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 27 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) throw ()

void	operator delete[] (void *ptr) throw ()

void	operator delete (void memory, void ptr) throw ()

void *	operator new (size_t size, const std::nothrow_t &) throw ()

void	operator delete (void *ptr, const std::nothrow_t &) throw ()

	CMultiObjMotionOpt_Scalarization ()

void	loadConfigFile (const mrpt::utils::CConfigFileBase &c) MRPT_OVERRIDE

void	saveConfigFile (mrpt::utils::CConfigFileBase &c) const MRPT_OVERRIDE

virtual void	clear () MRPT_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...

mrpt::utils::CObjectPtr	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...

CObject *	clone () const
	Cloning interface for smart pointers. More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

static CMultiObjectiveMotionOptimizerBase *	Create (const std::string &className) MRPT_NO_THROWS
	Class factory from C++ class name. More...

Public Attributes
TParams	parameters

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCMultiObjectiveMotionOptimizerBase

Protected Member Functions
int	impl_decide (const std::vector< mrpt::nav::TCandidateMovementPTG > &movs, TResultInfo &extra_info) MRPT_OVERRIDE

Protected Attributes
mrpt::math::CRuntimeCompiledExpression	m_expr_scalar_formula

std::map< std::string, double >	m_expr_scalar_vars

RTTI stuff
typedef CMultiObjMotionOpt_ScalarizationPtr	Ptr

typedef CMultiObjMotionOpt_ScalarizationPtr	ConstPtr

static mrpt::utils::CLASSINIT	_init_CMultiObjMotionOpt_Scalarization

static mrpt::utils::TRuntimeClassId	classCMultiObjMotionOpt_Scalarization

static const mrpt::utils::TRuntimeClassId *	classinfo

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

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

virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...

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

static CMultiObjMotionOpt_ScalarizationPtr	Create ()

Member Typedef Documentation

◆ ConstPtr

typedef CMultiObjMotionOpt_ScalarizationPtr mrpt::nav::CMultiObjMotionOpt_Scalarization::ConstPtr

Definition at line 30 of file CMultiObjMotionOpt_Scalarization.h.

◆ Ptr

typedef CMultiObjMotionOpt_ScalarizationPtr mrpt::nav::CMultiObjMotionOpt_Scalarization::Ptr

A typedef for the associated smart pointer

Definition at line 30 of file CMultiObjMotionOpt_Scalarization.h.

Constructor & Destructor Documentation

◆ CMultiObjMotionOpt_Scalarization()

CMultiObjMotionOpt_Scalarization::CMultiObjMotionOpt_Scalarization ( )

Definition at line 19 of file CMultiObjMotionOpt_Scalarization.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::nav::CMultiObjMotionOpt_Scalarization::_GetBaseClass ( )

staticprotected

◆ clear()

void CMultiObjMotionOpt_Scalarization::clear ( )

virtual

Resets the object state; use if the parameters change, so they are re-read and applied.

Reimplemented from mrpt::nav::CMultiObjectiveMotionOptimizerBase.

Definition at line 24 of file CMultiObjMotionOpt_Scalarization.cpp.

References mrpt::nav::CMultiObjectiveMotionOptimizerBase::clear().

◆ clone()

CObject* mrpt::utils::CObject::clone ( ) const

inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

◆ Create() [1/2]

static CMultiObjMotionOpt_ScalarizationPtr mrpt::nav::CMultiObjMotionOpt_Scalarization::Create ( )

static

◆ Create() [2/2]

CMultiObjectiveMotionOptimizerBase * CMultiObjectiveMotionOptimizerBase::Create ( const std::string & className )

staticinherited

Class factory from C++ class name.

Definition at line 202 of file CMultiObjectiveMotionOptimizerBase.cpp.

References mrpt::utils::TRuntimeClassId::createObject(), mrpt::utils::findRegisteredClass(), and mrpt::utils::registerAllPendingClasses().

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

◆ CreateObject()

static mrpt::utils::CObject* mrpt::nav::CMultiObjMotionOpt_Scalarization::CreateObject ( )

static

◆ 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 25 of file CMultiObjectiveMotionOptimizerBase.cpp.

References mrpt::mrpt::format(), mrpt::mrpt::utils::keep_max(), mrpt::nav::CMultiObjectiveMotionOptimizerBase::TResultInfo::log_entries, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TResultInfo::score_values, THROW_EXCEPTION_FMT, and val.

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::nav::CMultiObjMotionOpt_Scalarization::duplicate ( ) const

virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr mrpt::utils::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 140 of file CObject.h.

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