CMultiObjectiveMotionOptimizerBase.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/TCandidateMovementPTG.h>
#include <mrpt/utils/CLoadableOptions.h>
#include <mrpt/utils/CConfigFileBase.h>
#include <mrpt/utils/CObject.h>
#include <mrpt/math/CRuntimeCompiledExpression.h>

namespace mrpt
{
namespace nav
{
/** Virtual base class for multi-objective motion choosers, as used for reactive
  *navigation engines.
  *\sa CReactiveNavigationSystem, CReactiveNavigationSystem3D
  *  \ingroup nav_reactive
  */
class CMultiObjectiveMotionOptimizerBase : public mrpt::utils::CObject
{
        DEFINE_VIRTUAL_MRPT_OBJECT(CMultiObjectiveMotionOptimizerBase)
   public:
        /** Class factory from C++ class name */
        static CMultiObjectiveMotionOptimizerBase::Ptr Factory(
                const std::string& className) noexcept;

        struct TResultInfo
        {
                /** For each candidate (vector indices), the numerical evaluation of all
                 * scores defined in TParamsBase::formula_score.
                  * A value of 0 in all scores, or an empty map, means unsuitable
                 * candidate. */
                std::vector<std::map<std::string, double>> score_values;

                /** The final evaluation score for each candidate */
                std::vector<double> final_evaluation;
                /** Optionally, debug logging info will be stored here by the
                 * implementor classes */
                std::vector<std::string> log_entries;
        };

        /** 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.
          */
        int decide(
                const std::vector<mrpt::nav::TCandidateMovementPTG>& movs,
                TResultInfo& extra_info);

        virtual void loadConfigFile(const mrpt::utils::CConfigFileBase& c) = 0;
        virtual void saveConfigFile(mrpt::utils::CConfigFileBase& c) const = 0;

        /** Common params for all children */
        struct TParamsBase : public mrpt::utils::CLoadableOptions
        {
                TParamsBase();

                /** A list of `name` -> mathematical expression (in the format of the
                 * exprtk library) for
                  * the list of "score" factors to evaluate.
                  */
                std::map<std::string, std::string> formula_score;

                /** 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> movement_assert;

                /** 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. */
                std::vector<std::string> scores_to_normalize;

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

        /** Resets the object state; use if the parameters change, so they are
         * re-read and applied. */
        virtual void clear();

   protected:
        CMultiObjectiveMotionOptimizerBase(TParamsBase& params);

   private:
        // This virtual method is called by decide().
        virtual int impl_decide(
                const std::vector<mrpt::nav::TCandidateMovementPTG>& movs,
                TResultInfo& extra_info) = 0;

        TParamsBase& m_params_base;

        /** score names -> score compiled expressions */
        std::map<std::string, mrpt::math::CRuntimeCompiledExpression> m_score_exprs;
        std::vector<mrpt::math::CRuntimeCompiledExpression> m_movement_assert_exprs;
        std::map<std::string, double> m_expr_vars;
};
}
}