void CostConfig::init(ParseBlock& block)
{
Checker *check = getConfigChecker();
try {
resolution::AlgorithmConfig::init(block);
// Cost parameters
distance_cost = block["cost"]("distance").as<double>();
collision_penalty = block["cost"]("collision_penalty").as<double>();
// Sampling parameters
population = block("population").as<int>();
generations = block("generations").as<int>();
if (block.hasProperty("max_time")) {
max_time = block("max_time").as<double>();
} else {
max_time = -1.0;
}
waypoint_dimension = block("waypoint_dimension").as<int>();
intermediate_waypoints = block("intermediate_waypoints").as<int>();
if (block.hasProperty("altitude_levels")) {
altitude_levels = block("altitude_levels").as<bool>();
}
if (block.hasProperty("altitude_step")) {
altitude_step = block("altitude_step").as<double>();
}
if (block.hasProperty("export_evolution")) {
export_evolution = block("export_evolution").as<bool>();
if (export_evolution && block.hasProperty("evolution_filename")) {
evolution_file = block("evolution_filename").as<string>();
} else {
export_evolution = false;
}
}
if (block.hasProperty("cost_type")) {
objective_type = block("cost_type").as<string>();
}
if (block.hasProperty("time_exploration")) {
time_exploration = block("time_exploration").as<bool>();
}
if (block.hasProperty("time_exploration_type")) {
time_exploration_type = static_cast<resolution::TimeExplorationTypes>(block("time_exploration_type").as<int>());
}
if (block.hasProperty("init_time")) {
std::vector<double> v;
v = block("init_time").as<std::vector<double> >();
long usec = 0;
if (v.size() > 1) {
usec = v.at(1);
}
init_time.setTime(v.at(0), usec);
} else {
init_time.getTime();
}
// Bounds
upper_bounds = block["bounds"]("upper").as<std::vector<double> >();
lower_bounds = block["bounds"]("lower").as<std::vector<double> >();
if (block["bounds"].hasProperty("speed_bounds")) {
speed_bounds = block["bounds"]("speed").as<std::vector<double> >();
} else {
speed_bounds = upper_bounds;
}
if (block.hasProperty("modify_trajectory")) {
modify_trajectory = block("modify_trajectory").as<bool>();
}
if (block.hasProperty("min_control_dist")) {
min_control_dist = block("min_control_dist").as<double>();
}
if (block.hasProperty("best_individual")) {
best_individual = block("best_individual").as<string>();
}
if (block.hasProperty("initial_solution")) {
ParseBlock::Properties *iss = block.getProperties("initial_solution");
ParseBlock::Properties::iterator it = iss->begin();
for (;it != iss->end(); it++) {
std::vector <double> v = (*it)->as<std::vector<double> >();
functions::RealVector aux(v);
initial_solution.push_back(v);
}
}
if (block.hasProperty("export_all_evolution")) {
export_all_evolution = true;
}
if (block.hasProperty("manoeuvre_selection")) {
manoeuvre_selection = block("manoeuvre_selection").as<bool>();
} else {
manoeuvre_selection = false; // default value
}
if (block.hasProperty("min_z")) {
min_z = block("min_z").as<double>();
} else {
min_z = 0.0;
}
if (block.hasProperty("max_z")) {
max_z = block("max_z").as<double>();
} else {
max_z = 2.0;
}
if (block.hasProperty("max_course")) {
max_course = block("max_course").as<double>();
} else {
max_course = 1.0;
}
} catch (std::runtime_error &e) {
std::cerr << "CostConfig::init --> Exception while reading data from block. Content: " << e.what()<< "\n";
throw(e);
}
delete check;
}
