struct mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams¶

#include <mrpt/nav/reactive/CMultiObjMotionOpt_Scalarization.h>

struct TParams: public mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase
{
    //
fields

    std::string scalar_score_formula;
    std::map<std::string, std::string> formula_score;
    std::vector<std::string> movement_assert;
    std::vector<std::string> scores_to_normalize;

    //
methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
};

Inherited Members¶

public:
    //
methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section) = 0;
    void loadFromConfigFileName(const std::string& config_file, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
    void saveToConfigFileName(const std::string& config_file, const std::string& section) const;
    void dumpToConsole() const;
    virtual void dumpToTextStream(std::ostream& out) const;
    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;

Fields¶

std::string scalar_score_formula

A formula that takes all/a subset of scores and generates a scalar global score.

std::map<std::string, std::string> formula_score

A list of name -> mathematical expression (in the format of the exprtk library) for the list of “score” factors to evaluate.

std::vector<std::string> movement_assert

A list of exprtk expressions for conditions that any candidate movement must fulfill in order to get through the evaluation process.

All assert conditions must be satisfied.

std::vector<std::string> scores_to_normalize

List of score names (as defined in the key of formula_score) that must be normalized across all candidates, such that the maximum value is 1.

Methods¶

virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section)

This method load the options from a “.ini”-like file or memory-stored string list.

Only those parameters found in the given “section” and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an “.ini” file:

[section]
resolution    = 0.10   // blah blah...
modeSelection = 1      // 0=blah, 1=blah,...