JointBeliefSparse represents a sparse joint belief. More...
#include <JointBeliefSparse.h>
Public Member Functions | |
| virtual JointBeliefSparse * | Clone () const |
| Returns a pointer to a copy of this class. More... | |
| JointBeliefSparse () | |
| Default Constructor. More... | |
| JointBeliefSparse (size_t size) | |
| Constructor which sets the size of the joint belief. More... | |
| JointBeliefSparse (const std::vector< double > &belief) | |
| Constructor which copies belief in this joint belief. More... | |
| JointBeliefSparse (const JointBeliefInterface &belief) | |
| Constructor which copies belief in this joint belief. More... | |
| JointBeliefSparse (const StateDistribution &belief) | |
| JointBeliefSparse & | operator= (const JointBeliefSparse &o) |
| JointBeliefInterface & | operator= (const JointBeliefInterface &o) |
| assignment operator. More... | |
| double | Update (const MultiAgentDecisionProcessDiscreteInterface &pu, Index lastJAI, Index newJOI) |
| Performs a joint belief update on this joint belief. More... | |
| ~JointBeliefSparse () | |
| Destructor. More... | |
 Public Member Functions inherited from JointBeliefInterface | |
| JointBeliefInterface () | |
| (default) Constructor More... | |
| virtual | ~JointBeliefInterface () |
| Destructor. More... | |
| Public Member Functions inherited from BeliefInterface | |
| BeliefInterface () | |
| (default) Constructor More... | |
| virtual | ~BeliefInterface () |
| Destructor. More... | |
| Public Member Functions inherited from BeliefSparse | |
| BeliefSparse () | |
| Default Constructor. More... | |
| BeliefSparse (size_t size) | |
| Constructor which sets the size of the joint belief. More... | |
| BeliefSparse (const std::vector< double > &belief) | |
| Constructor which copies belief in this joint belief. More... | |
| BeliefSparse (const BeliefInterface &belief) | |
| Constructor which copies belief in this joint belief. More... | |
| BeliefSparse (const StateDistribution &belief) | |
| void | Clear () |
| Clears the belief. More... | |
| double | Get (Index sI) const |
| Gets the probability of the sI'th state. More... | |
| std::vector< double > | Get () const |
| Gets a vector of probabilities representing the belief. More... | |
| BeliefIteratorGeneric | GetIterator () const |
| double | InnerProduct (const std::vector< double > &values) const |
| Computes the inner product of a belief with the vector values. More... | |
| std::vector< double > | InnerProduct (const VectorSet &v) const |
| Computes the inner product of a belief with the VectorSet v. More... | |
| std::vector< double > | InnerProduct (const VectorSet &v, const std::vector< bool > &mask) const |
| Computes the inner product of a belief with the VectorSet v. More... | |
| unsigned int | NumberNonZeros () const |
| BeliefSparse & | operator= (const BeliefSparse &o) |
| BeliefInterface & | operator= (const BeliefInterface &o) |
| Copy assignment operator. More... | |
| double & | operator[] (Index &i) |
| Gets the probability of the i'th state. More... | |
| double & | operator[] (int &i) |
| Gets the probability of the i'th state. More... | |
| void | Print () const |
| Prints the belief. More... | |
| bool | SanityCheck () const |
| Checks whether the belief is a valid probability distribution. More... | |
| void | Set (const BS &belief) |
| void | Set (const std::vector< double > &belief) |
| Copy the belief into this object. More... | |
| void | Set (Index sI, double prob) |
| Sets probability of the sI'th state to prob . More... | |
| void | Set (const BeliefInterface &belief) |
| Copy the belief into this object. More... | |
| virtual void | Set (const StateDistribution &belief) |
| Copy the belief into this object. More... | |
| unsigned int | Size () const |
| Returns the size of this belief. More... | |
| std::string | SoftPrint () const |
| Prints the belief. More... | |
| ~BeliefSparse () | |
| Destructor. More... | |
Private Member Functions | |
| double | UpdateSlow (const MultiAgentDecisionProcessDiscreteInterface &pu, Index lastJAI, Index newJOI) |
| Slow version of Update(), if GetTransitionModelDiscretePtr() is 0. More... | |
Additional Inherited Members | |
| Protected Types inherited from BeliefSparse | |
| typedef boost::numeric::ublas::compressed_vector < double > | BS |
| typedef BS::const_iterator | BScit |
| typedef BS::iterator | BSit |
| Protected Attributes inherited from BeliefSparse | |
| BS | _m_b |
| The sparse vector to store the belief. More... | |
Detailed Description
JointBeliefSparse represents a sparse joint belief.
Constructor & Destructor Documentation
| JointBeliefSparse::JointBeliefSparse | ( | ) |
Default Constructor.
Referenced by Clone().
| JointBeliefSparse::JointBeliefSparse | ( | size_t | size | ) |
Constructor which sets the size of the joint belief.
| JointBeliefSparse::JointBeliefSparse | ( | const std::vector< double > & | belief | ) |
Constructor which copies belief in this joint belief.
| JointBeliefSparse::JointBeliefSparse | ( | const JointBeliefInterface & | belief | ) |
Constructor which copies belief in this joint belief.
| JointBeliefSparse::JointBeliefSparse | ( | const StateDistribution & | belief | ) |
| JointBeliefSparse::~JointBeliefSparse | ( | ) |
Destructor.
Member Function Documentation
|
inlinevirtual |
Returns a pointer to a copy of this class.
Reimplemented from BeliefSparse.
References JointBeliefSparse().
| JointBeliefSparse & JointBeliefSparse::operator= | ( | const JointBeliefSparse & | o | ) |
References BeliefSparse::operator=().
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virtual |
assignment operator.
This must be implemented by the derived class (with this prototype).
For now, this function is purely abstract. Might there be some members added to this (base) class, then an implementation could be made. This should then be called using PolicyPoolInterface::operator=(o) from the copy assignment operator of the derived class. See also http://www.icu-project.org/docs/papers/cpp_report/the_assignment_operator_revisited.html .
Implements JointBeliefInterface.
|
virtual |
Performs a joint belief update on this joint belief.
Performs the belief update. I.e., given the current joint belief b (which is represented by this), we compute P(s'|b, a, o) for all new states s'. This function updates this belief (alter this object). Returned is the normalization factor P(o|b,a), which is also to probability that this new history (belief) occurs given the previous one.
Implements JointBeliefInterface.
References BeliefSparse::_m_b, TGet::Get(), ObservationModelDiscreteInterface::Get(), MultiAgentDecisionProcessDiscreteInterface::GetEventObservability(), MultiAgentDecisionProcessDiscreteInterface::GetObservationModelDiscretePtr(), MultiAgentDecisionProcessDiscreteInterface::GetTGet(), Globals::PROB_PRECISION, BeliefSparse::SanityCheck(), and UpdateSlow().
Referenced by AgentQMDP::Act(), and AgentBG::Act().
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private |
Slow version of Update(), if GetTransitionModelDiscretePtr() is 0.
Almost literal copy of Update().
References BeliefSparse::_m_b, MultiAgentDecisionProcessDiscreteInterface::GetEventObservability(), MultiAgentDecisionProcessDiscreteInterface::GetObservationProbability(), MultiAgentDecisionProcessDiscreteInterface::GetTransitionProbability(), Globals::PROB_PRECISION, and BeliefSparse::SanityCheck().
Referenced by Update().
