CAbstractPTGBasedReactive.cpp

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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    |
   +---------------------------------------------------------------------------+ */

#include "nav-precomp.h" // Precomp header

#include <mrpt/nav/reactive/CAbstractPTGBasedReactive.h>
#include <mrpt/nav/holonomic/CHolonomicVFF.h>  // TODO: Remove for MRPT 2.0
#include <mrpt/nav/holonomic/CHolonomicND.h> // TODO: Remove for MRPT 2.0
#include <mrpt/nav/holonomic/CHolonomicFullEval.h> // TODO: Remove for MRPT 2.0
#include <mrpt/system/filesystem.h>
#include <mrpt/math/wrap2pi.h>
#include <mrpt/math/geometry.h>
#include <mrpt/math/ops_containers.h> // sum()
#include <mrpt/utils/printf_vector.h>
#include <mrpt/utils/metaprogramming.h>
#include <mrpt/utils/CFileGZOutputStream.h>
#include <mrpt/utils/CMemoryStream.h>
#include <mrpt/maps/CPointCloudFilterByDistance.h>
#include <limits>
#include <iomanip>
#include <array>

using namespace mrpt;
using namespace mrpt::poses;
using namespace mrpt::math;
using namespace mrpt::utils;
using namespace mrpt::nav;
using namespace std;

// ------ CAbstractPTGBasedReactive::TNavigationParamsPTG -----
std::string CAbstractPTGBasedReactive::TNavigationParamsPTG::getAsText() const
{
        std::string s = CWaypointsNavigator::TNavigationParamsWaypoints::getAsText();
        s += "restrict_PTG_indices: ";
        s += mrpt::utils::sprintf_vector("%u ",this->restrict_PTG_indices);
        s += "\n";
        return s;
}

bool CAbstractPTGBasedReactive::TNavigationParamsPTG::isEqual(const CAbstractNavigator::TNavigationParamsBase& rhs) const
{
        auto o = dynamic_cast<const CAbstractPTGBasedReactive::TNavigationParamsPTG*>(&rhs);
        return o!=nullptr &&
                CWaypointsNavigator::TNavigationParamsWaypoints::isEqual(rhs) &&
                restrict_PTG_indices == o->restrict_PTG_indices;
}

const double ESTIM_LOWPASSFILTER_ALPHA = 0.7;

// Ctor:
CAbstractPTGBasedReactive::CAbstractPTGBasedReactive(CRobot2NavInterface &react_iterf_impl, bool enableConsoleOutput, bool enableLogFile, const std::string &sLogDir):
        CWaypointsNavigator(react_iterf_impl),
        m_holonomicMethod            (),
        m_logFile                    (nullptr),
        m_prev_logfile               (nullptr),
        m_enableKeepLogRecords       (false),
        m_enableConsoleOutput        (enableConsoleOutput),
        m_init_done                  (false),
        m_timelogger                 (false), // default: disabled
        m_PTGsMustBeReInitialized    (true),
        meanExecutionTime            (ESTIM_LOWPASSFILTER_ALPHA, 0.1),
        meanTotalExecutionTime       (ESTIM_LOWPASSFILTER_ALPHA, 0.1),
        meanExecutionPeriod          (ESTIM_LOWPASSFILTER_ALPHA, 0.1),
        tim_changeSpeed_avr          (ESTIM_LOWPASSFILTER_ALPHA),
        timoff_obstacles_avr         (ESTIM_LOWPASSFILTER_ALPHA),
        timoff_curPoseAndSpeed_avr   (ESTIM_LOWPASSFILTER_ALPHA),
        timoff_sendVelCmd_avr        (ESTIM_LOWPASSFILTER_ALPHA),
        m_closing_navigator          (false),
        m_WS_Obstacles_timestamp     (INVALID_TIMESTAMP),
        m_infoPerPTG_timestamp       (INVALID_TIMESTAMP),
        m_navlogfiles_dir            (sLogDir),
        m_copy_prev_navParams        (nullptr)
{
        this->enableLogFile( enableLogFile );
}

void CAbstractPTGBasedReactive::preDestructor()
{
        m_closing_navigator = true;

        // Wait to end of navigation (multi-thread...)
        m_nav_cs.enter();
        m_nav_cs.leave();

        // Just in case.
        try {
                // Call base class method, NOT the generic, virtual one,
                // to avoid problems if we are in the dtor, while the vtable
                // is being destroyed.
                CAbstractNavigator::stop(false /*not emergency*/);
        } catch (...) { }

        mrpt::utils::delete_safe(m_logFile);

        // Free holonomic method:
        this->deleteHolonomicObjects();
}

CAbstractPTGBasedReactive::~CAbstractPTGBasedReactive()
{
        this->preDestructor(); // ensure the robot is stopped; free dynamic objects

        mrpt::utils::delete_safe(m_copy_prev_navParams);
}

void CAbstractPTGBasedReactive::initialize()
{
        mrpt::synch::CCriticalSectionLocker csl(&m_nav_cs);

        m_infoPerPTG_timestamp = INVALID_TIMESTAMP;

        ASSERT_(m_multiobjopt);
        m_multiobjopt->clear();

        // Compute collision grids:
        STEP1_InitPTGs();
}

/*---------------------------------------------------------------
                                                enableLogFile
  ---------------------------------------------------------------*/
void CAbstractPTGBasedReactive::enableLogFile(bool enable)
{
        mrpt::synch::CCriticalSectionLocker csl(&m_nav_cs);

        try
        {
                // Disable:
                // -------------------------------
                if (!enable)
                {
                        if (m_logFile)
                        {
                                MRPT_LOG_DEBUG("[CAbstractPTGBasedReactive::enableLogFile] Stopping logging.");
                                // Close file:
                                delete m_logFile;
                                m_logFile = NULL;
                        }
                        else return;    // Already disabled.
                }
                else
                {       // Enable
                        // -------------------------------
                        if (m_logFile) return; // Already enabled:

                        // Open file, find the first free file-name.
                        char    aux[300];
                        unsigned int nFile = 0;
                        bool    free_name = false;

                        mrpt::system::createDirectory(m_navlogfiles_dir);
                        if (!mrpt::system::directoryExists(m_navlogfiles_dir)) {
                                THROW_EXCEPTION_FMT("Could not create directory for navigation logs: `%s`", m_navlogfiles_dir.c_str());
                        }

                        while (!free_name)
                        {
                                nFile++;
                                sprintf(aux, "%s/log_%03u.reactivenavlog", m_navlogfiles_dir.c_str(), nFile );
                                free_name = !system::fileExists(aux);
                        }

                        // Open log file:
                        {
                                CFileGZOutputStream *fil = new CFileGZOutputStream();
                                bool ok = fil->open(aux, 1 /* compress level */);
                                if (!ok) {
                                        delete fil;
                                        THROW_EXCEPTION_FMT("Error opening log file: `%s`",aux);
                                }
                                else {
                                        m_logFile = fil;
                                }
                        }

                        MRPT_LOG_DEBUG(mrpt::format("[CAbstractPTGBasedReactive::enableLogFile] Logging to file `%s`\n",aux));

                }
        } catch (std::exception &e) {
                MRPT_LOG_ERROR_FMT("[CAbstractPTGBasedReactive::enableLogFile] Exception: %s",e.what());
        }

}

void CAbstractPTGBasedReactive::getLastLogRecord( CLogFileRecord &o )
{
        mrpt::synch::CCriticalSectionLocker lock(&m_critZoneLastLog);
        o = lastLogRecord;
}

// TODO: Remove for MRPT 2.0
static std::string holoMethodEnum2ClassName(const THolonomicMethod method)
{
        std::string className;
        switch (method)
        {
        case hmSEARCH_FOR_BEST_GAP:  className = "CHolonomicND";  break;
        case hmVIRTUAL_FORCE_FIELDS: className = "CHolonomicVFF"; break;
        case hmFULL_EVAL: className = "CHolonomicFullEval"; break;
        default: THROW_EXCEPTION_FMT("Unknown Holonomic method: %u", static_cast<unsigned int>(method))
        };
        return className;
}

void CAbstractPTGBasedReactive::deleteHolonomicObjects()
{
        for (size_t i=0;i<m_holonomicMethod.size();i++)
                delete m_holonomicMethod[i];
        m_holonomicMethod.clear();
}

void CAbstractPTGBasedReactive::setHolonomicMethod(const std::string & method, const mrpt::utils::CConfigFileBase & ini)
{
        mrpt::synch::CCriticalSectionLocker csl(&m_nav_cs);

        this->deleteHolonomicObjects();
        const size_t nPTGs = this->getPTG_count();
        ASSERT_(nPTGs != 0);
        m_holonomicMethod.resize(nPTGs);

        for (size_t i = 0; i<nPTGs; i++)
        {
                m_holonomicMethod[i] = CAbstractHolonomicReactiveMethod::Create(method);
                if (!m_holonomicMethod[i])
                        THROW_EXCEPTION_FMT("Non-registered holonomic method className=`%s`", method.c_str());

                m_holonomicMethod[i]->setAssociatedPTG(this->getPTG(i));
                m_holonomicMethod[i]->initialize(ini); // load params
        }
}

void CAbstractPTGBasedReactive::setHolonomicMethod(const THolonomicMethod method, const mrpt::utils::CConfigFileBase &ini)
{
        setHolonomicMethod(holoMethodEnum2ClassName(method), ini);
}

// The main method: executes one time-iteration of the reactive navigation algorithm.
void CAbstractPTGBasedReactive::performNavigationStep()
{
        CTimeLoggerEntry tle(
                m_navProfiler, "CAbstractPTGBasedReactive::performNavigationStep()");

        // Security tests:
        if (m_closing_navigator) return;  // Are we closing in the main thread?
        if (!m_init_done) THROW_EXCEPTION("Have you called loadConfigFile() before?")
        ASSERT_(m_navigationParams)

        const size_t nPTGs = this->getPTG_count();

        // Whether to worry about log files:
        const bool fill_log_record = (m_logFile!=NULL || m_enableKeepLogRecords);
        CLogFileRecord newLogRec;
        newLogRec.infoPerPTG.resize(nPTGs+1); /* +1: [N] is the "NOP cmdvel" option; not to be present in all log entries. */

        // At the beginning of each log file, add an introductory block explaining which PTGs are we using:
        {
                if (m_logFile && m_logFile!= m_prev_logfile)  // Only the first time
                {
                        m_prev_logfile = m_logFile;
                        for (size_t i=0;i<nPTGs;i++)
                        {
                                // If we make a direct copy (=) we will store the entire, heavy, collision grid.
                                // Let's just store the parameters of each PTG by serializing it, so paths can be reconstructed
                                // by invoking initialize()
                                mrpt::utils::CMemoryStream buf;
                                buf << *this->getPTG(i);
                                buf.Seek(0);
                                newLogRec.infoPerPTG[i].ptg = mrpt::nav::CParameterizedTrajectoryGeneratorPtr ( buf.ReadObject() );
                        }
                }
        }

        CTimeLoggerEntry tle1(m_timelogger,"navigationStep");

        try
        {
                totalExecutionTime.Tic(); // Start timer

                const mrpt::system::TTimeStamp tim_start_iteration = mrpt::system::now();

                // Compute target location relative to current robot pose:
                // ---------------------------------------------------------------------
                // Detect changes in target since last iteration (for NOP):
                const bool target_changed_since_last_iteration = (m_copy_prev_navParams == nullptr) || !(*m_copy_prev_navParams==*m_navigationParams);
                if (target_changed_since_last_iteration) {
                        mrpt::utils::delete_safe(m_copy_prev_navParams);
                        m_copy_prev_navParams = m_navigationParams->clone();
                }

                // Load the list of target(s) from the navigationParam user command.
                // Semantic is: any of the target is good. If several targets are reachable, head to latest one.
                std::vector<CAbstractNavigator::TargetInfo>  targets;
                {
                        auto p = dynamic_cast<const CWaypointsNavigator::TNavigationParamsWaypoints*>(m_navigationParams);
                        if (p && !p->multiple_targets.empty())
                        {
                                targets = p->multiple_targets;
                        }
                        else
                        {
                                targets.push_back(m_navigationParams->target);
                        }
                }
                const size_t nTargets = targets.size(); // Normally = 1, will be >1 if we want the robot local planner to be "smarter" in skipping dynamic obstacles.
                ASSERT_(nTargets>=1);

                STEP1_InitPTGs(); // Will only recompute if "m_PTGsMustBeReInitialized==true"

                // STEP2: Load the obstacles and sort them in height bands.
                // -----------------------------------------------------------------------------
                bool sense_ok;
                {
                        mrpt::utils::CTimeLoggerEntry tle2(
                                m_navProfiler,
                                "CAbstractPTGBasedReactive::performNavigationStep().STEP2_"
                                "SenseObstacles()");

                        sense_ok = STEP2_SenseObstacles();
                }

                if (!sense_ok)
                {
                        doEmergencyStop("Error while loading and sorting the obstacles. Robot will be stopped.");
                        if (fill_log_record)
                        {
                                CPose2D rel_cur_pose_wrt_last_vel_cmd_NOP, rel_pose_PTG_origin_wrt_sense_NOP;
                                STEP8_GenerateLogRecord(newLogRec,
                                        std::vector<mrpt::math::TPose2D>() /*no targets*/,
                                        -1, // best_ptg_idx,
                                        m_robot.getEmergencyStopCmd(),
                                        nPTGs,
                                        false, //best_is_NOP_cmdvel,
                                        rel_cur_pose_wrt_last_vel_cmd_NOP,
                                        rel_pose_PTG_origin_wrt_sense_NOP,
                                        0, //executionTimeValue,
                                        0, //tim_changeSpeed,
                                        tim_start_iteration);
                        }
                        return;
                }

                // ------- start of motion decision zone ---------
                executionTime.Tic();

                // Round #1: As usual, pure reactive, evaluate all PTGs and all directions from scratch.
                // =========

                mrpt::math::TPose2D rel_pose_PTG_origin_wrt_sense(0,0,0),relPoseSense(0,0,0), relPoseVelCmd(0,0,0);
                if (params_abstract_ptg_navigator.use_delays_model)
                {
                        /*
                        *                                          Delays model
                        *
                        * Event:          OBSTACLES_SENSED         RNAV_ITERATION_STARTS       GET_ROBOT_POSE_VEL         VEL_CMD_SENT_TO_ROBOT
                        * Timestamp:  (m_WS_Obstacles_timestamp)   (tim_start_iteration)     (m_curPoseVelTimestamp)     ("tim_send_cmd_vel")
                        * Delay                       | <---+--------------->|<--------------+-------->|                         |
                        * estimator:                        |                |               |                                   |
                        *                timoff_obstacles <-+                |               +--> timoff_curPoseVelAge           |
                        *                                                    |<---------------------------------+--------------->|
                        *                                                                                       +--> timoff_sendVelCmd_avr (estimation)
                        *
                        *                                                                                                |<-------------------->|
                        *                                                                                                   tim_changeSpeed_avr (estim)
                        *
                        *                             |<-----------------------------------------------|-------------------------->|
                        *  Relative poses:                              relPoseSense                           relPoseVelCmd
                        *  Time offsets (signed):                       timoff_pose2sense                     timoff_pose2VelCmd
                        */
                        const double timoff_obstacles = mrpt::system::timeDifference(tim_start_iteration, m_WS_Obstacles_timestamp);
                        timoff_obstacles_avr.filter(timoff_obstacles);
                        newLogRec.values["timoff_obstacles"] = timoff_obstacles;
                        newLogRec.values["timoff_obstacles_avr"] = timoff_obstacles_avr.getLastOutput();
                        newLogRec.timestamps["obstacles"] = m_WS_Obstacles_timestamp;

                        const double timoff_curPoseVelAge = mrpt::system::timeDifference(tim_start_iteration, m_curPoseVel.timestamp);
                        timoff_curPoseAndSpeed_avr.filter(timoff_curPoseVelAge);
                        newLogRec.values["timoff_curPoseVelAge"] = timoff_curPoseVelAge;
                        newLogRec.values["timoff_curPoseVelAge_avr"] = timoff_curPoseAndSpeed_avr.getLastOutput();

                        // time offset estimations:
                        const double timoff_pose2sense = timoff_obstacles - timoff_curPoseVelAge;

                        double timoff_pose2VelCmd;
                        timoff_pose2VelCmd = timoff_sendVelCmd_avr.getLastOutput() + 0.5*tim_changeSpeed_avr.getLastOutput() - timoff_curPoseVelAge;
                        newLogRec.values["timoff_pose2sense"] = timoff_pose2sense;
                        newLogRec.values["timoff_pose2VelCmd"] =  timoff_pose2VelCmd;

                        if (std::abs(timoff_pose2sense) > 1.25) MRPT_LOG_WARN_FMT("timoff_pose2sense=%e is too large! Path extrapolation may be not accurate.", timoff_pose2sense);
                        if (std::abs(timoff_pose2VelCmd) > 1.25) MRPT_LOG_WARN_FMT("timoff_pose2VelCmd=%e is too large! Path extrapolation may be not accurate.", timoff_pose2VelCmd);

                        // Path extrapolation: robot relative poses along current path estimation:
                        relPoseSense = m_curPoseVel.velLocal * timoff_pose2sense;
                        relPoseVelCmd = m_curPoseVel.velLocal * timoff_pose2VelCmd;

                        // relative pose for PTGs:
                        rel_pose_PTG_origin_wrt_sense = relPoseVelCmd - relPoseSense;

                        // logging:
                        newLogRec.relPoseSense = relPoseSense;
                        newLogRec.relPoseVelCmd = relPoseVelCmd;
                }
                else {
                        // No delays model: poses to their default values.
                }


                for (auto &t : targets)
                {
                        if ( t.target_frame_id != m_curPoseVel.pose_frame_id)
                        {
                                if (m_frame_tf == nullptr) {
                                        THROW_EXCEPTION_FMT("Different frame_id's but no frame_tf object attached!: target_frame_id=`%s` != pose_frame_id=`%s`", t.target_frame_id.c_str(), m_curPoseVel.pose_frame_id.c_str());
                                }
                                mrpt::math::TPose2D robot_frame2map_frame;
                                m_frame_tf->lookupTransform(t.target_frame_id, m_curPoseVel.pose_frame_id, robot_frame2map_frame);

                                MRPT_LOG_DEBUG_FMT("frame_tf: target_frame_id=`%s` as seen from pose_frame_id=`%s` = %s", t.target_frame_id.c_str(), m_curPoseVel.pose_frame_id.c_str(), robot_frame2map_frame.asString().c_str());

                                t.target_coords = robot_frame2map_frame + t.target_coords;
                                t.target_frame_id = m_curPoseVel.pose_frame_id; // Now the coordinates are in the same frame than robot pose
                        }
                }

                std::vector<TPose2D> relTargets;
                const auto curPoseExtrapol = (m_curPoseVel.pose + relPoseVelCmd);
                std::transform(
                        targets.begin(), targets.end(), // in
                        std::back_inserter(relTargets), // out
                        [curPoseExtrapol](const CAbstractNavigator::TargetInfo &e) { return e.target_coords - curPoseExtrapol; }
                );
                ASSERT_EQUAL_(relTargets.size(),targets.size());

                // Use the distance to the first target as reference:
                const double relTargetDist = relTargets.begin()->norm();

                // PTG dynamic state
                CParameterizedTrajectoryGenerator::TNavDynamicState ptg_dynState; //!< Allow PTGs to be responsive to target location, dynamics, etc.

                ptg_dynState.curVelLocal = m_curPoseVel.velLocal;
                ptg_dynState.relTarget = relTargets[0];
                ptg_dynState.targetRelSpeed = m_navigationParams->target.targetDesiredRelSpeed;

                newLogRec.navDynState = ptg_dynState;

                {
                        mrpt::utils::CTimeLoggerEntry tle2(
                                m_navProfiler,
                                "CAbstractPTGBasedReactive::performNavigationStep().update_PTG_"
                                "dynamic_states");

                        for (size_t i = 0; i < nPTGs; i++)
                                getPTG(i)->updateNavDynamicState(ptg_dynState);
                }

                m_infoPerPTG.assign(nPTGs+1, TInfoPerPTG());  // reset contents
                m_infoPerPTG_timestamp = tim_start_iteration;
                vector<TCandidateMovementPTG> candidate_movs(nPTGs+1); // the last extra one is for the evaluation of "NOP motion command" choice.

                for (size_t indexPTG=0;indexPTG<nPTGs;indexPTG++)
                {
                        mrpt::utils::CTimeLoggerEntry tle2(
                                m_navProfiler,
                                "CAbstractPTGBasedReactive::performNavigationStep().eval_"
                                "regular_PTG");

                        CParameterizedTrajectoryGenerator* ptg = getPTG(indexPTG);
                        TInfoPerPTG& ipf = m_infoPerPTG[indexPTG];

                        // Ensure the method knows about its associated PTG:
                        auto holoMethod = this->getHoloMethod(indexPTG);
                        ASSERT_(holoMethod);
                        holoMethod->setAssociatedPTG(this->getPTG(indexPTG));

                        // The picked movement in TP-Space (to be determined by holonomic method below)
                        TCandidateMovementPTG &cm = candidate_movs[indexPTG];

                        ASSERT_(m_navigationParams);
                        build_movement_candidate(
                                ptg, indexPTG,
                                relTargets, rel_pose_PTG_origin_wrt_sense,
                                ipf, cm,
                                newLogRec, false /* this is a regular PTG reactive case */,
                                holoMethod,
                                tim_start_iteration,
                                *m_navigationParams
                                );
                } // end for each PTG

                // check for collision, which is reflected by ALL TP-Obstacles being zero:
                bool is_all_ptg_collision = true;
                for (size_t indexPTG = 0; indexPTG < nPTGs; indexPTG++)
                {
                        bool is_collision = true;
                        const auto & obs = m_infoPerPTG[indexPTG].TP_Obstacles;
                        for (const auto o : obs) {
                                if (o != 0) {
                                        is_collision = false;
                                        break;
                                }
                        }
                        if (!is_collision) {
                                is_all_ptg_collision = false;
                                break;
                        }
                }
                if (is_all_ptg_collision) {
                        TPendingEvent ev;
                        ev.event_noargs = &CRobot2NavInterface::sendApparentCollisionEvent;
                        m_pending_events.push_back(ev);
                }

                // Round #2: Evaluate dont sending any new velocity command ("NOP" motion)
                // =========
                bool NOP_not_too_old = true;
                bool NOP_not_too_close_and_have_to_slowdown = true;
                double NOP_max_time = -1.0, NOP_At = -1.0;
                double slowdowndist = .0;
                CParameterizedTrajectoryGenerator * last_sent_ptg =
                        (m_lastSentVelCmd.isValid() && m_lastSentVelCmd.ptg_index>=0) ?
                                getPTG(m_lastSentVelCmd.ptg_index) : nullptr;
                if (last_sent_ptg) {
                        // So supportSpeedAtTarget() below is evaluated in the correct context:
                        last_sent_ptg->updateNavDynamicState(m_lastSentVelCmd.ptg_dynState);
                }

                // This approach is only possible if:
                const bool can_do_nop_motion =
                        (
                                m_lastSentVelCmd.isValid() &&
                                !target_changed_since_last_iteration &&
                                last_sent_ptg &&
                                last_sent_ptg->supportVelCmdNOP()
                        )
                        &&
                        (
                                NOP_not_too_old =
                                        (NOP_At=mrpt::system::timeDifference(m_lastSentVelCmd.tim_send_cmd_vel, tim_start_iteration))
                                        <
                                        (NOP_max_time= last_sent_ptg->maxTimeInVelCmdNOP(m_lastSentVelCmd.ptg_alpha_index)/ std::max(0.1,m_lastSentVelCmd.speed_scale))
                        )
                        &&
                        (NOP_not_too_close_and_have_to_slowdown =
                                (last_sent_ptg->supportSpeedAtTarget() ||
                                        ( relTargetDist
                                        >
                                          (slowdowndist = m_holonomicMethod[m_lastSentVelCmd.ptg_index]->getTargetApproachSlowDownDistance())  // slowdowndist is assigned here, inside the if() to be sure the index in m_lastSentVelCmd is valid!
                                        )
                                )
                        )
                        ;

                if (!NOP_not_too_old) {
                        newLogRec.additional_debug_msgs["PTG_cont"] = mrpt::format("PTG-continuation not allowed: previous command timed-out (At=%.03f > Max_At=%.03f)", NOP_At, NOP_max_time);
                }
                if (!NOP_not_too_close_and_have_to_slowdown) {
                        newLogRec.additional_debug_msgs["PTG_cont_trgdst"] = mrpt::format("PTG-continuation not allowed: target too close and must start slow-down (trgDist=%.03f < SlowDownDist=%.03f)", relTargetDist, slowdowndist);
                }

                mrpt::math::TPose2D rel_cur_pose_wrt_last_vel_cmd_NOP(0,0,0), rel_pose_PTG_origin_wrt_sense_NOP(0,0,0);

                if (can_do_nop_motion)
                {
                        mrpt::utils::CTimeLoggerEntry tle2(
                                m_navProfiler,
                                "CAbstractPTGBasedReactive::performNavigationStep().eval_NOP");

                        // Add the estimation of how long it takes to run the changeSpeeds()
                        // callback (usually a tiny period):
                        const mrpt::system::TTimeStamp tim_send_cmd_vel_corrected =
                                mrpt::system::timestampAdd(
                                        m_lastSentVelCmd.tim_send_cmd_vel,
                                        tim_changeSpeed_avr.getLastOutput());

                        // Note: we use (uncorrected) raw odometry as basis to the following calculation since it's normally
                        // smoother than particle filter-based localization data, more accurate in the middle/long term,
                        // but not in the short term:
                        mrpt::math::TPose2D robot_pose_at_send_cmd, robot_odom_at_send_cmd;
                        bool valid_odom, valid_pose;

                        m_latestOdomPoses.interpolate(tim_send_cmd_vel_corrected, robot_odom_at_send_cmd, valid_odom);
                        m_latestPoses.interpolate(tim_send_cmd_vel_corrected, robot_pose_at_send_cmd, valid_pose);

                        if (valid_odom && valid_pose)
                        {
                                ASSERT_(last_sent_ptg!=nullptr);

                                std::vector<TPose2D> relTargets_NOPs;
                                std::transform(
                                        targets.begin(), targets.end(), // in
                                        std::back_inserter(relTargets_NOPs), // out
                                        [robot_pose_at_send_cmd](const CAbstractNavigator::TargetInfo &e) { return e.target_coords - robot_pose_at_send_cmd; }
                                );
                                ASSERT_EQUAL_(relTargets_NOPs.size(), targets.size());

                                rel_pose_PTG_origin_wrt_sense_NOP = robot_odom_at_send_cmd - (m_curPoseVel.rawOdometry + relPoseSense);
                                rel_cur_pose_wrt_last_vel_cmd_NOP = m_curPoseVel.rawOdometry - robot_odom_at_send_cmd;

                                // Update PTG response to dynamic params:
                                last_sent_ptg->updateNavDynamicState(m_lastSentVelCmd.ptg_dynState);

                                if (fill_log_record)
                                {
                                        newLogRec.additional_debug_msgs["rel_cur_pose_wrt_last_vel_cmd_NOP(interp)"] = rel_cur_pose_wrt_last_vel_cmd_NOP.asString();
                                        newLogRec.additional_debug_msgs["robot_odom_at_send_cmd(interp)"] = robot_odom_at_send_cmd.asString();
                                }

                                // No need to call setAssociatedPTG(), already correctly associated above.

                                ASSERT_(m_navigationParams);
                                build_movement_candidate(
                                        last_sent_ptg, m_lastSentVelCmd.ptg_index,
                                        relTargets_NOPs, rel_pose_PTG_origin_wrt_sense_NOP,
                                        m_infoPerPTG[nPTGs], candidate_movs[nPTGs],
                                        newLogRec, true /* this is the PTG continuation (NOP) choice */,
                                        getHoloMethod(m_lastSentVelCmd.ptg_index),
                                        tim_start_iteration,
                                        *m_navigationParams,
                                        rel_cur_pose_wrt_last_vel_cmd_NOP);

                        } // end valid interpolated origin pose
                        else
                        {
                                // Can't interpolate pose, hence can't evaluate NOP:
                                candidate_movs[nPTGs].speed = -0.01; // <0 means inviable movement
                        }
                } //end can_do_NOP_motion

                // Evaluate all the candidates and pick the "best" one, using
                // the user-defined multiobjective optimizer
                // --------------------------------------------------------------
                CMultiObjectiveMotionOptimizerBase::TResultInfo mo_info;
                ASSERT_(m_multiobjopt);
                int best_ptg_idx = m_multiobjopt->decide(candidate_movs, mo_info);

                if (fill_log_record)
                {
                        if (mo_info.final_evaluation.size() == newLogRec.infoPerPTG.size())
                        {
                                for (unsigned int i = 0; i < newLogRec.infoPerPTG.size(); i++) {
                                        newLogRec.infoPerPTG[i].evaluation = mo_info.final_evaluation[i];
                                }
                        }
                        int idx = 0;
                        for (const auto &le : mo_info.log_entries) {
                                newLogRec.additional_debug_msgs[mrpt::format("MultiObjMotOptmzr_msg%03i",idx++)] = le;
                        }
                }

                // Pick best movement (or null if none is good)
                const TCandidateMovementPTG * selectedHolonomicMovement = nullptr;
                if (best_ptg_idx >= 0) {
                        selectedHolonomicMovement = &candidate_movs[best_ptg_idx];
                }

                // If the selected PTG is (N+1), it means the NOP cmd. vel is selected as the best alternative, i.e. do NOT send any new motion command.
                const bool best_is_NOP_cmdvel =  (best_ptg_idx==int(nPTGs));

                // ---------------------------------------------------------------------
                //                              SEND MOVEMENT COMMAND TO THE ROBOT
                // ---------------------------------------------------------------------
                mrpt::kinematics::CVehicleVelCmdPtr new_vel_cmd;
                if (best_is_NOP_cmdvel)
                {
                        // Notify the robot that we want it to keep executing the last cmdvel:
                        if (!this->changeSpeedsNOP())
                        {
                                doEmergencyStop("\nERROR calling changeSpeedsNOP()!! Stopping robot and finishing navigation\n");
                                if(fill_log_record)
                                {
                                        STEP8_GenerateLogRecord(newLogRec,
                                                relTargets,
                                                best_ptg_idx,
                                                m_robot.getEmergencyStopCmd(),
                                                nPTGs,
                                                best_is_NOP_cmdvel,
                                                rel_cur_pose_wrt_last_vel_cmd_NOP,
                                                rel_pose_PTG_origin_wrt_sense_NOP,
                                                0, //executionTimeValue,
                                                0, //tim_changeSpeed,
                                                tim_start_iteration);
                                }
                                return;
                        }
                }
                else
                {
                        // Make sure the dynamic state of a NOP cmd has not overwritten the state for a "regular" PTG choice:
                        for (size_t i = 0; i < nPTGs; i++) {
                                getPTG(i)->updateNavDynamicState(ptg_dynState);
                        }

                        // STEP7: Get the non-holonomic movement command.
                        // ---------------------------------------------------------------------
                        double cmd_vel_speed_ratio = 1.0;
                        if (selectedHolonomicMovement)
                        {
                                CTimeLoggerEntry tle2(
                                        m_timelogger, "navigationStep.selectedHolonomicMovement");
                                cmd_vel_speed_ratio =
                                        generate_vel_cmd(*selectedHolonomicMovement, new_vel_cmd);
                                ASSERT_(new_vel_cmd);
                        }

                        if (!new_vel_cmd /* which means best_PTG_eval==.0*/ || new_vel_cmd->isStopCmd()) {
                                MRPT_LOG_DEBUG("Best velocity command is STOP (no way found), calling robot.stop()");
                                this->stop(true /* emergency */);  // don't call doEmergencyStop() here since that will stop navigation completely
                                new_vel_cmd = m_robot.getEmergencyStopCmd();
                                m_lastSentVelCmd.reset();
                        }
                        else
                        {
                                mrpt::system::TTimeStamp tim_send_cmd_vel;
                                {
                                        CTimeLoggerEntry tle2(
                                                m_timlog_delays, "changeSpeeds()");
                                        tim_send_cmd_vel = mrpt::system::now();
                                        newLogRec.timestamps["tim_send_cmd_vel"] = tim_send_cmd_vel;
                                        if (!this->changeSpeeds(*new_vel_cmd))
                                        {
                                                doEmergencyStop("\nERROR calling changeSpeeds()!! Stopping robot and finishing navigation\n");
                                                if (fill_log_record)
                                                {
                                                        new_vel_cmd = m_robot.getEmergencyStopCmd();
                                                        STEP8_GenerateLogRecord(newLogRec,
                                                                relTargets,
                                                                best_ptg_idx,
                                                                new_vel_cmd,
                                                                nPTGs,
                                                                best_is_NOP_cmdvel,
                                                                rel_cur_pose_wrt_last_vel_cmd_NOP,
                                                                rel_pose_PTG_origin_wrt_sense_NOP,
                                                                0, //executionTimeValue,
                                                                0, //tim_changeSpeed,
                                                                tim_start_iteration);
                                                }
                                                return;
                                        }
                                }
                                // Save last sent cmd:
                                m_lastSentVelCmd.speed_scale = cmd_vel_speed_ratio;
                                m_lastSentVelCmd.ptg_index = best_ptg_idx;
                                m_lastSentVelCmd.ptg_alpha_index = selectedHolonomicMovement ?
                                        selectedHolonomicMovement->PTG->alpha2index(selectedHolonomicMovement->direction)
                                        :
                                        0;
                                m_lastSentVelCmd.original_holo_eval = selectedHolonomicMovement->props["holo_stage_eval"];

                                m_lastSentVelCmd.colfreedist_move_k = best_ptg_idx >= 0 ?
                                        m_infoPerPTG[best_ptg_idx].TP_Obstacles[m_lastSentVelCmd.ptg_alpha_index]
                                        :
                                        .0;
                                m_lastSentVelCmd.was_slowdown = (selectedHolonomicMovement->props["is_slowdown"]!=0.0);

                                m_lastSentVelCmd.poseVel = m_curPoseVel;
                                m_lastSentVelCmd.tim_send_cmd_vel = tim_send_cmd_vel;
                                m_lastSentVelCmd.ptg_dynState = ptg_dynState;

                                // Update delay model:
                                const double timoff_sendVelCmd = mrpt::system::timeDifference(tim_start_iteration, tim_send_cmd_vel);
                                timoff_sendVelCmd_avr.filter(timoff_sendVelCmd);
                                newLogRec.values["timoff_sendVelCmd"] = timoff_sendVelCmd;
                                newLogRec.values["timoff_sendVelCmd_avr"] = timoff_sendVelCmd_avr.getLastOutput();
                        }
                }

                // ------- end of motion decision zone ---------


                // Statistics:
                // ----------------------------------------------------
                const double executionTimeValue = executionTime.Tac();
                meanExecutionTime.filter(executionTimeValue);
                meanTotalExecutionTime.filter(totalExecutionTime.Tac());

                const double tim_changeSpeed = m_timlog_delays.getLastTime("changeSpeeds()");
                tim_changeSpeed_avr.filter(tim_changeSpeed);

                // Running period estim:
                const double period_tim= timerForExecutionPeriod.Tac();
                if (period_tim > 1.5* meanExecutionPeriod.getLastOutput()) {
                        MRPT_LOG_WARN_FMT("Timing warning: Suspicious executionPeriod=%.03f ms is far above the average of %.03f ms", 1e3*period_tim, meanExecutionPeriod.getLastOutput()*1e3);
                }
                meanExecutionPeriod.filter(period_tim);
                timerForExecutionPeriod.Tic();


                if (m_enableConsoleOutput)
                {
                        MRPT_LOG_DEBUG(mrpt::format(
                                "CMD: %s "
                                "speedScale=%.04f "
                                "T=%.01lfms Exec:%.01lfms|%.01lfms "
                                "PTG#%i\n",
                                        new_vel_cmd ? new_vel_cmd->asString().c_str() : "NOP",
                                        selectedHolonomicMovement ? selectedHolonomicMovement->speed : .0,
                                        1000.0*meanExecutionPeriod.getLastOutput(),
                                        1000.0*meanExecutionTime.getLastOutput(),
                                        1000.0*meanTotalExecutionTime.getLastOutput(),
                                        best_ptg_idx
                                        ) );
                }
                if (fill_log_record)
                {
                        STEP8_GenerateLogRecord(newLogRec,
                                relTargets,
                                best_ptg_idx,
                                new_vel_cmd,
                                nPTGs,
                                best_is_NOP_cmdvel,
                                rel_cur_pose_wrt_last_vel_cmd_NOP,
                                rel_pose_PTG_origin_wrt_sense_NOP,
                                executionTimeValue,
                                tim_changeSpeed,
                                tim_start_iteration);
                }
        }
        catch (std::exception &e) {
                doEmergencyStop(std::string("[CAbstractPTGBasedReactive::performNavigationStep] Stopping robot and finishing navigation due to exception:\n") + std::string(e.what()));
        }
        catch (...) {
                doEmergencyStop("[CAbstractPTGBasedReactive::performNavigationStep] Stopping robot and finishing navigation due to untyped exception." );
        }
}


void CAbstractPTGBasedReactive::STEP8_GenerateLogRecord(CLogFileRecord &newLogRec,const std::vector<TPose2D>& relTargets,int nSelectedPTG, const mrpt::kinematics::CVehicleVelCmdPtr &new_vel_cmd, const int nPTGs, const bool best_is_NOP_cmdvel, const mrpt::math::TPose2D &rel_cur_pose_wrt_last_vel_cmd_NOP, const mrpt::math::TPose2D &rel_pose_PTG_origin_wrt_sense_NOP, const double executionTimeValue, const double tim_changeSpeed, const mrpt::system::TTimeStamp &tim_start_iteration)
{
        // ---------------------------------------
        // STEP8: Generate log record
        // ---------------------------------------
        CTimeLoggerEntry tle(
                m_navProfiler, "CAbstractPTGBasedReactive::STEP8_GenerateLogRecord()");

        m_timelogger.enter("navigationStep.populate_log_info");

        this->loggingGetWSObstaclesAndShape(newLogRec);

        newLogRec.robotPoseLocalization = m_curPoseVel.pose;
        newLogRec.robotPoseOdometry     = m_curPoseVel.rawOdometry;
        newLogRec.WS_targets_relative = relTargets;
        newLogRec.nSelectedPTG        = nSelectedPTG;
        newLogRec.cur_vel             = m_curPoseVel.velGlobal;
        newLogRec.cur_vel_local       = m_curPoseVel.velLocal;
        newLogRec.cmd_vel = new_vel_cmd;
        newLogRec.values["estimatedExecutionPeriod"] = meanExecutionPeriod.getLastOutput();
        newLogRec.values["executionTime"] = executionTimeValue;
        newLogRec.values["executionTime_avr"] = meanExecutionTime.getLastOutput();
        newLogRec.values["time_changeSpeeds()"] = tim_changeSpeed;
        newLogRec.values["time_changeSpeeds()_avr"] = tim_changeSpeed_avr.getLastOutput();
        newLogRec.values["CWaypointsNavigator::navigationStep()"] = m_timlog_delays.getLastTime("CWaypointsNavigator::navigationStep()");
        newLogRec.values["CAbstractNavigator::navigationStep()"] = m_timlog_delays.getLastTime("CAbstractNavigator::navigationStep()");
        newLogRec.timestamps["tim_start_iteration"] = tim_start_iteration;
        newLogRec.timestamps["curPoseAndVel"] = m_curPoseVel.timestamp;
        newLogRec.nPTGs = nPTGs;

        // NOP mode  stuff:
        newLogRec.rel_cur_pose_wrt_last_vel_cmd_NOP = rel_cur_pose_wrt_last_vel_cmd_NOP;
        newLogRec.rel_pose_PTG_origin_wrt_sense_NOP = rel_pose_PTG_origin_wrt_sense_NOP;
        newLogRec.ptg_index_NOP = best_is_NOP_cmdvel ? m_lastSentVelCmd.ptg_index : -1;
        newLogRec.ptg_last_k_NOP = m_lastSentVelCmd.ptg_alpha_index;
        newLogRec.ptg_last_navDynState = m_lastSentVelCmd.ptg_dynState;

        // Last entry in info-per-PTG:
        {
                CLogFileRecord::TInfoPerPTG &ipp = *newLogRec.infoPerPTG.rbegin();
                if (!ipp.HLFR) ipp.HLFR = CLogFileRecord_VFF::Create();
        }

        m_timelogger.leave("navigationStep.populate_log_info");

        //  Save to log file:
        // --------------------------------------
        {
                mrpt::utils::CTimeLoggerEntry tle2(m_timelogger,"navigationStep.write_log_file");
                if (m_logFile) (*m_logFile) << newLogRec;
        }
        // Set as last log record
        {
                mrpt::synch::CCriticalSectionLocker lock_log(&m_critZoneLastLog);    // Lock
                lastLogRecord = newLogRec; // COPY
        }
}

void CAbstractPTGBasedReactive::calc_move_candidate_scores(
        TCandidateMovementPTG         & cm,
        const std::vector<double>        & in_TPObstacles,
        const mrpt::nav::ClearanceDiagram & in_clearance,
        const std::vector<mrpt::math::TPose2D>  & WS_Targets,
        const std::vector<CAbstractPTGBasedReactive::PTGTarget> & TP_Targets,
        CLogFileRecord::TInfoPerPTG & log,
        CLogFileRecord & newLogRec,
        const bool this_is_PTG_continuation,
        const mrpt::math::TPose2D & rel_cur_pose_wrt_last_vel_cmd_NOP,
        const unsigned int ptg_idx4weights,
        const mrpt::system::TTimeStamp tim_start_iteration,
        const mrpt::nav::CHolonomicLogFileRecordPtr &hlfr)
{
        MRPT_START;
        CTimeLoggerEntry tle(
                m_navProfiler,
                "CAbstractPTGBasedReactive::calc_move_candidate_scores()");

        const double   ref_dist = cm.PTG->getRefDistance();

        // Replaced by: TP_Targets[i].*
        //const double   target_dir    = (TP_Target.x!=0 || TP_Target.y!=0) ? atan2( TP_Target.y, TP_Target.x) : 0.0;
        //const int      target_k = static_cast<int>( cm.PTG->alpha2index( target_dir ) );
        //const double   target_d_norm   = TP_Target.norm();

        // We need to evaluate the movement wrt to ONE target of the possibly many input ones.
        // Policy: use the target whose TP-Space direction is closer to this candidate direction:
        size_t selected_trg_idx = 0;
        {
                double best_trg_angdist = std::numeric_limits<double>::max();
                for (size_t i = 0; i < TP_Targets.size(); i++)
                {
                        const double angdist = std::abs(mrpt::math::angDistance(TP_Targets[i].target_alpha, cm.direction));
                        if (angdist < best_trg_angdist) {
                                best_trg_angdist = angdist;
                                selected_trg_idx = i;
                        }
                }
        }
        ASSERT_(selected_trg_idx<WS_Targets.size());
        const auto WS_Target = WS_Targets[selected_trg_idx];
        const auto TP_Target = TP_Targets[selected_trg_idx];

        const double target_d_norm = TP_Target.target_dist;

        // Picked movement direction:
        const int      move_k   = static_cast<int>( cm.PTG->alpha2index( cm.direction ) );
        const double   target_WS_d = WS_Target.norm();

        // Coordinates of the trajectory end for the given PTG and "alpha":
        const double d = std::min( in_TPObstacles[ move_k ], 0.99*target_d_norm);
        uint32_t nStep;
        bool pt_in_range = cm.PTG->getPathStepForDist(move_k, d, nStep);
        ASSERT_(pt_in_range)

        mrpt::math::TPose2D pose;
        cm.PTG->getPathPose(move_k, nStep,pose);

        // Make sure that the target slow-down is honored, as seen in real-world Euclidean space
        // (as opposed to TP-Space, where the holo methods are evaluated)
        if (m_navigationParams && m_navigationParams->target.targetDesiredRelSpeed<1.0 && !m_holonomicMethod.empty() && getHoloMethod(0)!=nullptr
                && !cm.PTG->supportSpeedAtTarget()  // If the PTG is able to handle the slow-down on its own, dont change speed here
                )
        {
                const double TARGET_SLOW_APPROACHING_DISTANCE = getHoloMethod(0)->getTargetApproachSlowDownDistance();

                const double Vf = m_navigationParams->target.targetDesiredRelSpeed; // [0,1]

                const double f = std::min(1.0,Vf + target_WS_d*(1.0-Vf)/TARGET_SLOW_APPROACHING_DISTANCE);
                if (f < cm.speed) {
                        newLogRec.additional_debug_msgs["PTG_eval.speed"] = mrpt::format("Relative speed reduced %.03f->%.03f based on Euclidean nearness to target.", cm.speed,f);
                        cm.speed = f;
                }
        }

        // Start storing params in the candidate move structure:
        cm.props["ptg_idx"] = ptg_idx4weights;
        cm.props["ref_dist"] = ref_dist;
        cm.props["target_dir"] = TP_Target.target_alpha;
        cm.props["target_k"] = TP_Target.target_k;
        cm.props["target_d_norm"] = target_d_norm;
        cm.props["move_k"] = move_k;
        double & move_cur_d = cm.props["move_cur_d"] = 0;  // current robot path normalized distance over path (0 unless in a NOP cmd)
        cm.props["is_PTG_cont"] = this_is_PTG_continuation ? 1 : 0;
        cm.props["num_paths"] = in_TPObstacles.size();
        cm.props["WS_target_x"] = WS_Target.x;
        cm.props["WS_target_y"] = WS_Target.y;
        cm.props["robpose_x"] = pose.x;
        cm.props["robpose_y"] = pose.y;
        cm.props["robpose_phi"] = pose.phi;
        cm.props["ptg_priority"] = cm.PTG->getScorePriority() *  cm.PTG->evalPathRelativePriority(TP_Target.target_k, target_d_norm);
        const bool is_slowdown =
                this_is_PTG_continuation ?
                m_lastSentVelCmd.was_slowdown
                : (cm.PTG->supportSpeedAtTarget() && TP_Target.target_k == move_k &&
                 target_d_norm < 0.99 * in_TPObstacles[move_k]);
        cm.props["is_slowdown"] = is_slowdown ? 1:0;
        cm.props["holo_stage_eval"] =
                this_is_PTG_continuation ?
                m_lastSentVelCmd.original_holo_eval
                :
                (hlfr && !hlfr->dirs_eval.empty() && hlfr->dirs_eval.rbegin()->size() == in_TPObstacles.size()) ? hlfr->dirs_eval.rbegin()->at(move_k) : .0
                ;

        // Factor 1: Free distance for the chosen PTG and "alpha" in the TP-Space:
        // ----------------------------------------------------------------------
        double & colfree = cm.props["collision_free_distance"];

        // distance to collision:
        colfree     = in_TPObstacles[move_k];  // we'll next substract here the already-traveled distance, for NOP motion candidates.

        // Special case for NOP motion cmd:
        // consider only the empty space *after* the current robot pose, which is not at the origin.

        if (this_is_PTG_continuation)
        {
                int cur_k=0;
                double cur_norm_d=.0;
                bool is_exact, is_time_based = false;
                uint32_t cur_ptg_step = 0;

                // Use: time-based prediction for shorter distances, PTG inverse mapping-based for longer ranges:
                const double maxD = params_abstract_ptg_navigator.max_dist_for_timebased_path_prediction;
                if (std::abs(rel_cur_pose_wrt_last_vel_cmd_NOP.x) > maxD || std::abs(rel_cur_pose_wrt_last_vel_cmd_NOP.y) > maxD) {
                        is_exact = cm.PTG->inverseMap_WS2TP(rel_cur_pose_wrt_last_vel_cmd_NOP.x, rel_cur_pose_wrt_last_vel_cmd_NOP.y, cur_k, cur_norm_d);
                }
                else {
                        // Use time:
                        is_time_based = true;
                        is_exact = true; // well, sort of...
                        const double NOP_At = m_lastSentVelCmd.speed_scale * mrpt::system::timeDifference(m_lastSentVelCmd.tim_send_cmd_vel, tim_start_iteration);
                        newLogRec.additional_debug_msgs["PTG_eval.NOP_At"] = mrpt::format("%.06f s",NOP_At);
                        cur_k = move_k;
                        cur_ptg_step = mrpt::utils::round(NOP_At / cm.PTG->getPathStepDuration());
                        cur_norm_d = cm.PTG->getPathDist(cur_k, cur_ptg_step) / cm.PTG->getRefDistance();
                        {
                                const double cur_a = cm.PTG->index2alpha(cur_k);
                                log.TP_Robot.x = cos(cur_a)*cur_norm_d;
                                log.TP_Robot.y = sin(cur_a)*cur_norm_d;
                                cm.starting_robot_dir = cur_a;
                                cm.starting_robot_dist = cur_norm_d;
                        }
                }

                if (!is_exact)
                {
                        // Don't trust this step: we are not 100% sure of the robot pose in TP-Space for this "PTG continuation" step:
                        cm.speed = -0.01; // this enforces a 0 global evaluation score
                        newLogRec.additional_debug_msgs["PTG_eval"] = "PTG-continuation not allowed, cur. pose out of PTG domain.";
                        return;
                }
                bool WS_point_is_unique = true;
                if (!is_time_based)
                {
                        bool ok1 = cm.PTG->getPathStepForDist(m_lastSentVelCmd.ptg_alpha_index, cur_norm_d * cm.PTG->getRefDistance(), cur_ptg_step);
                        if (ok1) {
                                // Check bijective:
                                WS_point_is_unique = cm.PTG->isBijectiveAt(cur_k, cur_ptg_step);
                                const uint32_t predicted_step =
                                        mrpt::system::timeDifference(
                                                m_lastSentVelCmd.tim_send_cmd_vel,
                                                mrpt::system::now()) /
                                        cm.PTG->getPathStepDuration();
                                WS_point_is_unique =
                                        WS_point_is_unique &&
                                        cm.PTG->isBijectiveAt(move_k, predicted_step);
                                newLogRec.additional_debug_msgs["PTG_eval.bijective"] =
                                        mrpt::format(
                                                "isBijectiveAt(): k=%i step=%i -> %s",
                                                static_cast<int>(cur_k), static_cast<int>(cur_ptg_step),
                                                WS_point_is_unique ? "yes" : "no");

                                if (!WS_point_is_unique)
                                {
                                        // Don't trust direction:
                                        cur_k = move_k;
                                        cur_ptg_step = predicted_step;
                                        cur_norm_d = cm.PTG->getPathDist(cur_k, cur_ptg_step);
                                }
                                {
                                        const double cur_a = cm.PTG->index2alpha(cur_k);
                                        log.TP_Robot.x = cos(cur_a)*cur_norm_d;
                                        log.TP_Robot.y = sin(cur_a)*cur_norm_d;
                                        cm.starting_robot_dir = cur_a;
                                        cm.starting_robot_dist = cur_norm_d;
                                }

                                mrpt::math::TPose2D predicted_rel_pose;
                                cm.PTG->getPathPose(m_lastSentVelCmd.ptg_alpha_index, cur_ptg_step, predicted_rel_pose);
                                const auto predicted_pose_global = m_lastSentVelCmd.poseVel.rawOdometry + predicted_rel_pose;
                                const double predicted2real_dist = mrpt::math::hypot_fast(predicted_pose_global.x - m_curPoseVel.rawOdometry.x, predicted_pose_global.y - m_curPoseVel.rawOdometry.y);
                                newLogRec.additional_debug_msgs["PTG_eval.lastCmdPose(raw)"] = m_lastSentVelCmd.poseVel.pose.asString();
                                newLogRec.additional_debug_msgs["PTG_eval.PTGcont"] = mrpt::format("mismatchDistance=%.03f cm", 1e2*predicted2real_dist);

                                if (predicted2real_dist > params_abstract_ptg_navigator.max_distance_predicted_actual_path &&
                                        (!is_slowdown || (target_d_norm - cur_norm_d)*ref_dist>2.0 /*meters*/)
                                        )
                                {
                                        cm.speed = -0.01; // this enforces a 0 global evaluation score
                                        newLogRec.additional_debug_msgs["PTG_eval"] = "PTG-continuation not allowed, mismatchDistance above threshold.";
                                        return;
                                }
                        }
                        else {
                                cm.speed = -0.01; // this enforces a 0 global evaluation score
                                newLogRec.additional_debug_msgs["PTG_eval"] = "PTG-continuation not allowed, couldn't get PTG step for cur. robot pose.";
                                return;
                        }
                }

                // Path following isn't perfect: we can't be 100% sure of whether the robot followed exactly
                // the intended path (`kDirection`), or if it's actually a bit shifted, as reported in `cur_k`.
                // Take the least favorable case.
                // [Update] Do this only when the PTG gave us a unique-mapped WS<->TPS point:

                colfree = WS_point_is_unique ?
                        std::min(in_TPObstacles[move_k], in_TPObstacles[cur_k])
                        :
                        in_TPObstacles[move_k];

                // Only discount free space if there was a real obstacle, not the "end of path" due to limited refDistance.
                if (colfree < 0.99) {
                        colfree -= cur_norm_d;
                }

                // Save estimated robot pose over path as a parameter for scores:
                move_cur_d = cur_norm_d;
        }

        // Factor4: Decrease in euclidean distance between (x,y) and the target:
        //  Moving away of the target is negatively valued.
        cm.props["dist_eucl_final"] = mrpt::math::hypot_fast(WS_Target.x- pose.x, WS_Target.y- pose.y);


        // dist_eucl_min: Use PTG clearance methods to evaluate the real-world (WorkSpace) minimum distance to target:
        {
                typedef std::map<double, double> map_d2d_t;
                map_d2d_t pathDists;
                const double D = cm.PTG->getRefDistance();
                const int num_steps = ceil( D * 2.0);
                for (int i = 0; i < num_steps; i++) {
                        pathDists[i / double(num_steps)] = 100.0; // default normalized distance to target (a huge value)
                }

                cm.PTG->evalClearanceSingleObstacle(WS_Target.x, WS_Target.y, move_k, pathDists, false /*treat point as target, not obstacle*/ );

                const auto it = std::min_element(
                        pathDists.begin(), pathDists.end(),
                        [colfree](map_d2d_t::value_type& l, map_d2d_t::value_type& r) -> bool {
                        return (l.second < r.second) && l.first<colfree;
                        }
                );
                cm.props["dist_eucl_min"] = (it!= pathDists.end()) ? it->second * cm.PTG->getRefDistance() : 100.0;
        }

        // Factor5: Hysteresis:
        // -----------------------------------------------------
        double &hysteresis = cm.props["hysteresis"];
        hysteresis = .0;

        if (cm.PTG->supportVelCmdNOP())
        {
                hysteresis = this_is_PTG_continuation ? 1.0 : 0.;
        }
        else if (m_last_vel_cmd)
        {
                mrpt::kinematics::CVehicleVelCmdPtr desired_cmd;
                desired_cmd = cm.PTG->directionToMotionCommand(move_k);
                const mrpt::kinematics::CVehicleVelCmd *ptr1 = m_last_vel_cmd.pointer();
                const mrpt::kinematics::CVehicleVelCmd *ptr2 = desired_cmd.pointer();
                if(typeid(*ptr1) == typeid(*ptr2)){
                        ASSERT_EQUAL_(m_last_vel_cmd->getVelCmdLength(), desired_cmd->getVelCmdLength());

                        double simil_score = 0.5;
                        for (size_t i = 0; i < desired_cmd->getVelCmdLength(); i++)
                        {
                                const double scr = exp(-std::abs(desired_cmd->getVelCmdElement(i) - m_last_vel_cmd->getVelCmdElement(i)) / 0.20);
                                mrpt::utils::keep_min(simil_score, scr);
                        }
                        hysteresis = simil_score;
                }
        }

        // Factor6: clearance
        // -----------------------------------------------------
        // clearance indicators that may be useful in deciding the best motion:
        double &clearance = cm.props["clearance"];
        clearance = in_clearance.getClearance(move_k, target_d_norm*1.01, false /* spot, dont interpolate */ );
        cm.props["clearance_50p"] = in_clearance.getClearance(move_k, target_d_norm*0.5, false /* spot, dont interpolate */);
        cm.props["clearance_path"] = in_clearance.getClearance(move_k, target_d_norm*0.9, true /* average */);
        cm.props["clearance_path_50p"] = in_clearance.getClearance(move_k, target_d_norm*0.5, true /* average */);

        // Factor: ETA (Estimated Time of Arrival to target or to closest obstacle, whatever it's first)
        // -----------------------------------------------------
        double &eta = cm.props["eta"];
        eta = .0;
        if (cm.PTG && cm.speed>.0) // for valid cases only
        {
                // OK, we have a direct path to target without collisions.
                const double path_len_meters = d * ref_dist;

                // Calculate their ETA
                uint32_t target_step;
                bool valid_step = cm.PTG->getPathStepForDist(move_k, path_len_meters, target_step);
                if (valid_step)
                {
                        eta = cm.PTG->getPathStepDuration() * target_step /* PTG original time to get to target point */
                                * cm.speed /* times the speed scale factor*/;

                        double discount_time = .0;
                        if (this_is_PTG_continuation)
                        {
                                // Heuristic: discount the time already executed.
                                // Note that hm.speed above scales the overall path time using the current speed scale, not the exact
                                // integration over the past timesteps. It's an approximation, probably good enough...
                                discount_time = mrpt::system::timeDifference(m_lastSentVelCmd.tim_send_cmd_vel, tim_start_iteration);
                        }
                        eta -= discount_time; // This could even become negative if the approximation is poor...
                }
        }

        MRPT_END;
}

double CAbstractPTGBasedReactive::generate_vel_cmd( const TCandidateMovementPTG &in_movement, mrpt::kinematics::CVehicleVelCmdPtr &new_vel_cmd )
{
        mrpt::utils::CTimeLoggerEntry tle(m_timelogger, "generate_vel_cmd");
        double cmdvel_speed_scale = 1.0;
        try
        {
                if (in_movement.speed == 0)
                {
                        // The robot will stop:
                        new_vel_cmd = in_movement.PTG->getSupportedKinematicVelocityCommand();
                        new_vel_cmd->setToStop();
                }
                else
                {
                        // Take the normalized movement command:
                        new_vel_cmd = in_movement.PTG->directionToMotionCommand( in_movement.PTG->alpha2index( in_movement.direction ) );

                        // Scale holonomic speeds to real-world one:
                        new_vel_cmd->cmdVel_scale(in_movement.speed);
                        cmdvel_speed_scale *= in_movement.speed;

                        if (!m_last_vel_cmd) // first iteration? Use default values:
                                m_last_vel_cmd = in_movement.PTG->getSupportedKinematicVelocityCommand();

                        // Honor user speed limits & "blending":
                        const double beta = meanExecutionPeriod.getLastOutput() / (meanExecutionPeriod.getLastOutput() + params_abstract_ptg_navigator.speedfilter_tau);
                        cmdvel_speed_scale *= new_vel_cmd->cmdVel_limits(*m_last_vel_cmd, beta, params_abstract_ptg_navigator.robot_absolute_speed_limits);
                }

                m_last_vel_cmd = new_vel_cmd; // Save for filtering in next step
        }
        catch (std::exception &e)
        {
                MRPT_LOG_ERROR_STREAM( "[CAbstractPTGBasedReactive::generate_vel_cmd] Exception: " << e.what());
        }
        return cmdvel_speed_scale;
}

bool CAbstractPTGBasedReactive::impl_waypoint_is_reachable(const mrpt::math::TPoint2D &wp) const
{
        MRPT_START;

        const size_t N = this->getPTG_count();
        if (m_infoPerPTG.size()<N ||
                m_infoPerPTG_timestamp == INVALID_TIMESTAMP ||
                mrpt::system::timeDifference(m_infoPerPTG_timestamp, mrpt::system::now() ) > 0.5
                )
                return false; // We didn't run yet or obstacle info is old

        for (size_t i=0;i<N;i++)
        {
                const CParameterizedTrajectoryGenerator* ptg = getPTG(i);

                const std::vector<double> & tp_obs = m_infoPerPTG[i].TP_Obstacles; // normalized distances
                if (tp_obs.size() != ptg->getPathCount() )
                        continue; // May be this PTG has not been used so far? (Target out of domain,...)

                int wp_k;
                double wp_norm_d;
                bool is_into_domain = ptg->inverseMap_WS2TP(wp.x,wp.y,  wp_k, wp_norm_d);
                if (!is_into_domain)
                        continue;

                ASSERT_(wp_k<int(tp_obs.size()));

                const double collision_free_dist = tp_obs[wp_k];
                if (collision_free_dist>1.01*wp_norm_d)
                        return true; // free path found to target
        }

        return false; // no way found
        MRPT_END;
}

bool CAbstractPTGBasedReactive::STEP2_SenseObstacles()
{
        return implementSenseObstacles(m_WS_Obstacles_timestamp);
}

void CAbstractPTGBasedReactive::onStartNewNavigation()
{
        m_last_curPoseVelUpdate_robot_time = -1e9;
        m_lastSentVelCmd.reset();

        CWaypointsNavigator::onStartNewNavigation(); // Call base method we override
}

CAbstractPTGBasedReactive::TSentVelCmd::TSentVelCmd()
{
        reset();
}
void CAbstractPTGBasedReactive::TSentVelCmd::reset()
{
        ptg_index = -1;
        ptg_alpha_index = -1;
        tim_send_cmd_vel = INVALID_TIMESTAMP;
        poseVel = TRobotPoseVel();
        colfreedist_move_k = .0;
        was_slowdown = false;
        speed_scale = 1.0;
        ptg_dynState = CParameterizedTrajectoryGenerator::TNavDynamicState();
        original_holo_eval = .0;
}
bool CAbstractPTGBasedReactive::TSentVelCmd::isValid() const
{
        return this->poseVel.timestamp != INVALID_TIMESTAMP;
}


void CAbstractPTGBasedReactive::build_movement_candidate(
        CParameterizedTrajectoryGenerator * ptg,
        const size_t indexPTG,
        const std::vector<mrpt::math::TPose2D> &relTargets,
        const mrpt::math::TPose2D &rel_pose_PTG_origin_wrt_sense,
        TInfoPerPTG &ipf,
        TCandidateMovementPTG &cm,
        CLogFileRecord &newLogRec,
        const bool this_is_PTG_continuation,
        mrpt::nav::CAbstractHolonomicReactiveMethod *holoMethod,
        const mrpt::system::TTimeStamp tim_start_iteration,
        const TNavigationParams &navp,
        const mrpt::math::TPose2D &rel_cur_pose_wrt_last_vel_cmd_NOP
        )
{
        CTimeLoggerEntry tle(
                m_navProfiler, "CAbstractPTGBasedReactive::build_movement_candidate()");

        ASSERT_(ptg);

        const size_t idx_in_log_infoPerPTGs = this_is_PTG_continuation ? getPTG_count() : indexPTG;

        CHolonomicLogFileRecordPtr HLFR;
        cm.PTG = ptg;

        // If the user doesn't want to use this PTG, just mark it as invalid:
        ipf.targets.clear();
        bool use_this_ptg = true;
        {
                const TNavigationParamsPTG * navpPTG = dynamic_cast<const TNavigationParamsPTG*>(&navp);
                if (navpPTG && !navpPTG->restrict_PTG_indices.empty())
                {
                        use_this_ptg = false;
                        for (size_t i = 0; i < navpPTG->restrict_PTG_indices.size() && !use_this_ptg; i++) {
                                if (navpPTG->restrict_PTG_indices[i] == indexPTG)
                                        use_this_ptg = true;
                        }
                }
        }

        double timeForTPObsTransformation = .0, timeForHolonomicMethod = .0;

        // Normal PTG validity filter: check if target falls into the PTG domain:
        bool any_TPTarget_is_valid = false;
        if (use_this_ptg)
        {
                for (size_t i=0;i<relTargets.size();i++)
                {
                        const auto & trg = relTargets[i];
                        PTGTarget ptg_target;

                        ptg_target.valid_TP = ptg->inverseMap_WS2TP(trg.x, trg.y, ptg_target.target_k, ptg_target.target_dist);
                        if (!ptg_target.valid_TP) continue;

                        any_TPTarget_is_valid = true;
                        ptg_target.target_alpha = ptg->index2alpha(ptg_target.target_k);
                        ptg_target.TP_Target.x = cos(ptg_target.target_alpha) * ptg_target.target_dist;
                        ptg_target.TP_Target.y = sin(ptg_target.target_alpha) * ptg_target.target_dist;

                        ipf.targets.emplace_back(ptg_target);
                }
        }

        if (!any_TPTarget_is_valid)
        {
                newLogRec.additional_debug_msgs[mrpt::format("mov_candidate_%u", static_cast<unsigned int>(indexPTG))] = "PTG discarded since target(s) is(are) out of domain.";

                {   // Invalid PTG (target out of reachable space):
                        // - holonomicMovement= Leave default values
                        HLFR = CLogFileRecord_VFF::Create();
                }
        }
        else
        {
                //  STEP3(b): Build TP-Obstacles
                // -----------------------------------------------------------------------------
                {
                        tictac.Tic();

                        // Initialize TP-Obstacles:
                        const size_t Ki = ptg->getAlphaValuesCount();
                        ptg->initTPObstacles(ipf.TP_Obstacles);
                        if (params_abstract_ptg_navigator.evaluate_clearance) {
                                ptg->initClearanceDiagram(ipf.clearance);
                        }

                        // Implementation-dependent conversion:
                        STEP3_WSpaceToTPSpace(indexPTG, ipf.TP_Obstacles, ipf.clearance, mrpt::math::TPose2D(0,0,0)-rel_pose_PTG_origin_wrt_sense, params_abstract_ptg_navigator.evaluate_clearance);

                        if (params_abstract_ptg_navigator.evaluate_clearance) {
                                ptg->updateClearancePost(ipf.clearance, ipf.TP_Obstacles);
                        }

                        // Distances in TP-Space are normalized to [0,1]:
                        const double _refD = 1.0 / ptg->getRefDistance();
                        for (size_t i = 0; i < Ki; i++) ipf.TP_Obstacles[i] *= _refD;

                        timeForTPObsTransformation = tictac.Tac();
                        if (m_timelogger.isEnabled())
                                m_timelogger.registerUserMeasure("navigationStep.STEP3_WSpaceToTPSpace", timeForTPObsTransformation);
                }

                //  STEP4: Holonomic navigation method
                // -----------------------------------------------------------------------------
                if (!this_is_PTG_continuation)
                {
                        tictac.Tic();

                        ASSERT_(holoMethod);
                        // Slow down if we are approaching the final target, etc.
                        holoMethod->enableApproachTargetSlowDown(navp.target.targetDesiredRelSpeed<.11);

                        // Prepare holonomic algorithm call:
                        CAbstractHolonomicReactiveMethod::NavInput ni;
                        ni.clearance = &ipf.clearance;
                        ni.maxObstacleDist = 1.0;
                        ni.maxRobotSpeed = 1.0; // So, we use a normalized max speed here.
                        ni.obstacles = ipf.TP_Obstacles;  // Normalized [0,1]

                        ni.targets.clear(); // Normalized [0,1]
                        for (const auto &t : ipf.targets) {
                                ni.targets.push_back( t.TP_Target );
                        }

                        CAbstractHolonomicReactiveMethod::NavOutput no;

                        holoMethod->navigate(ni, no);

                        // Extract resuls:
                        cm.direction = no.desiredDirection;
                        cm.speed = no.desiredSpeed;
                        HLFR = no.logRecord;

                        // Security: Scale down the velocity when heading towards obstacles,
                        //  such that it's assured that we never go thru an obstacle!
                        const int kDirection = static_cast<int>(cm.PTG->alpha2index(cm.direction));
                        double obsFreeNormalizedDistance = ipf.TP_Obstacles[kDirection];

                        // Take into account the future robot pose after NOP motion iterations to slow down accordingly *now*
                        if (ptg->supportVelCmdNOP()) {
                                const double v = mrpt::math::hypot_fast(m_curPoseVel.velLocal.vx, m_curPoseVel.velLocal.vy);
                                const double d = v * ptg->maxTimeInVelCmdNOP(kDirection);
                                obsFreeNormalizedDistance = std::min(obsFreeNormalizedDistance, std::max(0.90, obsFreeNormalizedDistance - d) );
                        }

                        double velScale = 1.0;
                        ASSERT_(params_abstract_ptg_navigator.secure_distance_end > params_abstract_ptg_navigator.secure_distance_start);
                        if (obsFreeNormalizedDistance < params_abstract_ptg_navigator.secure_distance_end)
                        {
                                if (obsFreeNormalizedDistance <= params_abstract_ptg_navigator.secure_distance_start)
                                        velScale = 0.0; // security stop
                                else velScale = (obsFreeNormalizedDistance - params_abstract_ptg_navigator.secure_distance_start) / (params_abstract_ptg_navigator.secure_distance_end - params_abstract_ptg_navigator.secure_distance_start);
                        }

                        // Scale:
                        cm.speed *= velScale;

                        timeForHolonomicMethod = tictac.Tac();
                        if (m_timelogger.isEnabled())
                                m_timelogger.registerUserMeasure("navigationStep.STEP4_HolonomicMethod", timeForHolonomicMethod);
                }
                else
                {
                        // "NOP cmdvel" case: don't need to re-run holo algorithm, just keep the last selection:
                        cm.direction = ptg->index2alpha( m_lastSentVelCmd.ptg_alpha_index );
                        cm.speed = 1.0; // Not used.
                }

                // STEP5: Evaluate each movement to assign them a "evaluation" value.
                // ---------------------------------------------------------------------
                {
                        CTimeLoggerEntry tle2(m_timelogger, "navigationStep.calc_move_candidate_scores");

                        calc_move_candidate_scores(
                                cm,
                                ipf.TP_Obstacles,
                                ipf.clearance,
                                relTargets,
                                ipf.targets,
                                newLogRec.infoPerPTG[idx_in_log_infoPerPTGs], newLogRec,
                                this_is_PTG_continuation, rel_cur_pose_wrt_last_vel_cmd_NOP,
                                indexPTG,
                                tim_start_iteration,
                                HLFR);

                        // Store NOP related extra vars:
                        cm.props["original_col_free_dist"] =
                                this_is_PTG_continuation ?
                                m_lastSentVelCmd.colfreedist_move_k
                                :
                                .0;

                        //  SAVE LOG
                        newLogRec.infoPerPTG[idx_in_log_infoPerPTGs].evalFactors = cm.props;
                }

        } // end "valid_TP"

        // Logging:
        const bool fill_log_record = (m_logFile != NULL || m_enableKeepLogRecords);
        if (fill_log_record)
        {
                CLogFileRecord::TInfoPerPTG &ipp = newLogRec.infoPerPTG[idx_in_log_infoPerPTGs];
                if (!this_is_PTG_continuation)
                     ipp.PTG_desc = ptg->getDescription();
                else ipp.PTG_desc = mrpt::format("NOP cmdvel (prev PTG idx=%u)", static_cast<unsigned int>(m_lastSentVelCmd.ptg_index) );

                metaprogramming::copy_container_typecasting(ipf.TP_Obstacles, ipp.TP_Obstacles);
                ipp.clearance = ipf.clearance;
                ipp.TP_Targets.clear();
                for (const auto &t : ipf.targets) {
                        ipp.TP_Targets.push_back(t.TP_Target);
                }
                ipp.HLFR = HLFR;
                ipp.desiredDirection = cm.direction;
                ipp.desiredSpeed = cm.speed;
                ipp.timeForTPObsTransformation = timeForTPObsTransformation;
                ipp.timeForHolonomicMethod = timeForHolonomicMethod;
        }
}

void CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::loadFromConfigFile(const mrpt::utils::CConfigFileBase & c, const std::string & s)
{
        MRPT_START;

        robot_absolute_speed_limits.loadConfigFile(c, s);

        MRPT_LOAD_CONFIG_VAR_REQUIRED_CS(holonomic_method, string);
        MRPT_LOAD_CONFIG_VAR_REQUIRED_CS(motion_decider_method, string);
        MRPT_LOAD_CONFIG_VAR_REQUIRED_CS(ref_distance, double);
        MRPT_LOAD_CONFIG_VAR_CS(speedfilter_tau, double);
        MRPT_LOAD_CONFIG_VAR_CS(secure_distance_start, double);
        MRPT_LOAD_CONFIG_VAR_CS(secure_distance_end, double);
        MRPT_LOAD_CONFIG_VAR_CS(use_delays_model, bool);
        MRPT_LOAD_CONFIG_VAR_CS(max_distance_predicted_actual_path, double);
        MRPT_LOAD_CONFIG_VAR_CS(min_normalized_free_space_for_ptg_continuation, double);
        MRPT_LOAD_CONFIG_VAR_CS(enable_obstacle_filtering, bool);
        MRPT_LOAD_CONFIG_VAR_CS(evaluate_clearance, bool);
        MRPT_LOAD_CONFIG_VAR_CS(max_dist_for_timebased_path_prediction, double);

        MRPT_END;
}

void CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::saveToConfigFile(mrpt::utils::CConfigFileBase & c, const std::string & s) const
{
        robot_absolute_speed_limits.saveToConfigFile(c, s);

        // Build list of known holo methods:
        string lstHoloStr = "# List of known classes:\n";
        {
                const auto lst = mrpt::utils::getAllRegisteredClassesChildrenOf(CLASS_ID(CAbstractHolonomicReactiveMethod));
                for (const auto &c : lst)
                        lstHoloStr += string("# - `") + string(c->className) + string("`\n");
        }
        MRPT_SAVE_CONFIG_VAR_COMMENT(holonomic_method, string("C++ class name of the holonomic navigation method to run in the transformed TP-Space.\n")+ lstHoloStr);

        // Build list of known decider methods:
        string lstDecidersStr = "# List of known classes:\n";
        {
                const auto lst = mrpt::utils::getAllRegisteredClassesChildrenOf(CLASS_ID(CMultiObjectiveMotionOptimizerBase));
                for (const auto &c : lst)
                        lstDecidersStr += string("# - `") + string(c->className) + string("`\n");
        }
        MRPT_SAVE_CONFIG_VAR_COMMENT(motion_decider_method, string("C++ class name of the motion decider method.\n") + lstDecidersStr);

        MRPT_SAVE_CONFIG_VAR_COMMENT(ref_distance, "Maximum distance up to obstacles will be considered (D_{max} in papers).");
        MRPT_SAVE_CONFIG_VAR_COMMENT(speedfilter_tau, "Time constant (in seconds) for the low-pass filter applied to kinematic velocity commands (default=0: no filtering)");
        MRPT_SAVE_CONFIG_VAR_COMMENT(secure_distance_start, "In normalized distance [0,1], start/end of a ramp function that scales the holonomic navigator output velocity.");
        MRPT_SAVE_CONFIG_VAR_COMMENT(secure_distance_end, "In normalized distance [0,1], start/end of a ramp function that scales the holonomic navigator output velocity.");
        MRPT_SAVE_CONFIG_VAR_COMMENT(use_delays_model, "Whether to use robot pose inter/extrapolation to improve accuracy (Default:false)");
        MRPT_SAVE_CONFIG_VAR_COMMENT(max_distance_predicted_actual_path, "Max distance [meters] to discard current PTG and issue a new vel cmd (default= 0.05)");
        MRPT_SAVE_CONFIG_VAR_COMMENT(min_normalized_free_space_for_ptg_continuation, "Min normalized dist [0,1] after current pose in a PTG continuation to allow it.");
        MRPT_SAVE_CONFIG_VAR_COMMENT(enable_obstacle_filtering, "Enabled obstacle filtering (params in its own section)");
        MRPT_SAVE_CONFIG_VAR_COMMENT(evaluate_clearance, "Enable exact computation of clearance (default=false)");
        MRPT_SAVE_CONFIG_VAR_COMMENT(max_dist_for_timebased_path_prediction, "Max dist [meters] to use time-based path prediction for NOP evaluation");
}

CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::TAbstractPTGNavigatorParams() :
        holonomic_method(),
        ptg_cache_files_directory("."),
        ref_distance(4.0),
        speedfilter_tau(0.0),
        secure_distance_start(0.05),
        secure_distance_end(0.20),
        use_delays_model(false),
        max_distance_predicted_actual_path(0.15),
        min_normalized_free_space_for_ptg_continuation(0.2),
        robot_absolute_speed_limits(),
        enable_obstacle_filtering(true),
        evaluate_clearance(false),
        max_dist_for_timebased_path_prediction(2.0)
{
}

void CAbstractPTGBasedReactive::loadConfigFile(const mrpt::utils::CConfigFileBase & c)
{
        MRPT_START;
        m_PTGsMustBeReInitialized = true;

        // At this point, we have been called from the derived class, who must be already
        // loaded all its specific params, including PTGs.

        // Load my params:
        params_abstract_ptg_navigator.loadFromConfigFile(c, "CAbstractPTGBasedReactive");

        // Filtering:
        if (params_abstract_ptg_navigator.enable_obstacle_filtering)
        {
                mrpt::maps::CPointCloudFilterByDistance *filter = new mrpt::maps::CPointCloudFilterByDistance;
                m_WS_filter = mrpt::maps::CPointCloudFilterBasePtr(filter);
                filter->options.loadFromConfigFile(c,"CPointCloudFilterByDistance");
        }
        else
        {
                m_WS_filter.reset();
        }

        // Movement chooser:
        m_multiobjopt = CMultiObjectiveMotionOptimizerBasePtr(CMultiObjectiveMotionOptimizerBase::Create(params_abstract_ptg_navigator.motion_decider_method));
        if (!m_multiobjopt)
                THROW_EXCEPTION_FMT("Non-registered CMultiObjectiveMotionOptimizerBase className=`%s`", params_abstract_ptg_navigator.motion_decider_method.c_str());

        m_multiobjopt->loadConfigFile(c);


        // Holo method:
        this->setHolonomicMethod(params_abstract_ptg_navigator.holonomic_method, c);
        ASSERT_(!m_holonomicMethod.empty())

        CWaypointsNavigator::loadConfigFile(c); // Load parent params

        m_init_done = true; // If we reached this point without an exception, all is good.
        MRPT_END;
}

void CAbstractPTGBasedReactive::saveConfigFile(mrpt::utils::CConfigFileBase & c) const
{
        CWaypointsNavigator::saveConfigFile(c);
        params_abstract_ptg_navigator.saveToConfigFile(c, "CAbstractPTGBasedReactive");

        // Filtering:
        {
                mrpt::maps::CPointCloudFilterByDistance filter;
                filter.options.saveToConfigFile(c, "CPointCloudFilterByDistance");
        }

        // Holo method:
        if (!m_holonomicMethod.empty() && m_holonomicMethod[0])
        {
                // Save my current settings:
                m_holonomicMethod[0]->saveConfigFile(c);
        }
        else
        {
                // save options of ALL known methods:
                const auto lst = mrpt::utils::getAllRegisteredClassesChildrenOf(CLASS_ID(CAbstractHolonomicReactiveMethod));
                for (const auto &cl : lst) {
                        mrpt::utils::CObjectPtr obj = mrpt::utils::CObjectPtr(cl->createObject());
                        CAbstractHolonomicReactiveMethod * holo = dynamic_cast<CAbstractHolonomicReactiveMethod *>(obj.pointer());
                        if (holo) {
                                holo->saveConfigFile(c);
                        }
                }
        }

        // Decider method:
        if (m_multiobjopt)
        {
                // Save my current settings:
                m_multiobjopt->saveConfigFile(c);
        }
        else
        {
                // save options of ALL known methods:
                const auto lst = mrpt::utils::getAllRegisteredClassesChildrenOf(CLASS_ID(CMultiObjectiveMotionOptimizerBase));
                for (const auto &cl : lst) {
                        mrpt::utils::CObjectPtr obj = mrpt::utils::CObjectPtr(cl->createObject());
                        CMultiObjectiveMotionOptimizerBase * momo = dynamic_cast<CMultiObjectiveMotionOptimizerBase *>(obj.pointer());
                        if (momo) {
                                momo->saveConfigFile(c);
                        }
                }
        }
}

void CAbstractPTGBasedReactive::setTargetApproachSlowDownDistance(const double dist)
{
        for (auto &o : m_holonomicMethod) {
                o->setTargetApproachSlowDownDistance(dist);
        }
}

double CAbstractPTGBasedReactive::getTargetApproachSlowDownDistance() const
{
        ASSERT_(!m_holonomicMethod.empty());
        return m_holonomicMethod[0]->getTargetApproachSlowDownDistance();
}

CAbstractHolonomicReactiveMethod* CAbstractPTGBasedReactive::getHoloMethod(int idx)
{
        return m_holonomicMethod[idx];
}