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mrpt::nav::CMultiObjMotionOpt_Scalarization Class Reference

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:
Inheritance graph

Classes

struct  TParams
 

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator 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...
 
CObjectclone () const
 Cloning interface for smart pointers. More...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 
static CMultiObjectiveMotionOptimizerBaseCreate (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::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
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

◆ 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().

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::nav::CMultiObjMotionOpt_Scalarization::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::nav::CMultiObjectiveMotionOptimizerBase.

◆ impl_decide()

int CMultiObjMotionOpt_Scalarization::impl_decide ( const std::vector< mrpt::nav::TCandidateMovementPTG > &  movs,
TResultInfo extra_info 
)
protectedvirtual

◆ loadConfigFile()

void CMultiObjMotionOpt_Scalarization::loadConfigFile ( const mrpt::utils::CConfigFileBase c)
virtual

◆ operator delete() [1/3]

void mrpt::nav::CMultiObjMotionOpt_Scalarization::operator delete ( void ptr)
throw (
)
inline

Definition at line 30 of file CMultiObjMotionOpt_Scalarization.h.

◆ operator delete() [2/3]

void mrpt::nav::CMultiObjMotionOpt_Scalarization::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 30 of file CMultiObjMotionOpt_Scalarization.h.

◆ operator delete() [3/3]

void mrpt::nav::CMultiObjMotionOpt_Scalarization::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 30 of file CMultiObjMotionOpt_Scalarization.h.

◆ operator delete[]()

void mrpt::nav::CMultiObjMotionOpt_Scalarization::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 30 of file CMultiObjMotionOpt_Scalarization.h.

◆ operator new() [1/3]

static void* mrpt::nav::CMultiObjMotionOpt_Scalarization::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 30 of file CMultiObjMotionOpt_Scalarization.h.

◆ operator new() [2/3]

void* mrpt::nav::CMultiObjMotionOpt_Scalarization::operator new ( size_t  size)
inline

Definition at line 30 of file CMultiObjMotionOpt_Scalarization.h.

◆ operator new() [3/3]

void* mrpt::nav::CMultiObjMotionOpt_Scalarization::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 30 of file CMultiObjMotionOpt_Scalarization.h.

◆ operator new[]()

void* mrpt::nav::CMultiObjMotionOpt_Scalarization::operator new[] ( size_t  size)
inline

Definition at line 30 of file CMultiObjMotionOpt_Scalarization.h.

◆ saveConfigFile()

void CMultiObjMotionOpt_Scalarization::saveConfigFile ( mrpt::utils::CConfigFileBase c) const
virtual

Member Data Documentation

◆ _init_CMultiObjMotionOpt_Scalarization

mrpt::utils::CLASSINIT mrpt::nav::CMultiObjMotionOpt_Scalarization::_init_CMultiObjMotionOpt_Scalarization
staticprotected

Definition at line 30 of file CMultiObjMotionOpt_Scalarization.h.

◆ classCMultiObjectiveMotionOptimizerBase

const mrpt::utils::TRuntimeClassId mrpt::nav::CMultiObjectiveMotionOptimizerBase::classCMultiObjectiveMotionOptimizerBase
staticinherited

Definition at line 32 of file CMultiObjectiveMotionOptimizerBase.h.

◆ classCMultiObjMotionOpt_Scalarization

mrpt::utils::TRuntimeClassId mrpt::nav::CMultiObjMotionOpt_Scalarization::classCMultiObjMotionOpt_Scalarization
static

Definition at line 30 of file CMultiObjMotionOpt_Scalarization.h.

◆ classCObject

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 128 of file CObject.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::nav::CMultiObjMotionOpt_Scalarization::classinfo
static

Definition at line 30 of file CMultiObjMotionOpt_Scalarization.h.

◆ m_expr_scalar_formula

mrpt::math::CRuntimeCompiledExpression mrpt::nav::CMultiObjMotionOpt_Scalarization::m_expr_scalar_formula
protected

Definition at line 52 of file CMultiObjMotionOpt_Scalarization.h.

◆ m_expr_scalar_vars

std::map<std::string, double> mrpt::nav::CMultiObjMotionOpt_Scalarization::m_expr_scalar_vars
protected

Definition at line 53 of file CMultiObjMotionOpt_Scalarization.h.

◆ parameters

TParams mrpt::nav::CMultiObjMotionOpt_Scalarization::parameters

Definition at line 47 of file CMultiObjMotionOpt_Scalarization.h.




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