Detailed Description
Virtual base class for multi-objective motion choosers, as used for reactive navigation engines.
Definition at line 28 of file CMultiObjectiveMotionOptimizerBase.h.
#include <mrpt/nav/reactive/CMultiObjectiveMotionOptimizerBase.h>
Classes | |
| struct | TParamsBase |
| Common params for all children. More... | |
| struct | TResultInfo |
Public Member Functions | |
| 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... | |
| virtual void | loadConfigFile (const mrpt::utils::CConfigFileBase &c)=0 |
| virtual void | saveConfigFile (mrpt::utils::CConfigFileBase &c) const =0 |
| virtual void | clear () |
| Resets the object state; use if the parameters change, so they are re-read and applied. More... | |
| virtual CObject * | duplicate () const =0 |
| Returns a copy of the object, indepently of its class. More... | |
| CObject * | clone () const |
| Cloning interface for smart pointers. More... | |
RTTI classes and functions | |
| 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... | |
Static Public Member Functions | |
| static CMultiObjectiveMotionOptimizerBase * | Create (const std::string &className) MRPT_NO_THROWS |
| Class factory from C++ class name. More... | |
Static Public Attributes | |
| static const mrpt::utils::TRuntimeClassId | classCObject |
Protected Member Functions | |
| CMultiObjectiveMotionOptimizerBase (TParamsBase ¶ms) | |
Private Member Functions | |
| virtual int | impl_decide (const std::vector< mrpt::nav::TCandidateMovementPTG > &movs, TResultInfo &extra_info)=0 |
Private Attributes | |
| TParamsBase & | m_params_base |
| std::map< std::string, mrpt::math::CRuntimeCompiledExpression > | m_score_exprs |
| score names -> score compiled expressions More... | |
| std::vector< mrpt::math::CRuntimeCompiledExpression > | m_movement_assert_exprs |
| std::map< std::string, double > | m_expr_vars |
RTTI stuff | |
| typedef CMultiObjectiveMotionOptimizerBasePtr | Ptr |
| typedef CMultiObjectiveMotionOptimizerBasePtr | ConstPtr |
| static const mrpt::utils::TRuntimeClassId | classCMultiObjectiveMotionOptimizerBase |
| class | mrpt::utils::CStream |
| static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
| virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const |
| Returns information about the class of an object in runtime. More... | |
Member Typedef Documentation
◆ ConstPtr
| typedef CMultiObjectiveMotionOptimizerBasePtr mrpt::nav::CMultiObjectiveMotionOptimizerBase::ConstPtr |
Definition at line 32 of file CMultiObjectiveMotionOptimizerBase.h.
◆ Ptr
| typedef CMultiObjectiveMotionOptimizerBasePtr mrpt::nav::CMultiObjectiveMotionOptimizerBase::Ptr |
Definition at line 32 of file CMultiObjectiveMotionOptimizerBase.h.
Constructor & Destructor Documentation
◆ CMultiObjectiveMotionOptimizerBase()
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protected |
Definition at line 20 of file CMultiObjectiveMotionOptimizerBase.cpp.
Member Function Documentation
◆ _GetBaseClass()
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staticprotected |
◆ clear()
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virtual |
Resets the object state; use if the parameters change, so they are re-read and applied.
Reimplemented in mrpt::nav::CMultiObjMotionOpt_Scalarization.
Definition at line 197 of file CMultiObjectiveMotionOptimizerBase.cpp.
Referenced by mrpt::nav::CMultiObjMotionOpt_Scalarization::clear().
◆ clone()
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inlineinherited |
◆ Create()
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static |
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().
◆ decide()
| int CMultiObjectiveMotionOptimizerBase::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.
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()
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pure virtualinherited |
Returns a copy of the object, indepently of its class.
Implemented in mrpt::nav::CLogFileRecord_ND, mrpt::obs::CObservation3DRangeScan, mrpt::maps::CMultiMetricMap, mrpt::utils::CSimpleDatabase, mrpt::nav::CLogFileRecord_FullEval, mrpt::utils::CImage, mrpt::gui::CDisplayWindow3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CRandomFieldGridMap3D, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CMultiMetricMapPDF, mrpt::obs::CObservationRGBD360, mrpt::maps::TMapGenericParams, mrpt::hmtslam::CHMTSLAM, mrpt::obs::CObservationGPS, mrpt::maps::CLandmarksMap, mrpt::maps::CHeightGridMap2D, mrpt::opengl::COctoMapVoxels, mrpt::poses::CPointPDFParticles, mrpt::opengl::COpenGLViewport, mrpt::obs::CObservationVelodyneScan, mrpt::vision::CFeature, mrpt::kinematics::CKinematicChain, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicVFF, mrpt::obs::CRawlog, mrpt::obs::CSensoryFrame, mrpt::nav::CHolonomicND, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicFullEval, mrpt::opengl::CPointCloud, mrpt::detectors::CDetectable2D, mrpt::opengl::COpenGLScene, mrpt::pbmap::Plane, mrpt::poses::CPose2DInterpolator, mrpt::opengl::CFrustum, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::maps::CBeaconMap, mrpt::maps::CReflectivityGridMap2D, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::obs::CObservation2DRangeScan, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DQuat, mrpt::poses::CPose3DRotVec, mrpt::utils::CMHPropertiesValuesList, mrpt::hmtslam::CHMHMapNode, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::maps::CBeacon, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CAngularObservationMesh, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::poses::CPose2D, mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CRobotPosesGraph, mrpt::maps::COctoMap, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPointPDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::obs::CObservationImage, mrpt::opengl::CBox, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::hmtslam::CHierarchicalMHMap, mrpt::hmtslam::CHMHMapArc, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationBatteryState, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::opengl::CSetOfLines, mrpt::maps::CLandmark, mrpt::maps::CColouredOctoMap, mrpt::maps::CSimplePointsMap, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CDisk, mrpt::opengl::CSphere, mrpt::poses::CPoint3D, mrpt::poses::CPosePDFGaussian, mrpt::utils::CStringList, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationWindSensor, mrpt::opengl::CCamera, mrpt::opengl::CColorBar, mrpt::opengl::CPolyhedron, mrpt::slam::CIncrementalMapPartitioner, mrpt::gui::CDisplayWindowPlots, mrpt::obs::CActionCollection, mrpt::opengl::CSetOfObjects, mrpt::math::CMatrix, mrpt::math::CMatrixD, mrpt::poses::CPosePDFGrid, mrpt::utils::TCamera, mrpt::obs::CObservationRange, mrpt::obs::CObservationRawDAQ, mrpt::obs::CObservationSkeleton, mrpt::math::CSplineInterpolator1D, mrpt::utils::CSimpleDatabaseTable, mrpt::gui::CDisplayWindow, mrpt::nav::CLogFileRecord_VFF, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationWirelessPower, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationRFID, mrpt::opengl::C3DSScene, mrpt::opengl::CCylinder, mrpt::opengl::CSetOfTriangles, mrpt::poses::TSimple3DPoint, mrpt::utils::CMemoryChunk, mrpt::nav::CMultiObjMotionOpt_Scalarization, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationReflectivity, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CMatrixB, mrpt::poses::CPointPDFGaussian, mrpt::utils::CPropertiesValuesList, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::math::CPolygon, mrpt::utils::CTypeSelector, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::TStereoCamera, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, and mrpt::opengl::COpenGLStandardObject.
Referenced by mrpt::poses::CPoseRandomSampler::CPoseRandomSampler(), mrpt::maps::CSimpleMap::insert(), mrpt::obs::CActionCollection::insert(), mrpt::poses::CPoseRandomSampler::operator=(), and mrpt::poses::CPoseRandomSampler::setPosePDF().
◆ duplicateGetSmartPtr()
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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 162 of file CObject.h.
References mrpt::utils::CObjectPtr.
Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().
◆ GetRuntimeClass()
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virtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::utils::CObject.
Reimplemented in mrpt::nav::CMultiObjMotionOpt_Scalarization.
◆ impl_decide()
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privatepure virtual |
Implemented in mrpt::nav::CMultiObjMotionOpt_Scalarization.
◆ loadConfigFile()
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pure virtual |
Implemented in mrpt::nav::CMultiObjMotionOpt_Scalarization.
◆ saveConfigFile()
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pure virtual |
Implemented in mrpt::nav::CMultiObjMotionOpt_Scalarization.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::saveConfigFile().
Friends And Related Function Documentation
◆ mrpt::utils::CStream
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friend |
Definition at line 32 of file CMultiObjectiveMotionOptimizerBase.h.
Member Data Documentation
◆ classCMultiObjectiveMotionOptimizerBase
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static |
Definition at line 32 of file CMultiObjectiveMotionOptimizerBase.h.
◆ classCObject
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staticinherited |
◆ m_expr_vars
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private |
Definition at line 90 of file CMultiObjectiveMotionOptimizerBase.h.
◆ m_movement_assert_exprs
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private |
Definition at line 89 of file CMultiObjectiveMotionOptimizerBase.h.
◆ m_params_base
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private |
Definition at line 86 of file CMultiObjectiveMotionOptimizerBase.h.
◆ m_score_exprs
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private |
score names -> score compiled expressions
Definition at line 88 of file CMultiObjectiveMotionOptimizerBase.h.