CMultiObjMotionOpt_Scalarization.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/nav/reactive/CMultiObjectiveMotionOptimizerBase.h>
#include <mrpt/nav/link_pragmas.h>

namespace mrpt
{
        namespace nav
        {
                DEFINE_MRPT_OBJECT_PRE_CUSTOM_LINKAGE(CMultiObjMotionOpt_Scalarization, NAV_IMPEXP)

                        /** 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
                          *
                          * \sa CReactiveNavigationSystem, CReactiveNavigationSystem3D
                          * \ingroup nav_reactive
                          */
                class NAV_IMPEXP CMultiObjMotionOpt_Scalarization: public mrpt::nav::CMultiObjectiveMotionOptimizerBase
                {
                        // This must be added to any CSerializable derived class:
                        DEFINE_MRPT_OBJECT(CMultiObjMotionOpt_Scalarization)

                public:
                        CMultiObjMotionOpt_Scalarization();

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

                        struct NAV_IMPEXP TParams : public mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase
                        {
                                std::string  scalar_score_formula;  //!< A formula that takes all/a subset of scores and generates a scalar global score.

                                TParams();
                                void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source, const std::string &section) MRPT_OVERRIDE; // See base docs
                                void saveToConfigFile(mrpt::utils::CConfigFileBase &cfg, const std::string &section) const MRPT_OVERRIDE; // See base docs
                        };

                        TParams parameters;

                        virtual void clear() MRPT_OVERRIDE;

                protected:
                        mrpt::math::CRuntimeCompiledExpression m_expr_scalar_formula;
                        std::map<std::string, double>          m_expr_scalar_vars;

                        // This virtual method is called by decide().
                        int impl_decide(const std::vector<mrpt::nav::TCandidateMovementPTG> &movs, TResultInfo &extra_info) MRPT_OVERRIDE;
                };
                DEFINE_MRPT_OBJECT_POST_CUSTOM_LINKAGE(CMultiObjMotionOpt_Scalarization, NAV_IMPEXP)

        }
}