#include <mrpt/nav/reactive/CMultiObjMotionOpt_Scalarization.h>
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std::string | scalar_score_formula |
| A formula that takes all/a subset of scores and generates a scalar global score. More...
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std::map< std::string, std::string > | formula_score |
| A list of name -> mathematical expression (in the format of the exprtk library) for the list of "score" factors to evaluate. More...
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std::vector< std::string > | movement_assert |
| A list of exprtk expressions for conditions that any candidate movement must fulfill in order to get through the evaluation process. More...
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std::vector< std::string > | scores_to_normalize |
| List of score names (as defined in the key of formula_score ) that must be normalized across all candidates, such that the maximum value is 1. More...
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static void | dumpVar_int (CStream &out, const char *varName, int v) |
| Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...
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static void | dumpVar_float (CStream &out, const char *varName, float v) |
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static void | dumpVar_double (CStream &out, const char *varName, double v) |
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static void | dumpVar_bool (CStream &out, const char *varName, bool v) |
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static void | dumpVar_string (CStream &out, const char *varName, const std::string &v) |
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◆ TParams()
mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams::TParams |
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◆ dumpToConsole()
void mrpt::utils::CLoadableOptions::dumpToConsole |
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const |
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◆ dumpToTextStream()
This method should clearly display all the contents of the structure in textual form, sending it to a CStream.
The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.
Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams, mrpt::vision::TMultiResDescMatchOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams, mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions, mrpt::hmtslam::CHMTSLAM::TOptions, mrpt::maps::COccupancyGridMap2D::TInsertionOptions, mrpt::vision::TMatchingOptions, mrpt::maps::TSetOfMetricMapInitializers, mrpt::maps::CLandmarksMap::TLikelihoodOptions, mrpt::maps::CColouredPointsMap::TColourOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams, mrpt::maps::CPointsMap::TLikelihoodOptions, mrpt::maps::CLandmarksMap::TInsertionOptions, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams, mrpt::vision::TStereoSystemParams, mrpt::maps::CPointsMap::TInsertionOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions, mrpt::slam::CRangeBearingKFSLAM::TOptions, mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams, mrpt::maps::CBeaconMap::TInsertionOptions, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions, mrpt::maps::CMultiMetricMapPDF::TPredictionParams, mrpt::maps::CBeaconMap::TLikelihoodOptions, mrpt::slam::CRangeBearingKFSLAM2D::TOptions, mrpt::maps::CHeightGridMap2D::TInsertionOptions, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions, mrpt::graphslam::TSlidingWindow, mrpt::slam::CGridMapAligner::TConfigParams, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::bayes::TKF_options, mrpt::maps::CReflectivityGridMap2D::TInsertionOptions, mrpt::vision::CFeatureExtraction::TOptions, mrpt::graphslam::TUncertaintyPath< GRAPH_T >, mrpt::maps::TMapGenericParams, mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions, mrpt::hmtslam::CTopLCDetector_GridMatching::TOptions, mrpt::hmtslam::CTopLCDetector_FabMap::TOptions, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions, mrpt::slam::CICP::TConfigParams, mrpt::slam::CIncrementalMapPartitioner::TOptions, mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions, mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions, mrpt::slam::CMetricMapBuilderICP::TConfigParams, mrpt::maps::TMetricMapInitializer, mrpt::vision::CCamModel, and mrpt::slam::TKLDParams.
◆ dumpVar_bool()
static void mrpt::utils::CLoadableOptions::dumpVar_bool |
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CStream & |
out, |
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const char * |
varName, |
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bool |
v |
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staticprotectedinherited |
◆ dumpVar_double()
static void mrpt::utils::CLoadableOptions::dumpVar_double |
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CStream & |
out, |
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const char * |
varName, |
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double |
v |
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staticprotectedinherited |
◆ dumpVar_float()
static void mrpt::utils::CLoadableOptions::dumpVar_float |
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CStream & |
out, |
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const char * |
varName, |
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float |
v |
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staticprotectedinherited |
◆ dumpVar_int()
static void mrpt::utils::CLoadableOptions::dumpVar_int |
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CStream & |
out, |
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const char * |
varName, |
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int |
v |
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staticprotectedinherited |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
◆ dumpVar_string()
static void mrpt::utils::CLoadableOptions::dumpVar_string |
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CStream & |
out, |
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const char * |
varName, |
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const std::string & |
v |
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staticprotectedinherited |
◆ loadFromConfigFile()
void mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams::loadFromConfigFile |
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const mrpt::utils::CConfigFileBase & |
source, |
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const std::string & |
section |
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virtual |
This method load the options from a ".ini"-like file or memory-stored string list.
Only those parameters found in the given "section" and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an ".ini" file:
[section]
resolution = 0.10
modeSelection = 1
- See also
- loadFromConfigFileName, saveToConfigFile
Reimplemented from mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase.
◆ loadFromConfigFileName()
void mrpt::utils::CLoadableOptions::loadFromConfigFileName |
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const std::string & |
config_file, |
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const std::string & |
section |
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inherited |
◆ saveToConfigFile()
void mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams::saveToConfigFile |
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mrpt::utils::CConfigFileBase & |
target, |
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const std::string & |
section |
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◆ saveToConfigFileName()
void mrpt::utils::CLoadableOptions::saveToConfigFileName |
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const std::string & |
config_file, |
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const std::string & |
section |
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inherited |
Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.
- See also
- saveToConfigFile, loadFromConfigFileName
◆ formula_score
std::map<std::string, std::string> mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase::formula_score |
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inherited |
A list of name
-> mathematical expression (in the format of the exprtk library) for the list of "score" factors to evaluate.
Definition at line 62 of file CMultiObjectiveMotionOptimizerBase.h.
◆ movement_assert
std::vector<std::string> mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase::movement_assert |
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inherited |
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.
Definition at line 67 of file CMultiObjectiveMotionOptimizerBase.h.
◆ scalar_score_formula
std::string mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams::scalar_score_formula |
◆ scores_to_normalize
std::vector<std::string> mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase::scores_to_normalize |
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inherited |
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.
Definition at line 71 of file CMultiObjectiveMotionOptimizerBase.h.