TOptions, mrpt::maps::CLandmarksMap::TLikelihoodOptions, mrpt::maps::TSetOfMetricMapInitializers, mrpt::maps::CPointsMap::TRenderOptions, mrpt::maps::CPointsMap::TLikelihoodOptions, mrpt::vision::TStereoSystemParams, mrpt::maps::CColouredPointsMap::TColourOptions, mrpt::maps::CLandmarksMap::TInsertionOptions, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TLikelihoodOptions, mrpt::maps::CPointsMap::TInsertionOptions, mrpt::slam::CRangeBearingKFSLAM::TOptions, mrpt::maps::CBeaconMap::TInsertionOptions, mrpt::maps::CMultiMetricMapPDF::TPredictionParams, mrpt::maps::CBeaconMap::TLikelihoodOptions, mrpt::slam::CRangeBearingKFSLAM2D::TOptions, mrpt::maps::CHeightGridMap2D::TInsertionOptions, mrpt::vision::CFeatureExtraction::TOptions, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions, mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions, mrpt::slam::CGridMapAligner::TConfigParams, mrpt::bayes::TKF_options, mrpt::maps::CReflectivityGridMap2D::TInsertionOptions, mrpt::hmtslam::CTopLCDetector_GridMatching::TOptions, mrpt::hmtslam::CTopLCDetector_FabMap::TOptions, mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions, mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions, mrpt::maps::TMetricMapInitializer, mrpt::slam::CMetricMapBuilderICP::TConfigParams, mrpt::vision::CCamModel, mrpt::slam::TKLDParams, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams, mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams, mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::TParams, mrpt::graphslam::TSlidingWindow, and mrpt::graphslam::TUncertaintyPath< GRAPH_T >.
Definition at line 77 of file CLoadableOptions.cpp.
References mrpt::config::CConfigFileMemory::getContent(), and mrpt::config::CLoadableOptions::saveToConfigFile().
Referenced by mrpt::config::CLoadableOptions::dumpToConsole(), and mrpt::maps::TMetricMapInitializer::dumpToTextStream().
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staticprotectedinherited |
Definition at line 63 of file CLoadableOptions.cpp.
References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.
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staticprotectedinherited |
Definition at line 57 of file CLoadableOptions.cpp.
References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.
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staticprotectedinherited |
Definition at line 51 of file CLoadableOptions.cpp.
References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.
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staticprotectedinherited |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
Definition at line 45 of file CLoadableOptions.cpp.
References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.
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staticprotectedinherited |
Definition at line 70 of file CLoadableOptions.cpp.
References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.
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overridevirtual |
This method load the options from a ".ini"-like file or memory-stored string list.
Only those parameters found in the given "section" and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an ".ini" file:
Implements mrpt::config::CLoadableOptions.
Reimplemented in mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams.
Definition at line 261 of file CMultiObjectiveMotionOptimizerBase.cpp.
References mrpt::format(), THROW_EXCEPTION_FMT, and mrpt::system::tokenize().
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inherited |
Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.
Definition at line 22 of file CLoadableOptions.cpp.
References mrpt::config::CLoadableOptions::loadFromConfigFile().
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overridevirtual |
This method saves the options to a ".ini"-like file or memory-stored string list.
Reimplemented from mrpt::config::CLoadableOptions.
Reimplemented in mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams.
Definition at line 320 of file CMultiObjectiveMotionOptimizerBase.cpp.
References mrpt::format(), mrpt::config::MRPT_SAVE_NAME_PADDING(), and mrpt::config::MRPT_SAVE_VALUE_PADDING().
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inherited |
Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.
Definition at line 37 of file CLoadableOptions.cpp.
References mrpt::config::CLoadableOptions::saveToConfigFile().
std::map<std::string, std::string> mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase::formula_score |
A list of name
-> mathematical expression (in the format of the exprtk library) for the list of "score" factors to evaluate.
Definition at line 69 of file CMultiObjectiveMotionOptimizerBase.h.
Referenced by mrpt::nav::CMultiObjectiveMotionOptimizerBase::decide(), and TParamsBase().
std::vector<std::string> mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase::movement_assert |
A list of exprtk expressions for conditions that any candidate movement must fulfill in order to get through the evaluation process.
All assert conditions must be satisfied.
Definition at line 76 of file CMultiObjectiveMotionOptimizerBase.h.
Referenced by mrpt::nav::CMultiObjectiveMotionOptimizerBase::decide().
std::vector<std::string> mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase::scores_to_normalize |
List of score names (as defined in the key of formula_score
) that must be normalized across all candidates, such that the maximum value is 1.
Definition at line 81 of file CMultiObjectiveMotionOptimizerBase.h.
Referenced by mrpt::nav::CMultiObjectiveMotionOptimizerBase::decide(), and TParamsBase().
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