Perseus contains basic functionality for the Perseus planner. More...

#include <Perseus.h>

Inheritance diagram for Perseus:

Public Member Functions
bool	CheckConvergence (const std::vector< double > &VB, const std::vector< double > &VBnew, int iter) const

virtual void	ExportValueFunction (const std::string &filename) const =0
	Exports the computed value function in a simple text format used by Tony Cassandra for .alpha files. More...

std::string	GetIdentification () const

virtual double	GetQ (const JointBeliefInterface &b, Index jaI) const =0

virtual double	GetQ (const JointBeliefInterface &b, Index jaI, AlphaVector::BGPolicyIndex &betaMaxI) const =0

virtual double	GetQ (const JointBeliefInterface &b, Index t, Index jaI) const =0

virtual double	GetQ (const JointBeliefInterface &b, Index t, Index jaI, AlphaVector::BGPolicyIndex &betaMaxI) const =0

int	GetVerbose () const

void	Initialize ()

	Perseus (const PlanningUnitDecPOMDPDiscrete *pu)
	(default) Constructor More...

	Perseus (const boost::shared_ptr< const PlanningUnitDecPOMDPDiscrete > &pu)

	Perseus (const PlanningUnitFactoredDecPOMDPDiscrete *pu)

	Perseus (const boost::shared_ptr< const PlanningUnitFactoredDecPOMDPDiscrete > &pu)

virtual void	Plan ()=0

int	SampleNotImprovedBeliefIndex (std::vector< bool > stillNeedToBeImproved, int nrNotImproved) const
	Sample an index of a belief in the set which has not been improved. More...

void	SetComputeVectorForEachBelief (bool compute)

void	SetDryrun (bool dryrun)

void	SetIdentification (const std::string &identification)

void	SetInitializeWithImmediateReward (bool initReward)

void	SetInitializeWithZero (bool initZero)

void	SetMaximumNumberOfIterations (int nr)

void	SetMinimumNumberOfIterations (int nr)

void	SetResultsFilename (const std::string &filename)

void	SetSaveIntermediateValueFunctions (bool save)

void	SetSaveTimings (bool save)

virtual void	SetValueFunction (const std::string &filename)=0

void	SetVerbose (int verbose)

virtual	~Perseus ()
	Destructor. More...

Public Member Functions inherited from AlphaVectorPlanning
	AlphaVectorPlanning (const PlanningUnitDecPOMDPDiscrete *pu)
	(default) Constructor More...

	AlphaVectorPlanning (const boost::shared_ptr< const PlanningUnitDecPOMDPDiscrete > &pu)

	AlphaVectorPlanning (const PlanningUnitFactoredDecPOMDPDiscrete *pu)

	AlphaVectorPlanning (const boost::shared_ptr< const PlanningUnitFactoredDecPOMDPDiscrete > &pu)

GaoVectorSet	BackProject (const ValueFunctionPOMDPDiscrete &v) const
	Back projects a value function. More...

GaoVectorSet	BackProject (const VectorSet &v) const
	Back projects a value function, represented as a VectorSet. More...

VectorSet	CrossSum (const VectorSet &A, const VectorSet &B) const
	Compute the cross-sum of two vector sets. More...

void	ExportPOMDPFile (const std::string &filename) const
	Exports the POMDP to file named filename. More...

size_t	GetAcceleratedPruningThreshold () const

ValueFunctionPOMDPDiscrete	GetImmediateRewardValueFunction () const
	Returns the value function induced by the reward model. More...

const PlanningUnitDecPOMDPDiscrete *	GetPU () const
	Returns a ref to the PlanningUnit. More...

void	Initialize ()

QFunctionsDiscrete	Prune (const QFunctionsDiscrete &Q) const
	Prune a Q-valuefunction. More...

ValueFunctionPOMDPDiscrete	Prune (const ValueFunctionPOMDPDiscrete &V) const
	Prune a POMDP valuefunction. More...

VectorSet	Prune (const VectorSet &V) const
	Prune a VectorSet. More...

BeliefSet	SampleBeliefs (const ArgumentHandlers::Arguments &args) const
	Sample a belief set according to the arguments. More...

BeliefSetNonStationary	SampleBeliefsNonStationary (const ArgumentHandlers::Arguments &args) const
	Sample a non-stationary belief set according to the arguments. More...

BeliefSetNonStationary	SampleBeliefsNonStationary (int nrBeliefs=10, int uniqueBeliefs=0, int resetAfter=0, int useQMDPforSamplingBeliefs=0, double QMDPexploreProb=0.1) const
	Sample a non-stationary belief set specifying each argument. More...

void	SetAcceleratedPruningThreshold (size_t acceleratedPruningThreshold)

VectorSet	Union (const VectorSet &A, const VectorSet &B) const
	Computes the union of two vector sets. More...

QFunctionsDiscrete	ValueFunctionToQ (const ValueFunctionPOMDPDiscrete &V) const

virtual	~AlphaVectorPlanning ()
	Destructor. More...

Public Member Functions inherited from TimedAlgorithm
void	AddTimedEvent (const std::string &id, clock_t duration)
	Adds event of certain duration, e.g., an external program call. More...

std::vector< double >	GetTimedEventDurations (const std::string &id)
	Returns all stored durations (in s) for a particular event. More...

void	LoadTimers (const std::string &filename)
	Load timing info from file filename. More...

void	PrintTimers () const
	Print stored timing info. More...

void	PrintTimersSummary () const
	Sums data and prints out a summary. More...

void	SaveTimers (const std::string &filename) const
	Save collected timing info to file filename. More...

void	SaveTimers (std::ofstream &of) const
	Save collected timing info to ofstream of. More...

void	StartTimer (const std::string &id) const
	Start to time an event identified by id. More...

void	StopTimer (const std::string &id) const
	Stop to time an event identified by id. More...

	TimedAlgorithm ()
	(default) Constructor More...

virtual	~TimedAlgorithm ()
	Destructor. More...

Static Public Member Functions
static std::string	BackupTypeToString (const QAVParameters &params)

static QAVParameters	ProcessArguments (const ArgumentHandlers::Arguments &args)

Static Public Member Functions inherited from AlphaVectorPlanning
static void	CrossSum (const std::vector< AlphaVector > &A, const std::vector< AlphaVector > &B, std::vector< AlphaVector > &output)
	Compute the cross-sum of two vector sets. More...

static bool	EqualVS (const VectorSet &VS1, const VectorSet &VS2)

static void	ExportBeliefSet (const BeliefSet &B, const std::string &filename)
	Exports a belief set to a file. More...

static void	ExportPOMDPFile (const std::string &filename, const DecPOMDPDiscreteInterface *decpomdp)
	Exports the POMDP represented by pu to file named filename. More...

static void	ExportValueFunction (const std::string &filename, const ValueFunctionPOMDPDiscrete &V, bool includeBGindices=true)
	Exports a value function V to file named filename. More...

static void	ExportValueFunction (const std::string &filename, const QFunctionsDiscrete &Q, bool includeBGindices=true)
	Exports a Q functions Q to file named filename. More...

static void	ExportValueFunction (const std::string &filename, const QFunctionsDiscreteNonStationary &Q, bool includeBGindices=true)
	Exports a Q functions Q to file named filename. More...

static std::vector< int >	GetDuplicateIndices (const VectorSet &V)
	Returns a vector<int> which for each vector k in V specifies whether it is unique, in which case vector<int>[k] is set to -1, or whether it is a duplicate of another vector l in V, in which case vector<int>[k] is set to the index of l, where 0 <= l < V.size()). More...

static ValueFunctionPOMDPDiscrete	GetImmediateRewardValueFunction (const PlanningUnitDecPOMDPDiscrete *pu)
	Returns the value function induced by the reward model of pu. More...

static ValueFunctionPOMDPDiscrete	ImportValueFunction (const std::string &filename)
	Imports a value function from a file named filename. More...

static QFunctionsDiscreteNonStationary	ImportValueFunction (const std::string &filename, size_t nr, size_t nrA, size_t nrS)

static ValueFunctionPOMDPDiscrete	QFunctionsToValueFunction (const QFunctionsDiscrete &Q)
	Takes all the vectors from the Q-function Q and throws them together as a 'V' function. More...

static std::string	SoftPrint (const VectorSet &VS)

static QFunctionsDiscrete	ValueFunctionToQ (const ValueFunctionPOMDPDiscrete &V, size_t nrA, size_t nrS)

static VectorSet	ValueFunctionToVectorSet (const ValueFunctionPOMDPDiscrete &V)

static bool	VectorIsDominated (const AlphaVector &alpha, const ValueFunctionPOMDPDiscrete &V)

static bool	VectorIsDominated (Index i, const VectorSet &V, const std::vector< bool > &vectorsInVtoConsider)

static bool	VectorIsInValueFunction (const AlphaVector &alpha, const ValueFunctionPOMDPDiscrete &V)

static VectorSet *	VectorOfVectorsToVectorSet (const std::vector< std::vector< double > > &vectors)

static ValueFunctionPOMDPDiscrete	VectorSetToValueFunction (const VectorSet &VS, Index a=0, AlphaVector::BGPolicyIndex betaI=-1)

Protected Member Functions
GaoVectorSet	BackupStageLeadIn (const ValueFunctionPOMDPDiscrete &V) const

void	BackupStageLeadOut (GaoVectorSet Gao) const

virtual std::vector< double >	GetImmediateRewardBeliefSet () const =0

QFunctionsDiscreteNonStationary	GetInitialNonStationaryQFunctions () const

QFunctionsDiscrete	GetInitialQFunctions () const

ValueFunctionPOMDPDiscrete	GetInitialValueFunction () const

virtual void	InitializeBeliefs (int nrB, bool uniquify)=0

template<class VF >
void	PlanEndOfIteration (const VF &V)

void	PlanEndOfIteration () const

void	PlanLeadIn ()

void	PlanLeadOut ()

template<class VF >
void	PlanStartOfIteration (int iter, const std::vector< double > &VB, const VF &V) const

void	PrintMaxRewardInBeliefSet () const
	Prints the maximum immediate reward present in the belief set. More...

virtual void	StoreValueFunction (const ValueFunctionPOMDPDiscrete &V)

virtual void	StoreValueFunction (const QFunctionsDiscrete &Q)

virtual void	StoreValueFunction (const QFunctionsDiscreteNonStationary &Q)

void	UpdateValueFunctionName ()

Protected Attributes
bool	_m_beliefsInitialized
	Whether or not the belief set has been set. More...

double	_m_bestValue

bool	_m_computeVectorForEachBelief

bool	_m_dryrun

std::string	_m_identification

std::string	_m_resultsFilename

bool	_m_storeIntermediateValueFunctions

bool	_m_storeTimings

std::string	_m_valueFunctionFilename

Private Member Functions
size_t	GetSize (const ValueFunctionPOMDPDiscrete &V) const

size_t	GetSize (const QFunctionsDiscrete &Q) const

size_t	GetSize (const QFunctionsDiscreteNonStationary &Q) const

Private Attributes
bool	_m_initializeWithImmediateReward

bool	_m_initializeWithZero

int	_m_maximumNumberOfIterations

int	_m_minimumNumberOfIterations

int	_m_verbose

Detailed Description

Perseus contains basic functionality for the Perseus planner.

Constructor & Destructor Documentation

Perseus::Perseus ( const PlanningUnitDecPOMDPDiscrete * pu )

(default) Constructor

References SetMaximumNumberOfIterations(), SetMinimumNumberOfIterations(), and UpdateValueFunctionName().

Perseus::Perseus ( const boost::shared_ptr< const PlanningUnitDecPOMDPDiscrete > & pu )

References SetMaximumNumberOfIterations(), SetMinimumNumberOfIterations(), and UpdateValueFunctionName().

Perseus::Perseus ( const PlanningUnitFactoredDecPOMDPDiscrete * pu )

References SetMaximumNumberOfIterations(), SetMinimumNumberOfIterations(), and UpdateValueFunctionName().

Perseus::Perseus ( const boost::shared_ptr< const PlanningUnitFactoredDecPOMDPDiscrete > & pu )

References SetMaximumNumberOfIterations(), SetMinimumNumberOfIterations(), and UpdateValueFunctionName().

Perseus::~Perseus ( )

virtual

Destructor.

Member Function Documentation

GaoVectorSet Perseus::BackupStageLeadIn ( const ValueFunctionPOMDPDiscrete & V ) const

protected

References AlphaVectorPlanning::BackProject(), GetIdentification(), and TimedAlgorithm::StartTimer().

Referenced by PerseusPOMDPPlanner::BackupStage(), PerseusConstrainedPOMDPPlanner::BackupStage(), PerseusBGPOMDPPlanner::BackupStageAll(), PerseusBGNSPlanner::BackupStageAll(), PerseusBGPlanner::BackupStageAll(), PerseusBGNSPlanner::BackupStageSampling(), PerseusBGPlanner::BackupStageSampling(), PerseusBGPOMDPPlanner::BackupStageSamplingAlt(), and PerseusBGPlanner::BackupStageSamplingAlt().

void Perseus::BackupStageLeadOut ( GaoVectorSet Gao ) const

protected

References GetIdentification(), PlanningUnitMADPDiscrete::GetNrJointActions(), PlanningUnitMADPDiscrete::GetNrJointObservations(), AlphaVectorPlanning::GetPU(), and TimedAlgorithm::StopTimer().

Referenced by PerseusPOMDPPlanner::BackupStage(), PerseusConstrainedPOMDPPlanner::BackupStage(), PerseusBGPOMDPPlanner::BackupStageAll(), PerseusBGNSPlanner::BackupStageAll(), PerseusBGPlanner::BackupStageAll(), PerseusBGNSPlanner::BackupStageSampling(), PerseusBGPlanner::BackupStageSampling(), PerseusBGPOMDPPlanner::BackupStageSamplingAlt(), and PerseusBGPlanner::BackupStageSamplingAlt().

string Perseus::BackupTypeToString ( const QAVParameters & params )

static

References QAVParameters::backup, BG, QAVParameters::bgBackupType, EVENT_POMDP, FACTORED_POMDP, and POMDP.

bool Perseus::CheckConvergence	(	const std::vector< double > &	VB,
		const std::vector< double > &	VBnew,
		int	iter
	)		const

References _m_maximumNumberOfIterations, _m_minimumNumberOfIterations, GetIdentification(), AlphaVectorPlanning::GetPU(), GetVerbose(), and Globals::MAXHORIZON.

Referenced by PerseusQFunctionPlanner::Plan(), PerseusPOMDPPlanner::Plan(), and PerseusNonStationaryQPlanner::PlanSampling().

virtual void Perseus::ExportValueFunction ( const std::string & filename ) const

pure virtual

Exports the computed value function in a simple text format used by Tony Cassandra for .alpha files.

Implemented in PerseusStationary, and PerseusNonStationary.

Referenced by PlanEndOfIteration().

std::string Perseus::GetIdentification ( ) const

inline

Referenced by BackupStageLeadIn(), BackupStageLeadOut(), CheckConvergence(), PerseusNonStationaryQPlanner::PlanAll(), PlanEndOfIteration(), PlanLeadIn(), PlanLeadOut(), PerseusNonStationaryQPlanner::PlanSampling(), PlanStartOfIteration(), PrintMaxRewardInBeliefSet(), and UpdateValueFunctionName().

virtual std::vector<double> Perseus::GetImmediateRewardBeliefSet ( ) const

protectedpure virtual

Implemented in PerseusStationary, and PerseusNonStationary.

Referenced by PrintMaxRewardInBeliefSet().

QFunctionsDiscreteNonStationary Perseus::GetInitialNonStationaryQFunctions ( ) const

protected

References PlanningUnit::GetHorizon(), GetInitialQFunctions(), and AlphaVectorPlanning::GetPU().

QFunctionsDiscrete Perseus::GetInitialQFunctions ( ) const

protected

References _m_initializeWithImmediateReward, _m_initializeWithZero, GetInitialValueFunction(), PlanningUnitMADPDiscrete::GetNrJointActions(), PlanningUnitMADPDiscrete::GetNrStates(), AlphaVectorPlanning::GetPU(), AlphaVector::SetAction(), and AlphaVector::SetValue().

Referenced by GetInitialNonStationaryQFunctions(), PerseusQFunctionPlanner::Plan(), PerseusNonStationaryQPlanner::PlanAll(), and PerseusNonStationaryQPlanner::PlanSampling().

ValueFunctionPOMDPDiscrete Perseus::GetInitialValueFunction ( ) const

protected

References _m_initializeWithImmediateReward, _m_initializeWithZero, PlanningUnitDecPOMDPDiscrete::GetDiscount(), PlanningUnit::GetHorizon(), PlanningUnitMADPDiscrete::GetNrJointActions(), PlanningUnitMADPDiscrete::GetNrStates(), AlphaVectorPlanning::GetPU(), PlanningUnitDecPOMDPDiscrete::GetReward(), Globals::MAXHORIZON, AlphaVector::SetAction(), and AlphaVector::SetValue().

Referenced by GetInitialQFunctions(), and PerseusPOMDPPlanner::Plan().

virtual double Perseus::GetQ	(	const JointBeliefInterface &	b,
		Index	jaI
	)		const

pure virtual

Implemented in PerseusStationary, and PerseusNonStationary.

virtual double Perseus::GetQ	(	const JointBeliefInterface &	b,
		Index	jaI,
		AlphaVector::BGPolicyIndex &	betaMaxI
	)		const

pure virtual

Implemented in PerseusStationary, and PerseusNonStationary.

virtual double Perseus::GetQ	(	const JointBeliefInterface &	b,
		Index	t,
		Index	jaI
	)		const

pure virtual

Implemented in PerseusStationary, and PerseusNonStationary.

virtual double Perseus::GetQ	(	const JointBeliefInterface &	b,
		Index	t,
		Index	jaI,
		AlphaVector::BGPolicyIndex &	betaMaxI
	)		const

pure virtual

Implemented in PerseusStationary, and PerseusNonStationary.

size_t Perseus::GetSize ( const ValueFunctionPOMDPDiscrete & V ) const

inlineprivate

Referenced by GetSize(), and PlanStartOfIteration().

size_t Perseus::GetSize ( const QFunctionsDiscrete & Q ) const

inlineprivate

size_t Perseus::GetSize ( const QFunctionsDiscreteNonStationary & Q ) const

inlineprivate

References GetSize().

int Perseus::GetVerbose ( ) const

inline

Referenced by PerseusPOMDPPlanner::BackupStage(), PerseusConstrainedPOMDPPlanner::BackupStage(), PerseusBGPOMDPPlanner::BackupStageAll(), PerseusBGNSPlanner::BackupStageAll(), PerseusBGPlanner::BackupStageAll(), PerseusBGNSPlanner::BackupStageSampling(), PerseusBGPlanner::BackupStageSampling(), PerseusBGPOMDPPlanner::BackupStageSamplingAlt(), PerseusBGPlanner::BackupStageSamplingAlt(), CheckConvergence(), PlanLeadIn(), PlanLeadOut(), PlanStartOfIteration(), PrintMaxRewardInBeliefSet(), and UpdateValueFunctionName().

void Perseus::Initialize ( )

Referenced by PerseusBGNSPlanner::PerseusBGNSPlanner(), PerseusBGPlanner::PerseusBGPlanner(), PerseusConstrainedPOMDPPlanner::PerseusConstrainedPOMDPPlanner(), PerseusPOMDPPlanner::PerseusPOMDPPlanner(), and PerseusWeightedPlanner::PerseusWeightedPlanner().

virtual void Perseus::InitializeBeliefs	(	int	nrB,
		bool	uniquify
	)

protectedpure virtual

Implemented in PerseusStationary, and PerseusNonStationary.

Referenced by PlanLeadIn().

virtual void Perseus::Plan ( )

pure virtual

Implemented in PerseusNonStationaryQPlanner, PerseusPOMDPPlanner, and PerseusQFunctionPlanner.

template<class VF >

void Perseus::PlanEndOfIteration ( const VF & V )

inlineprotected

References ExportValueFunction(), PlanningUnitMADPDiscrete::GetNewJointBeliefFromISD(), AlphaVectorPlanning::GetPU(), BeliefValue::GetValue(), PlanEndOfIteration(), and StoreValueFunction().

void Perseus::PlanEndOfIteration ( ) const

protected

References _m_storeTimings, PlanningUnit::GetHorizon(), GetIdentification(), AlphaVectorPlanning::GetPU(), directories::MADPGetResultsDir(), TimedAlgorithm::PrintTimersSummary(), and TimedAlgorithm::SaveTimers().

Referenced by PerseusQFunctionPlanner::Plan(), PerseusPOMDPPlanner::Plan(), PerseusNonStationaryQPlanner::PlanAll(), PlanEndOfIteration(), and PerseusNonStationaryQPlanner::PlanSampling().

void Perseus::PlanLeadIn ( )

protected

References _m_beliefsInitialized, GetIdentification(), GetVerbose(), InitializeBeliefs(), PrintMaxRewardInBeliefSet(), and TimedAlgorithm::StartTimer().

Referenced by PerseusQFunctionPlanner::Plan(), PerseusPOMDPPlanner::Plan(), PerseusNonStationaryQPlanner::PlanAll(), and PerseusNonStationaryQPlanner::PlanSampling().

void Perseus::PlanLeadOut ( )

protected

References _m_storeTimings, PlanningUnit::GetHorizon(), GetIdentification(), AlphaVectorPlanning::GetPU(), GetVerbose(), directories::MADPGetResultsDir(), TimedAlgorithm::SaveTimers(), and TimedAlgorithm::StopTimer().

Referenced by PerseusQFunctionPlanner::Plan(), PerseusPOMDPPlanner::Plan(), PerseusNonStationaryQPlanner::PlanAll(), and PerseusNonStationaryQPlanner::PlanSampling().

template<class VF >

void Perseus::PlanStartOfIteration	(	int	iter,
		const std::vector< double > &	VB,
		const VF &	V
	)		const

inlineprotected

References AlphaVectorPlanning::ExportValueFunction(), PlanningUnit::GetHorizon(), GetIdentification(), PlanningUnitMADPDiscrete::GetNewJointBeliefFromISD(), AlphaVectorPlanning::GetPU(), GetSize(), BeliefValue::GetValue(), GetVerbose(), and directories::MADPGetResultsDir().

Referenced by PerseusQFunctionPlanner::Plan(), PerseusPOMDPPlanner::Plan(), PerseusNonStationaryQPlanner::PlanAll(), and PerseusNonStationaryQPlanner::PlanSampling().

void Perseus::PrintMaxRewardInBeliefSet ( ) const

protected

Prints the maximum immediate reward present in the belief set.

References _m_beliefsInitialized, GetIdentification(), GetImmediateRewardBeliefSet(), and GetVerbose().

Referenced by PlanLeadIn().

QAVParameters Perseus::ProcessArguments ( const ArgumentHandlers::Arguments & args )

static

References QAVParameters::backup, ArgumentHandlers::Arguments::backup, BG, ArgumentHandlers::Arguments::bgBackup, QAVParameters::bgBackupType, EVENT_POMDP, FACTORED_POMDP, POMDP, QAVParameters::stationary, QAVParameters::waitPenalty, and QAVParameters::weight.

int Perseus::SampleNotImprovedBeliefIndex	(	std::vector< bool >	stillNeedToBeImproved,
		int	nrNotImproved
	)		const

Sample an index of a belief in the set which has not been improved.

References PrintTools::PrintVectorCout().

Referenced by PerseusPOMDPPlanner::BackupStage(), PerseusConstrainedPOMDPPlanner::BackupStage(), PerseusBGNSPlanner::BackupStageSampling(), PerseusBGPlanner::BackupStageSampling(), PerseusBGPOMDPPlanner::BackupStageSamplingAlt(), and PerseusBGPlanner::BackupStageSamplingAlt().

void Perseus::SetComputeVectorForEachBelief ( bool compute )

inline

void Perseus::SetDryrun ( bool dryrun )

inline

void Perseus::SetIdentification ( const std::string & identification )

References _m_identification, and UpdateValueFunctionName().

void Perseus::SetInitializeWithImmediateReward ( bool initReward )

inline

void Perseus::SetInitializeWithZero ( bool initZero )

inline

Referenced by PerseusNonStationary::PerseusNonStationary().

void Perseus::SetMaximumNumberOfIterations ( int nr )

inline

Referenced by Perseus().

void Perseus::SetMinimumNumberOfIterations ( int nr )

inline

Referenced by Perseus().

void Perseus::SetResultsFilename ( const std::string & filename )

References _m_resultsFilename, and UpdateValueFunctionName().

void Perseus::SetSaveIntermediateValueFunctions ( bool save )

inline

void Perseus::SetSaveTimings ( bool save )

inline

virtual void Perseus::SetValueFunction ( const std::string & filename )

pure virtual

Implemented in PerseusStationary, and PerseusNonStationary.

void Perseus::SetVerbose ( int verbose )

inline

void Perseus::StoreValueFunction ( const ValueFunctionPOMDPDiscrete & V )

protectedvirtual

Reimplemented in PerseusStationary.

Referenced by PlanEndOfIteration().

void Perseus::StoreValueFunction ( const QFunctionsDiscrete & Q )

protectedvirtual

Reimplemented in PerseusStationary.

void Perseus::StoreValueFunction ( const QFunctionsDiscreteNonStationary & Q )

protectedvirtual

Reimplemented in PerseusNonStationary.

void Perseus::UpdateValueFunctionName ( )

protected

References _m_resultsFilename, _m_valueFunctionFilename, PlanningUnit::GetHorizon(), GetIdentification(), AlphaVectorPlanning::GetPU(), and GetVerbose().

Referenced by Perseus(), SetIdentification(), and SetResultsFilename().

Member Data Documentation

bool Perseus::_m_beliefsInitialized

protected

Whether or not the belief set has been set.

Referenced by PerseusStationary::ExportBeliefSet(), PlanLeadIn(), PrintMaxRewardInBeliefSet(), PerseusNonStationary::SetBeliefSet(), PerseusStationary::SetBeliefSet(), PerseusNonStationary::~PerseusNonStationary(), and PerseusStationary::~PerseusStationary().

double Perseus::_m_bestValue

protected

bool Perseus::_m_computeVectorForEachBelief

protected

Referenced by PerseusBGPOMDPPlanner::BackupStage(), PerseusBGNSPlanner::BackupStage(), PerseusBGPlanner::BackupStage(), PerseusPOMDPPlanner::BackupStage(), and PerseusNonStationaryQPlanner::Plan().

bool Perseus::_m_dryrun

protected

Referenced by PerseusNonStationaryQPlanner::PlanAll(), and PerseusNonStationaryQPlanner::PlanSampling().

std::string Perseus::_m_identification

protected

Referenced by SetIdentification().

bool Perseus::_m_initializeWithImmediateReward

private

Referenced by GetInitialQFunctions(), and GetInitialValueFunction().

bool Perseus::_m_initializeWithZero

private

Referenced by GetInitialQFunctions(), and GetInitialValueFunction().

int Perseus::_m_maximumNumberOfIterations

private

Referenced by CheckConvergence().

int Perseus::_m_minimumNumberOfIterations

private

Referenced by CheckConvergence().

std::string Perseus::_m_resultsFilename

protected

Referenced by SetResultsFilename(), and UpdateValueFunctionName().

bool Perseus::_m_storeIntermediateValueFunctions

protected

bool Perseus::_m_storeTimings

protected

Referenced by PlanEndOfIteration(), and PlanLeadOut().

std::string Perseus::_m_valueFunctionFilename

protected

Referenced by PerseusNonStationaryQPlanner::PlanAll(), PerseusNonStationaryQPlanner::PlanSampling(), and UpdateValueFunctionName().

int Perseus::_m_verbose

private

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation