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 25 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
	CMultiObjMotionOpt_Scalarization ()
void	loadConfigFile (const mrpt::config::CConfigFileBase &c) override
void	saveConfigFile (mrpt::config::CConfigFileBase &c) const override
void	clear () 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...
RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Static Public Member Functions
static CMultiObjectiveMotionOptimizerBase::Ptr	Factory (const std::string &className) noexcept
	Class factory from C++ class name. More...

Public Attributes
TParams	parameters

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

Protected Attributes
mrpt::expr::CRuntimeCompiledExpression	m_expr_scalar_formula
std::map< std::string, double >	m_expr_scalar_vars

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::nav ::CMultiObjMotionOpt_Scalarization >
using	ConstPtr = std::shared_ptr< const mrpt::nav ::CMultiObjMotionOpt_Scalarization >
using	UniquePtr = std::unique_ptr< mrpt::nav ::CMultiObjMotionOpt_Scalarization >
using	ConstUniquePtr = std::unique_ptr< const mrpt::nav ::CMultiObjMotionOpt_Scalarization >
static const mrpt::rtti::TRuntimeClassId	runtimeClassId
static constexpr const char *	className = "mrpt::nav" "::" "CMultiObjMotionOpt_Scalarization"
static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()
static constexpr auto	getClassName ()
static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()
static std::shared_ptr< CObject >	CreateObject ()
template<typename... Args>
static Ptr	Create (Args &&... args)
template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)
template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)
virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...
virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

ConstPtr

using mrpt::nav::CMultiObjMotionOpt_Scalarization::ConstPtr = std::shared_ptr<const mrpt::nav :: CMultiObjMotionOpt_Scalarization >

Definition at line 28 of file CMultiObjMotionOpt_Scalarization.h.

ConstUniquePtr

using mrpt::nav::CMultiObjMotionOpt_Scalarization::ConstUniquePtr = std::unique_ptr<const mrpt::nav :: CMultiObjMotionOpt_Scalarization >

Definition at line 28 of file CMultiObjMotionOpt_Scalarization.h.

Ptr

using mrpt::nav::CMultiObjMotionOpt_Scalarization::Ptr = std::shared_ptr< mrpt::nav :: CMultiObjMotionOpt_Scalarization >

A type for the associated smart pointer

Definition at line 28 of file CMultiObjMotionOpt_Scalarization.h.

UniquePtr

using mrpt::nav::CMultiObjMotionOpt_Scalarization::UniquePtr = std::unique_ptr< mrpt::nav :: CMultiObjMotionOpt_Scalarization >

Definition at line 28 of file CMultiObjMotionOpt_Scalarization.h.

Constructor & Destructor Documentation

CMultiObjMotionOpt_Scalarization()

mrpt::nav::CMultiObjMotionOpt_Scalarization::CMultiObjMotionOpt_Scalarization

(

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Member Function Documentation

_GetBaseClass()

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

staticprotected

clear()

void CMultiObjMotionOpt_Scalarization::clear ( )

overridevirtual

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

Reimplemented from mrpt::nav::CMultiObjectiveMotionOptimizerBase.

Definition at line 25 of file CMultiObjMotionOpt_Scalarization.cpp.

References mrpt::nav::CMultiObjectiveMotionOptimizerBase::clear(), m_expr_scalar_formula, and m_expr_scalar_vars.

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clone()

virtual mrpt::rtti::CObject* mrpt::nav::CMultiObjMotionOpt_Scalarization::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

Create()

template<typename... Args>

static Ptr mrpt::nav::CMultiObjMotionOpt_Scalarization::Create ( Args &&...  args )

inlinestatic

Definition at line 28 of file CMultiObjMotionOpt_Scalarization.h.

CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::nav::CMultiObjMotionOpt_Scalarization::CreateAlloc ( const Alloc &  alloc, Args &&...  args  )

inlinestatic

Definition at line 28 of file CMultiObjMotionOpt_Scalarization.h.

CreateObject()

static std::shared_ptr<CObject> mrpt::nav::CMultiObjMotionOpt_Scalarization::CreateObject ( )

static

CreateUnique()

template<typename... Args>

static UniquePtr mrpt::nav::CMultiObjMotionOpt_Scalarization::CreateUnique ( Args &&...  args )

inlinestatic

Definition at line 28 of file CMultiObjMotionOpt_Scalarization.h.

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 27 of file CMultiObjectiveMotionOptimizerBase.cpp.

References mrpt::format(), mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase::formula_score, mrpt::nav::CMultiObjectiveMotionOptimizerBase::impl_decide(), mrpt::keep_max(), mrpt::nav::CMultiObjectiveMotionOptimizerBase::TResultInfo::log_entries, mrpt::nav::CMultiObjectiveMotionOptimizerBase::m_expr_vars, mrpt::nav::CMultiObjectiveMotionOptimizerBase::m_movement_assert_exprs, mrpt::nav::CMultiObjectiveMotionOptimizerBase::m_params_base, mrpt::nav::CMultiObjectiveMotionOptimizerBase::m_score_exprs, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase::movement_assert, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TResultInfo::score_values, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase::scores_to_normalize, THROW_EXCEPTION_FMT, and val.

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duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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Factory()

CMultiObjectiveMotionOptimizerBase::Ptr CMultiObjectiveMotionOptimizerBase::Factory ( const std::string &  className )

staticnoexceptinherited

Class factory from C++ class name.

Definition at line 223 of file CMultiObjectiveMotionOptimizerBase.cpp.

References mrpt::rtti::TRuntimeClassId::createObject(), mrpt::rtti::findRegisteredClass(), mrpt::ptr_cast< CAST_TO >::from(), and mrpt::rtti::registerAllPendingClasses().

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

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getClassName()

static constexpr auto mrpt::nav::CMultiObjMotionOpt_Scalarization::getClassName ( )

inlinestatic

Definition at line 28 of file CMultiObjMotionOpt_Scalarization.h.

GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::nav::CMultiObjectiveMotionOptimizerBase.

GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::nav::CMultiObjMotionOpt_Scalarization::GetRuntimeClassIdStatic ( )

static

impl_decide()

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

overrideprotectedvirtual

Implements mrpt::nav::CMultiObjectiveMotionOptimizerBase.

Definition at line 52 of file CMultiObjMotionOpt_Scalarization.cpp.

References mrpt::expr::CRuntimeCompiledExpression::compile(), mrpt::expr::CRuntimeCompiledExpression::eval(), mrpt::nav::CMultiObjectiveMotionOptimizerBase::TResultInfo::final_evaluation, m_expr_scalar_formula, m_expr_scalar_vars, parameters, mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams::scalar_score_formula, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TResultInfo::score_values, THROW_EXCEPTION_FMT, and val.

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loadConfigFile()

void CMultiObjMotionOpt_Scalarization::loadConfigFile ( const mrpt::config::CConfigFileBase &  c )

overridevirtual

Implements mrpt::nav::CMultiObjectiveMotionOptimizerBase.

Definition at line 32 of file CMultiObjMotionOpt_Scalarization.cpp.

References mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams::loadFromConfigFile(), and parameters.

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saveConfigFile()

void CMultiObjMotionOpt_Scalarization::saveConfigFile ( mrpt::config::CConfigFileBase &  c ) const

overridevirtual

Implements mrpt::nav::CMultiObjectiveMotionOptimizerBase.

Definition at line 42 of file CMultiObjMotionOpt_Scalarization.cpp.

References parameters, and mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams::saveToConfigFile().

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Member Data Documentation

className

constexpr const char* mrpt::nav::CMultiObjMotionOpt_Scalarization::className = "mrpt::nav" "::" "CMultiObjMotionOpt_Scalarization"

static

Definition at line 28 of file CMultiObjMotionOpt_Scalarization.h.

m_expr_scalar_formula

mrpt::expr::CRuntimeCompiledExpression mrpt::nav::CMultiObjMotionOpt_Scalarization::m_expr_scalar_formula

protected

Definition at line 57 of file CMultiObjMotionOpt_Scalarization.h.

Referenced by clear(), and impl_decide().

m_expr_scalar_vars

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

protected

Definition at line 58 of file CMultiObjMotionOpt_Scalarization.h.

Referenced by clear(), and impl_decide().

parameters

TParams mrpt::nav::CMultiObjMotionOpt_Scalarization::parameters

Definition at line 52 of file CMultiObjMotionOpt_Scalarization.h.

Referenced by impl_decide(), loadConfigFile(), and saveConfigFile().

runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::nav::CMultiObjMotionOpt_Scalarization::runtimeClassId

staticprotected

Definition at line 28 of file CMultiObjMotionOpt_Scalarization.h.