PlanningUnitMADPDiscrete represents a Planning unit for a discrete MADP (discrete actions, observations and states). More...

#include <PlanningUnitMADPDiscrete.h>

Inheritance diagram for PlanningUnitMADPDiscrete:

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Public Member Functions
virtual bool	AreCachedJointToIndivIndices (PolicyGlobals::PolicyDomainCategory pdc) const
	Check whether certain index conversions are cached. More...

void	ComputeHistoryArrays (Index hI, Index t, Index t_offset, Index Indices[], size_t indexDomainSize) const
	This function computes the indices of the sequence corr. More...

Index	ComputeHistoryIndex (Index t, Index t_offset, const Index indices[], size_t indexDomainSize) const
	This function computes the index of a history. More...

void	ExportDotGraph (const std::string &filename, const PolicyDiscretePure &policy, Index agentI, bool labelEdges=true) const
	Export a policy in dot format (from the GraphViz tools). More...

const Action *	GetAction (Index agentI, Index a) const
	Returns a ref to the a-th action of agent agentI. More...

void	GetActionHistoryArrays (Index agentI, Index ahI, Index t, Index aIs[]) const
	Computes the joint actions for jahI. More...

ActionHistoryTree *	GetActionHistoryTree (Index agentI, Index ohI) const
	Returns a pointer to action history# ohI of agent# agentI. More...

void	GetActionObservationHistoryArrays (Index agentI, Index aohI, Index t, Index aIs[], Index oIs[]) const
	Computes the joint actions and observations for aohI. More...

Index	GetActionObservationHistoryIndex (Index agentI, Index t, const std::vector< Index > &actions, const std::vector< Index > &observations) const
	converts the vectors of actions and observations of length t to a (individual) ObservationHistory Index for agentI. More...

ActionObservationHistoryTree *	GetActionObservationHistoryTree (Index agentI, Index aohI) const
	Returns a pointer to observation history# ohI of agent# agentI. More...

virtual PolicyGlobals::PolicyDomainCategory	GetDefaultIndexDomCat () const
	Return the default PolicyDomainCategory for the problem. More...

LIndex	GetFirstJointActionObservationHistoryIndex (Index ts) const
	Returns the index of the first joint action observation history of time step ts. More...

LIndex	GetFirstJointObservationHistoryIndex (Index ts) const
	Returns the index of the first joint observation history of time step ts. More...

LIndex	GetFirstObservationHistoryIndex (Index agI, Index ts) const
	Returns the index of the first ts observation history of agent agI. More...

double	GetInitialStateProbability (Index sI) const
	Returns the probability of a state in the initial state distribution. More...

double	GetJAOHProb (LIndex jaohI, Index p_jaohI=0, const JointBeliefInterface p_jb=NULL, const JointPolicyDiscrete jpol=NULL) const
	returns the probability of jaohI. More...

double	GetJAOHProbGivenPred (LIndex jaohI) const
	Gives the conditional probability of the realization of the joint action-observation history jaohI (and thus of the joint belief corresponding to JointActionObservationHistory jaohI). More...

double	GetJAOHProbs (JointBeliefInterface jb, LIndex jaohI, LIndex p_jaohI=0, const JointBeliefInterface p_jb=NULL, const JointPolicyDiscrete *jpol=NULL) const
	returns the probability of jaohI AND the corresponding joint belief given the predecessor p_jaohI (and its corresponding belief) More...

double	GetJAOHProbsRecursively (JointBeliefInterface jb, const Index jaIs[], const Index joIs[], Index t_p, Index t, LIndex p_jaohI=0, const JointPolicyDiscrete jpol=NULL) const
	the function that perfoms most of the work, called by GetJAOHProbs. More...

const JointAction *	GetJointAction (Index jaI) const
	Returns a ref to the i-th joint action. More...

Index	GetJointActionHistoryIndex (Index t, const std::vector< Index > &jointActions) const
	converts the vector joint observations of length t to a JointObservationHistory Index. More...

Index	GetJointActionHistoryIndex (Index t, const Index jointActions[]) const
	converts the vector joint observations of length t to a JointObservationHistory Index. More...

Index	GetJointActionHistoryIndex (JointActionHistoryTree *joh) const
	Returns the index of a JointActionHistoryTree pointer. More...

JointActionHistoryTree *	GetJointActionHistoryTree (Index jahI) const
	Returns a pointer to joint action history#. More...

void	GetJointActionObservationHistoryArrays (LIndex jaohI, Index t, Index jaIs[], Index joIs[]) const
	Computes the joint actions and observations for jaohI. More...

LIndex	GetJointActionObservationHistoryIndex (JointActionObservationHistoryTree *jaoh) const
	Returns the index of a JointActionObservationHistoryTree pointer. More...

Index	GetJointActionObservationHistoryIndex (Index t, const std::vector< Index > &Jactions, const std::vector< Index > &Jobservations) const
	converts the vectors of actions and observations of length t to a joint ActionObservationHistory Index. More...

Index	GetJointActionObservationHistoryIndex (Index t, const std::vector< Index > &Jactions, const std::vector< Index > &Jobservations, const Scope &agentSope) const
	like GetJointActionObservationHistoryIndex, but works on a subset of agents. More...

JointActionObservationHistoryTree *	GetJointActionObservationHistoryTree (LIndex jaohI) const
	Returns a pointer to JointActionObservation history#. More...

void	GetJointActionObservationHistoryVectors (LIndex jaohI, std::vector< Index > &jaIs, std::vector< Index > &joIs) const
	returns the vectors with joint actions and observations for JointActionObservationHistory jaohi. More...

JointBeliefInterface *	GetJointBeliefInterface (LIndex jaohI) const
	brief Returns a pointer to a new joint belief. More...

const JointObservation *	GetJointObservation (Index joI) const
	Returns a ref to the joI-th joint observation. More...

void	GetJointObservationHistoryArrays (Index johI, Index t, Index joIs[]) const
	Computes the joint observations for johI. More...

Index	GetJointObservationHistoryIndex (JointObservationHistoryTree *joh) const
	Returns the index of a JointObservationHistoryTree pointer. More...

Index	GetJointObservationHistoryIndex (Index t, const std::vector< Index > &jointObservations) const
	converts the vector joint observations of length t to a JointObservationHistory Index. More...

Index	GetJointObservationHistoryIndex (Index t, const Index jointObservations[]) const
	converts the vector joint observations of length t to a JointObservationHistory Index. More...

JointObservationHistoryTree *	GetJointObservationHistoryTree (Index johI) const
	Returns a pointer to joint observation history#. More...

MultiAgentDecisionProcessDiscreteInterface *	GetMADPDI ()

const MultiAgentDecisionProcessDiscreteInterface *	GetMADPDI () const

JointBeliefInterface *	GetNewJointBeliefFromISD () const
	Returns a new joint belief with the value of the initial state distribution. More...

virtual JointBeliefInterface *	GetNewJointBeliefInterface () const
	a function that forces derives classes to specify which types of joint beliefs are used. More...

virtual JointBeliefInterface *	GetNewJointBeliefInterface (size_t size) const

size_t	GetNrActionHistories (Index agentI) const
	Returns the number of action histories for agentI. More...

size_t	GetNrActionHistories (Index agentI, Index ts) const
	Returns the number of action histories for agentI for time step ts. More...

size_t	GetNrActionObservationHistories (Index agentI) const
	Returns the number of action observation histories for agentI. More...

const std::vector< size_t > &	GetNrActions () const
	Returns the number of actions vector. More...

size_t	GetNrActions (Index agentI) const
	Returns the number of actions of agent agentI. More...

size_t	GetNrAgents () const
	Gets the number of agents. More...

size_t	GetNrJointActionHistories () const
	Returns the number of joint action histories. More...

size_t	GetNrJointActionObservationHistories () const
	Returns the number of jointActionObservation histories. More...

size_t	GetNrJointActions () const
	return the number of joint actions. More...

size_t	GetNrJointObservationHistories () const
	Returns the number of joint observation histories. More...

size_t	GetNrJointObservationHistories (Index ts) const
	Returns the number of joint observation histories for time step ts. More...

size_t	GetNrJointObservations () const
	Returns the number of joint observations. More...

LIndex	GetNrJointPolicies () const
	Returns the number of joint policies. More...

size_t	GetNrObservationHistories (Index agentI) const
	Returns the number of observation histories for agentI. More...

size_t	GetNrObservationHistories (Index agentI, Index ts) const
	Returns the number of observation histories for agentI for time step ts. More...

const std::vector< size_t >	GetNrObservationHistoriesVector () const
	Returns a vector with the number of OHs for each agent. More...

const std::vector< size_t >	GetNrObservationHistoriesVector (Index ts) const
	Returns a vector with the number of OHs in stage ts for each agent. More...

const std::vector< size_t > &	GetNrObservations () const
	Returns the number of observations vector. More...

size_t	GetNrObservations (Index agentI) const
	Returns the number of observations of agent agentI. More...

LIndex	GetNrPolicies (Index agentI) const
	Returns the number of policies for agentI. More...

size_t	GetNrPolicyDomainElements (Index agentI, PolicyGlobals::PolicyDomainCategory cat, size_t depth=MAXHORIZON) const
	Get the number of elements in the domain of an agent's policy. More...

size_t	GetNrStates () const
	Returns the number of states. More...

const Observation *	GetObservation (Index agentI, Index o) const
	Returns a ref to the o-th observation of agent agentI. More...

void	GetObservationHistoryArrays (Index agentI, Index ohI, Index t, Index oIs[]) const
	Computes the observations for ohI. More...

Index	GetObservationHistoryIndex (Index agentI, Index t, const std::vector< Index > &observations) const
	converts the vector observations of length t to a (individual) ObservationHistory Index for agentI. More...

ObservationHistoryTree *	GetObservationHistoryTree (Index agentI, Index ohI) const
	Returns a pointer to observation history# ohI of agent# agentI. More...

const ObservationModelDiscrete *	GetObservationModelDiscretePtr () const

double	GetObservationProbability (Index jaI, Index sucSI, Index joI) const
	Returns P(joI \| jaI, sucSI ). Arguments are time-ordered. More...

const PlanningUnitMADPDiscreteParameters &	GetParams () const
	Get the parameters for this planning unit. More...

const MultiAgentDecisionProcessDiscreteInterface *	GetProblem () const
	Returns a reference to the problem of the PlanningUnitMADPDiscrete. More...

MultiAgentDecisionProcessDiscreteInterface *	GetProblem ()

const State *	GetState (Index i) const
	Get a pointer to a State by index. More...

Index	GetSuccessorAHI (Index agentI, Index ohI, Index oI) const

Index	GetSuccessorAOHI (Index agI, Index aohI, Index aI, Index oI) const
	Returns the index of the successor of joint action-observation history jaohI via joint action jaI and joint observation joI. More...

Index	GetSuccessorJAHI (Index johI, Index joI) const

LIndex	GetSuccessorJAOHI (LIndex jaohI, Index jaI, Index joI) const
	Returns the index of the successor of agent agI's action-observation history aohI via action aI and observation oI. More...

Index	GetSuccessorJOHI (Index johI, Index joI) const
	Returns the index of the successor of observation history johI via joint observation joI. More...

Index	GetSuccessorOHI (Index agentI, Index ohI, Index oI) const
	Returns the index of the successor of observation history ohI of agentI via observation joI. More...

Index	GetTimeStepForAHI (Index agentI, Index ohI) const
	Returns the time step of observation history ohI. More...

Index	GetTimeStepForAOHI (Index agentI, Index aohI) const
	Returns the time step of joint action-observation historyaohI. More...

Index	GetTimeStepForJAHI (Index johI) const
	Returns the time step of joint observation history johI. More...

Index	GetTimeStepForJAOHI (LIndex jaohI) const
	Returns the time step of joint action-observation historyjaohI. More...

Index	GetTimeStepForJOHI (Index johI) const
	Returns the time step of joint observation history johI. More...

Index	GetTimeStepForOHI (Index agentI, Index ohI) const
	Returns the time step of observation history ohI. More...

const TransitionModelDiscrete *	GetTransitionModelDiscretePtr () const

double	GetTransitionProbability (Index sI, Index jaI, Index sucSI) const
	Returns the trans. prob for state, joint action, suc state indices. More...

Index	IndividualToJointActionHistoryIndex (Index t, const std::vector< Index > &indivIs) const
	converts individual history indices to a joint index More...

Index	IndividualToJointActionIndices (const Index *indivActionIndices) const
	Returns the joint action index that corresponds to the array of specified individual action indices. More...

Index	IndividualToJointActionIndices (const std::vector< Index > &indivActionIndices) const
	Returns the joint action index that corresponds to the vector of specified individual action indices. More...

LIndex	IndividualToJointActionObservationHistoryIndex (Index t, const std::vector< Index > &indivIs) const
	converts individual history indices to a joint index More...

Index	IndividualToJointObservationHistoryIndex (Index t, const std::vector< Index > &indivIs) const
	converts individual history indices to a joint index More...

Index	IndividualToJointObservationIndices (const std::vector< Index > &inObs) const
	Returns the joint observation index that corresponds to the vector of specified individual observation indices. More...

void	JointAOHIndexToIndividualActionObservationVectors (LIndex jaohI, std::vector< std::vector< Index > > &indivO_vec, std::vector< std::vector< Index > > &indivA_vec) const
	computes the vectors of actions and obs. More...

void	JointAOHIndexToIndividualActionObservationVectors (LIndex jaohI, std::vector< std::vector< Index > > &indivAO_vec) const
	computes the vector of action-observations corresponding to jaohI indivAO_vec[agentI][t] = aoI More...

std::vector< Index >	JointToIndividualActionHistoryIndices (Index JAHistI) const
	Returns a vector containing the indices of the individual ObservationHistory s corresponding to the JointActionHistory index JAHistI. More...

const std::vector< Index > &	JointToIndividualActionHistoryIndicesRef (Index JAHistI) const
	Returns a reference to a cached vector containing the indices of the indiv. More...

std::vector< Index >	JointToIndividualActionIndices (Index jaI) const
	Returns a vector containing the indices of the indiv. More...

std::vector< Index >	JointToIndividualActionObservationHistoryIndices (LIndex jaohI) const
	Returns a vector containing the indices of the indiv. More...

const std::vector< Index > &	JointToIndividualActionObservationHistoryIndicesRef (LIndex jaohI) const
	Returns a vector containing the indices of the indiv. More...

std::vector< Index >	JointToIndividualObservationHistoryIndices (Index johI) const
	Returns a vector containing the indices of the indiv. More...

const std::vector< Index > &	JointToIndividualObservationHistoryIndicesRef (Index johI) const
	Returns a vector containing the indices of the indiv. More...

std::vector< Index >	JointToIndividualObservationIndices (Index joI) const
	Returns a vector containing the indices of the indiv. More...

std::vector< Index >	JointToIndividualPolicyDomainIndices (Index jdI, PolicyGlobals::PolicyDomainCategory cat) const
	Converts joint indices to individual policy domain element indices. More...

const std::vector< Index > &	JointToIndividualPolicyDomainIndicesRef (Index jdI, PolicyGlobals::PolicyDomainCategory cat) const
	Converts individual policy domain element indices to joint indices. More...

	PlanningUnitMADPDiscrete (size_t horizon=3, MultiAgentDecisionProcessDiscreteInterface p=0, const PlanningUnitMADPDiscreteParameters params=0)
	Constructor with specified parameters. More...

	PlanningUnitMADPDiscrete (size_t horizon=3, MultiAgentDecisionProcessDiscreteInterface *p=0)
	Constructor with default parameters. DEPRECATED?: More...

std::string	PolicyToDotGraph (const PolicyDiscretePure &policy, Index agentI, bool labelEdges=true) const
	Convert a policy to dot format (from the GraphViz tools). More...

void	Print ()
	Prints info regarding the planning unit. More...

void	PrintActionHistories ()
	Prints the action histories for all agents. More...

void	PrintActionObservationHistories ()
	Prints the actionObservation histories for all agents. More...

void	PrintObservationHistories ()
	Prints the observation histories for all agents. More...

void	RegisterJointActionObservationHistoryTree (JointActionObservationHistoryTree *jaoht)
	Register a new jaoht in the vector of indices. More...

void	SetHorizon (size_t h)
	Sets the horizon for the planning problem. More...

void	SetParams (const PlanningUnitMADPDiscreteParameters &params)
	Sets the parameters for this planning unit. More...

void	SetProblem (MultiAgentDecisionProcessDiscreteInterface *madp)
	Sets the problem for which to plan, using a pointer. More...

std::string	SoftPrintAction (Index agentI, Index actionI) const
	soft prints action actionI of agent agentI. More...

std::string	SoftPrintObservationHistory (Index agentI, Index ohIndex) const
	soft prints ObservationHistory ohIndex of agent agentI. More...

std::string	SoftPrintPolicyDomainElement (Index agentI, Index dI, PolicyGlobals::PolicyDomainCategory cat) const
	Virtual function that has to be implemented by derived class. More...

	~PlanningUnitMADPDiscrete ()
	Destructor. More...

Public Member Functions inherited from PlanningUnit
size_t	GetHorizon () const
	Returns the planning horizon. More...

virtual boost::shared_ptr < JointPolicy >	GetJointPolicy ()=0
	Returns a pointer to the computed joint policy. More...

Index	GetNextAgentIndex ()
	Maintains a agent index and returns the next one on calling */. More...

size_t	GetNrAgents () const
	Return the number of agents. More...

const MultiAgentDecisionProcessInterface *	GetProblem () const
	Get the problem pointer. More...

int	GetSeed () const
	Returns the random seed stored. More...

void	InitSeed () const
	Initializes the random number generator (srand) to the stored seed. More...

virtual void	Plan ()=0
	The function that performs the actual planning. More...

	PlanningUnit (size_t horizon, MultiAgentDecisionProcessInterface *p)
	(default) Constructor More...

void	SetProblem (MultiAgentDecisionProcessInterface *p)
	Updates the problem pointer. More...

void	SetSeed (int s)
	Stores the random seed and calls InitSeed(). More...

virtual	~PlanningUnit ()
	Destructor. More...

Public Member Functions inherited from Interface_ProblemToPolicyDiscretePure
LIndex	GetNrJointPolicies (PolicyGlobals::PolicyDomainCategory cat, size_t depth=MAXHORIZON) const
	Get the number of joint policies, given the policy's domain. More...

LIndex	GetNrPolicies (Index ag, PolicyGlobals::PolicyDomainCategory cat, size_t depth=MAXHORIZON) const
	Get the number of policies for an agent, given the policy's domain. More...

virtual	~Interface_ProblemToPolicyDiscretePure ()
	Destructor. More...

Public Member Functions inherited from Interface_ProblemToPolicyDiscrete
size_t	GetNrJointActions () const
	Get the number of joint actions. More...

	Interface_ProblemToPolicyDiscrete ()
	(default) Constructor More...

virtual	~Interface_ProblemToPolicyDiscrete ()
	Destructor. More...

Protected Member Functions
virtual bool	SanityCheck () const
	Do some sanity checks, can be overridden. More...

Protected Attributes
std::vector< ActionHistoryTree * >	_m_actionHistoryTreeRootPointers
	A vector that stores pointers to the roots of the action history trees of each agent. More...

std::vector< std::vector < ActionHistoryTree * > >	_m_actionHistoryTreeVectors
	A vector which, for each agents, stores a vector with all ActionHistoryTree pointers. More...

std::vector < ActionObservationHistoryTree * >	_m_actionObservationHistoryTreeRootPointers
	A vector that stores pointers to the roots of the action-observation history trees of each agent. More...

std::vector< std::vector < ActionObservationHistoryTree * > >	_m_actionObservationHistoryTreeVectors
	A vector which, for each agents, stores a vector with all ActionObservationHistoryTree pointers. More...

std::vector< std::vector < LIndex > >	_m_firstAHIforT
	The _m_firstAHIforT[aI][t] contains the first action history for time-step t of agent aI. More...

std::vector< std::vector < LIndex > >	_m_firstAOHIforT
	The _m_firstAOHIforT[aI][t] contains the first actionObservation history for time-step t of agent aI. More...

std::vector< LIndex >	_m_firstJAHIforT
	The _m_firstJAHIforT[t] contains the first joint action history for time-step t. More...

std::vector< LIndex >	_m_firstJAOHIforT
	_m_firstJAOHIforT[t] contains the first joint actionObservation history for time-step t. More...

std::vector< LIndex >	_m_firstJOHIforT
	The _m_firstJOHIforT[t] contains the first joint observation history for time-step t. More...

std::vector< std::vector < LIndex > >	_m_firstOHIforT
	The _m_firstOHIforT[aI][t] contains the first observation history for time-step t of agent aI. More...

std::vector< double >	_m_jaohConditionalProbs
	Stores the conditional probability of this joint belief. More...

std::vector< double >	_m_jaohProbs
	Caches the probabilities of JointActionObservationHistory's (assuming b^0 is as specified by the problem and that a pure joint policy consistent with the i-th JointActionObservationHistory is followed). More...

std::vector< const JointBeliefInterface * >	_m_jBeliefCache
	_m_jBeliefCache[i] stores a pointer to the joint belief corresponding to the i-th JointActionObservationHistory (assuming b^0 is as specified by the problem and that a pure joint policy consistent with the i-th JointActionObservationHistory is followed) More...

JointActionHistoryTree *	_m_jointActionHistoryTreeRoot
	The root node of the joint action histories tree. More...

std::vector < JointActionHistoryTree * >	_m_jointActionHistoryTreeVector
	A vector which stores a JointActionHistoryTree pointer. More...

std::map< LIndex, JointActionObservationHistoryTree * >	_m_jointActionObservationHistoryTreeMap
	A map which is used instead of _m_jointActionObservationHistoryTreeVector when we don't cache all JointActionObservationHistoryTree's. More...

JointActionObservationHistoryTree *	_m_jointActionObservationHistoryTreeRoot
	The root node of the joint actionObservation histories tree. More...

std::vector < JointActionObservationHistoryTree * >	_m_jointActionObservationHistoryTreeVector
	A vector which stores JointActionObservationHistoryTree pointer. More...

JointObservationHistoryTree *	_m_jointObservationHistoryTreeRoot
	The root node of the joint observation histories tree. More...

std::vector < JointObservationHistoryTree * >	_m_jointObservationHistoryTreeVector
	A vector which stores a JointObservationHistoryTree pointer. More...

std::vector< size_t >	_m_nrActionHistories
	A vector that keeps track of the number of action histories per agent. More...

std::vector< std::vector < size_t > >	_m_nrActionHistoriesT
	A vector that keeps track of the number of action histories per agent per time step. More...

std::vector< size_t >	_m_nrActionObservationHistories
	A vector that keeps track of the number of action-obs. More...

std::vector< std::vector < size_t > >	_m_nrActionObservationHistoriesT
	Keeps track of the number of action-obs. More...

size_t	_m_nrJointActionHistories
	The number of joint action histories. More...

std::vector< size_t >	_m_nrJointActionHistoriesT
	The number of joint action histories per time-step. More...

size_t	_m_nrJointActionObservationHistories
	The number of joint actionAction histories. More...

std::vector< size_t >	_m_nrJointActionObservationHistoriesT
	The number of joint actionObservation histories per time-step. More...

size_t	_m_nrJointObservationHistories
	The number of joint observation histories. More...

std::vector< size_t >	_m_nrJointObservationHistoriesT
	The number of joint observation histories per time-step. More...

std::vector< size_t >	_m_nrObservationHistories
	A vector that keeps track of the number of observation histories per agent. More...

std::vector< std::vector < size_t > >	_m_nrObservationHistoriesT
	Keeps track of the number of observation histories per agent per time step. More...

std::vector < ObservationHistoryTree * >	_m_observationHistoryTreeRootPointers
	A vector that stores pointers to the roots of the observation history trees of each agent. More...

std::vector< std::vector < ObservationHistoryTree * > >	_m_observationHistoryTreeVectors
	A vector which, for each agents, stores a vector with all ObservationHistoryTree pointers. More...

Private Member Functions
ActionHistoryTree *	CreateActionHistoryTree (Index agentI)
	Breadth-first construction of the action histories and action history tree for agent agentI. More...

ActionObservationHistoryTree *	CreateActionObservationHistoryTree (Index agentI)
	Breadth-first construction of the action-observation histories and action-obs. More...

ObservationHistoryTree *	CreateObservationHistoryTree (Index agentI)
	Breadth-first construction of the observation histories and obs. More...

void	Deinitialize ()
	Cleans up and releases allocated memory. More...

void	DeInitializeActionHistories ()
	Deletes all ActionHistories(Trees) - used on reinitialization. More...

void	DeInitializeActionObservationHistories ()
	Deletes all ActionObservationHistories(Trees) - used on reinitialization. More...

void	DeInitializeJointActionHistories ()
	Deletes all joint action histories. More...

void	DeInitializeJointActionObservationHistories ()
	Deletes all joint action-observation histories. More...

void	DeInitializeJointObservationHistories ()
	Deletes all joint observation histories. More...

void	DeInitializeObservationHistories ()
	Deletes all ObservationHistories(Trees) - used on reinitialization. More...

void	Initialize ()
	Calls functions to initialize the planning unit. More...

void	InitializeActionHistories ()
	Constructs all possible action histories and puts them in a tree per agent. More...

void	InitializeActionObservationHistories ()
	Constructs all possible action-observation histories and puts them in a tree per agent. More...

void	InitializeJointActionHistories ()
	Creates all the joint action histories. More...

void	InitializeJointActionObservationHistories ()
	Creates all the joint action-observation histories. More...

void	InitializeJointObservationHistories ()
	Creates all the joint observation histories. More...

void	InitializeObservationHistories ()
	Constructs all possible observation histories and puts them in a tree per agent. More...

Private Attributes
bool	_m_initialized
	A bool indicating whether this Planning unit has been initialized. More...

MultiAgentDecisionProcessDiscreteInterface *	_m_madp

PlanningUnitMADPDiscreteParameters	_m_params
	The parameters for this planning unit. More...

Detailed Description

PlanningUnitMADPDiscrete represents a Planning unit for a discrete MADP (discrete actions, observations and states).

Constructor & Destructor Documentation

PlanningUnitMADPDiscrete::PlanningUnitMADPDiscrete	(	size_t	horizon = `3`,
		MultiAgentDecisionProcessDiscreteInterface *	p = `0`,
		const PlanningUnitMADPDiscreteParameters *	params = `0`
	)

Constructor with specified parameters.

Allows for specification of the planning horizon and a pointer to the problem instance.

References _m_initialized, _m_params, DEBUG_PU_CONSTRUCTORS, Initialize(), and PlanningUnitMADPDiscreteParameters::SanityCheck().

PlanningUnitMADPDiscrete::PlanningUnitMADPDiscrete	(	size_t	horizon = `3`,
		MultiAgentDecisionProcessDiscreteInterface *	p = `0`
	)

Constructor with default parameters. DEPRECATED?:

DEPRECATED?:

Allows for specification of the planning horizon and a pointer to the problem instance. See PlanningUnitMADPDiscreteParameters for the default settings.

References _m_initialized, _m_params, DEBUG_PU_CONSTRUCTORS, Initialize(), and PlanningUnitMADPDiscreteParameters::SetComputeAll().

PlanningUnitMADPDiscrete::~PlanningUnitMADPDiscrete ( )

Destructor.

References Deinitialize().

Member Function Documentation

bool PlanningUnitMADPDiscrete::AreCachedJointToIndivIndices ( PolicyGlobals::PolicyDomainCategory pdc ) const

virtual

Check whether certain index conversions are cached.

Implements Interface_ProblemToPolicyDiscrete.

References _m_params, PolicyGlobals::AOHIST_INDEX, PlanningUnitMADPDiscreteParameters::GetComputeJointActionObservationHistories(), PlanningUnitMADPDiscreteParameters::GetComputeJointObservationHistories(), PolicyGlobals::OHIST_INDEX, and PolicyGlobals::TYPE_INDEX.

void PlanningUnitMADPDiscrete::ComputeHistoryArrays	(	Index	hI,
		Index	t,
		Index	t_offset,
		Index	Indices[],
		size_t	indexDomainSize
	)		const

This function computes the indices of the sequence corr.

to a history. I.e., it is the reverse of ComputeHistoryIndex.

It can be a joint or individual history of actions, observations or actions-observations.

Index hI - index of the history
Index t - the stage
Index t_offset - for each stage t, there is an offset
const Index indices[] - array of size t. The function will write the indices of the (J)(A/O)s corresponding to hI to this array.
size_t indexDomainSize - the number of indices. I.e., the indices range from 0...(indexDomainSize-1)

Index PlanningUnitMADPDiscrete::ComputeHistoryIndex	(	Index	t,
		Index	t_offset,
		const Index	indices[],
		size_t	indexDomainSize
	)		const

This function computes the index of a history.

It can be a joint or individual history of actions, observations or actions-observations.

Index t - the stage
Index t_offset - for each stage t, there is an offset
const Index indices[] - array of size t containing the actual indices of the (J)(A/O)s. E.g., a vector with joint observation indices.
size_t indexDomainSize - the number of indices. I.e., the indices range from 0...(indexDomainSize-1)

Referenced by GetActionObservationHistoryIndex(), GetJointActionHistoryIndex(), GetJointActionObservationHistoryIndex(), GetJointObservationHistoryIndex(), and GetObservationHistoryIndex().

ActionHistoryTree * PlanningUnitMADPDiscrete::CreateActionHistoryTree ( Index agentI )

private

Breadth-first construction of the action histories and action history tree for agent agentI.

Returns a pointer to the root of the tree. The function should only be called from InitializeActionHistories()! (should be called in the order of the agents).

References _m_actionHistoryTreeVectors, _m_firstAHIforT, _m_nrActionHistories, _m_nrActionHistoriesT, IndexTools::CalculateNumberOfSequences(), Globals::CastLIndexToIndex(), PlanningUnit::GetHorizon(), GetNrActions(), and ArgumentHandlers::size().

Referenced by InitializeActionHistories().

ActionObservationHistoryTree * PlanningUnitMADPDiscrete::CreateActionObservationHistoryTree ( Index agentI )

private

Breadth-first construction of the action-observation histories and action-obs.

history tree for agent agentI.

Returns a pointer to the root of the tree. The function should only be called from InitializeActionObservationHistories()! (should be called in the order of the agents).

Referenced by InitializeActionObservationHistories().

ObservationHistoryTree * PlanningUnitMADPDiscrete::CreateObservationHistoryTree ( Index agentI )

private

Breadth-first construction of the observation histories and obs.

history tree for agent agentI.

Returns a pointer to the root of the tree. The function should only be called from InitializeObservationHistories()! (should be called in the order of the agents).

References _m_firstOHIforT, _m_nrObservationHistories, _m_nrObservationHistoriesT, _m_observationHistoryTreeVectors, IndexTools::CalculateNumberOfSequences(), Globals::CastLIndexToIndex(), TreeNode< Tcontained >::GetContainedElement(), PlanningUnit::GetHorizon(), History::GetLength(), GetNrObservations(), ObservationHistoryTree::GetObservationHistory(), TreeNode< Tcontained >::SetIndex(), TreeNode< Tcontained >::SetSuccessor(), and ArgumentHandlers::size().

Referenced by InitializeObservationHistories().

void PlanningUnitMADPDiscrete::Deinitialize ( )

private

Cleans up and releases allocated memory.

References _m_initialized, DeInitializeActionHistories(), DeInitializeActionObservationHistories(), DeInitializeJointActionHistories(), DeInitializeJointActionObservationHistories(), DeInitializeJointObservationHistories(), DeInitializeObservationHistories(), PlanningUnit::GetHorizon(), and Globals::MAXHORIZON.

Referenced by Initialize(), SetHorizon(), SetParams(), SetProblem(), and ~PlanningUnitMADPDiscrete().

void PlanningUnitMADPDiscrete::DeInitializeActionHistories ( )

private

Deletes all ActionHistories(Trees) - used on reinitialization.

References _m_actionHistoryTreeRootPointers, _m_actionHistoryTreeVectors, _m_firstAHIforT, _m_nrActionHistories, and _m_nrActionHistoriesT.

Referenced by Deinitialize().

void PlanningUnitMADPDiscrete::DeInitializeActionObservationHistories ( )

private

Deletes all ActionObservationHistories(Trees) - used on reinitialization.

References _m_actionObservationHistoryTreeRootPointers, _m_actionObservationHistoryTreeVectors, _m_firstAOHIforT, _m_nrActionObservationHistories, and _m_nrActionObservationHistoriesT.

Referenced by Deinitialize().

void PlanningUnitMADPDiscrete::DeInitializeJointActionHistories ( )

private

Deletes all joint action histories.

References _m_firstJAHIforT, _m_jointActionHistoryTreeRoot, _m_jointActionHistoryTreeVector, _m_nrJointActionHistories, and _m_nrJointActionHistoriesT.

Referenced by Deinitialize().

void PlanningUnitMADPDiscrete::DeInitializeJointActionObservationHistories ( )

private

Deletes all joint action-observation histories.

References _m_firstJAOHIforT, _m_jaohConditionalProbs, _m_jBeliefCache, _m_jointActionObservationHistoryTreeMap, _m_jointActionObservationHistoryTreeRoot, _m_jointActionObservationHistoryTreeVector, _m_nrJointActionObservationHistories, _m_nrJointActionObservationHistoriesT, _m_params, and PlanningUnitMADPDiscreteParameters::GetComputeJointBeliefs().

Referenced by Deinitialize().

void PlanningUnitMADPDiscrete::DeInitializeJointObservationHistories ( )

private

Deletes all joint observation histories.

References _m_firstJOHIforT, _m_jointObservationHistoryTreeRoot, _m_jointObservationHistoryTreeVector, _m_nrJointObservationHistories, and _m_nrJointObservationHistoriesT.

Referenced by Deinitialize().

void PlanningUnitMADPDiscrete::DeInitializeObservationHistories ( )

private

Deletes all ObservationHistories(Trees) - used on reinitialization.

References _m_firstOHIforT, _m_nrObservationHistories, _m_nrObservationHistoriesT, _m_observationHistoryTreeRootPointers, and _m_observationHistoryTreeVectors.

Referenced by Deinitialize().

void PlanningUnitMADPDiscrete::ExportDotGraph	(	const std::string &	filename,
		const PolicyDiscretePure &	policy,
		Index	agentI,
		bool	labelEdges = `true`
	)		const

Export a policy in dot format (from the GraphViz tools).

References PolicyToDotGraph().

const Action* PlanningUnitMADPDiscrete::GetAction	(	Index	agentI,
		Index	a
	)		const

inline

Returns a ref to the a-th action of agent agentI.

References GetMADPDI().

Referenced by ActionHistory::SoftPrint(), ActionObservationHistory::SoftPrint(), and SoftPrintAction().

void PlanningUnitMADPDiscrete::GetActionHistoryArrays	(	Index	agentI,
		Index	ahI,
		Index	t,
		Index	aIs[]
	)		const

Computes the joint actions for jahI.

This function computes (i.e., does no look up).

jahI - the JointActionHistory index
t - the stage of jaohI
jaIs - an array of size t, which will be filled with actions a^1,...,a^t

References Globals::CastLIndexToIndex().

Referenced by IndividualToJointActionHistoryIndex().

ActionHistoryTree * PlanningUnitMADPDiscrete::GetActionHistoryTree	(	Index	agentI,
		Index	ohI
	)		const

Returns a pointer to action history# ohI of agent# agentI.

References _m_actionHistoryTreeVectors, DEBUG_PUD, GetNrActionHistories(), GetNrAgents(), and ArgumentHandlers::size().

Referenced by ActionObservationHistory::ActionObservationHistory(), GetSuccessorAHI(), GetTimeStepForAHI(), and ActionObservationHistory::SoftPrint().

void PlanningUnitMADPDiscrete::GetActionObservationHistoryArrays	(	Index	agentI,
		Index	aohI,
		Index	t,
		Index	aIs[],
		Index	oIs[]
	)		const

Computes the joint actions and observations for aohI.

This function computes (i.e., does no look up).

agentI - the agent index
aohI - the JointActionObservationHistory index
t - the stage of jaohI
aIs - an array of size t, which will be filled with actions a^0,...,a^(t-1)
oIs - an array of size t, which will be filled with observ. o^1,...,o^t

References IndexTools::ActionObservation_to_ActionIndex(), IndexTools::ActionObservation_to_ObservationIndex(), and Globals::CastLIndexToIndex().

Referenced by IndividualToJointActionObservationHistoryIndex(), JointPolicyPureVectorForClusteredBG::StartRecursiveConstructionPerAgent(), and JointPolicyPureVectorForClusteredBG::StartRecursiveSoftPrintPerAgent().

Index PlanningUnitMADPDiscrete::GetActionObservationHistoryIndex	(	Index	agentI,
		Index	t,
		const std::vector< Index > &	actions,
		const std::vector< Index > &	observations
	)		const

converts the vectors of actions and observations of length t to a (individual) ObservationHistory Index for agentI.

References _m_firstAOHIforT, IndexTools::ActionAndObservation_to_ActionObservationIndex(), Globals::CastLIndexToIndex(), ComputeHistoryIndex(), GetNrActions(), and GetNrObservations().

Referenced by BayesianGameWithClusterInfo::BayesianGameWithClusterInfo(), and JointToIndividualActionObservationHistoryIndices().

ActionObservationHistoryTree* PlanningUnitMADPDiscrete::GetActionObservationHistoryTree	(	Index	agentI,
		Index	aohI
	)		const

inline

Returns a pointer to observation history# ohI of agent# agentI.

References _m_actionObservationHistoryTreeVectors.

Referenced by GetSuccessorAOHI(), GetTimeStepForAOHI(), and SoftPrintPolicyDomainElement().

PolicyGlobals::PolicyDomainCategory PlanningUnitMADPDiscrete::GetDefaultIndexDomCat ( ) const

virtual

Return the default PolicyDomainCategory for the problem.

Implements Interface_ProblemToPolicyDiscrete.

References PolicyGlobals::OHIST_INDEX.

LIndex PlanningUnitMADPDiscrete::GetFirstJointActionObservationHistoryIndex ( Index ts ) const

inline

Returns the index of the first joint action observation history of time step ts.

LIndex PlanningUnitMADPDiscrete::GetFirstJointObservationHistoryIndex ( Index ts ) const

inline

Returns the index of the first joint observation history of time step ts.

LIndex PlanningUnitMADPDiscrete::GetFirstObservationHistoryIndex	(	Index	agI,
		Index	ts
	)		const

inline

Returns the index of the first ts observation history of agent agI.

Referenced by GMAA_MAAstarClassic::ConstructAndValuateNextPolicies(), GMAA_kGMAA::ConstructAndValuateNextPolicies(), GMAA_MAAstar::ConstructAndValuateNextPolicies(), BGforStageCreation::Fill_FirstOHtsI(), BayesianGameForDecPOMDPStage::Fill_FirstOHtsI(), GMAA_MAA_ELSI::Fill_FirstOHtsI(), IndividualBeliefJESP::GetAugmentedStateIndex(), and FSAOHDist_NECOF::Update().

double PlanningUnitMADPDiscrete::GetInitialStateProbability ( Index sI ) const

inline

Returns the probability of a state in the initial state distribution.

References GetMADPDI().

Referenced by ValueFunctionDecPOMDPDiscrete::CalculateV().

double PlanningUnitMADPDiscrete::GetJAOHProb	(	LIndex	jaohI,
		Index	p_jaohI = `0`,
		const JointBeliefInterface *	p_jb = `NULL`,
		const JointPolicyDiscrete *	jpol = `NULL`
	)		const

returns the probability of jaohI.

References GetJAOHProbs(), and GetNewJointBeliefInterface().

Referenced by QHybrid::GetQ().

double PlanningUnitMADPDiscrete::GetJAOHProbGivenPred ( LIndex jaohI ) const

Gives the conditional probability of the realization of the joint action-observation history jaohI (and thus of the joint belief corresponding to JointActionObservationHistory jaohI).

This probability is conditional GIVEN the previous joint action-observation history (joint belief) AND joint action. I.e. P(h'|h,a) = P(h,a,h') / P(h,a)

References _m_jaohConditionalProbs, _m_params, Globals::CastLIndexToIndex(), PlanningUnitMADPDiscreteParameters::GetComputeJointActionObservationHistories(), GetJAOHProbs(), GetJointActionObservationHistoryIndex(), GetJointActionObservationHistoryVectors(), and GetNewJointBeliefInterface().

Referenced by QHybrid::ComputeRecursively().

double PlanningUnitMADPDiscrete::GetJAOHProbs	(	JointBeliefInterface *	jb,
		LIndex	jaohI,
		LIndex	p_jaohI = `0`,
		const JointBeliefInterface *	p_jb = `NULL`,
		const JointPolicyDiscrete *	jpol = `NULL`
	)		const

returns the probability of jaohI AND the corresponding joint belief given the predecessor p_jaohI (and its corresponding belief)

-output args: JointBeliefInterface jb -the joint belief at jaohI -input args: Index jaohI -the jaohI for which we want to know the probs. Index p_jaohI = 0 -the GIVEN predecessor, when none is specified, the initial (empty) jaoh is assumed. JointBelief* p_jb = NULL-the corresponding GIVEN jb of p JointPolicyDiscrete * jpol = NULL -the policy followed starting from p_jaohI. (see remark below) -returns the probability of jaohI, given p_jaohI.

jpol is the joint policy that is followed for the stages between p_jaohI and jaohI. It doesn't matter if given jpol, the prob. of p_jaohI is 0; this function returns P(jaohI) GIVEN p_jaohI and following jpol consequently.

See also: the manual documentation.

References _m_jaohProbs, _m_jBeliefCache, _m_params, Globals::CastLIndexToIndex(), PlanningUnitMADPDiscreteParameters::GetComputeJointBeliefs(), GetJAOHProbsRecursively(), JointActionObservationHistoryTree::GetJointActionObservationHistory(), GetJointActionObservationHistoryArrays(), GetJointActionObservationHistoryTree(), GetJointActionObservationHistoryVectors(), GetMADPDI(), GetTimeStepForJAOHI(), Globals::INITIAL_JAOHI, BeliefInterface::Set(), JointActionObservationHistory::SoftPrint(), and PrintTools::SoftPrintVector().

Referenced by GetJAOHProb(), and GetJAOHProbGivenPred().

double PlanningUnitMADPDiscrete::GetJAOHProbsRecursively	(	JointBeliefInterface *	jb,
		const Index	jaIs[],
		const Index	joIs[],
		Index	t_p,
		Index	t,
		LIndex	p_jaohI = `0`,
		const JointPolicyDiscrete *	jpol = `NULL`
	)		const

the function that perfoms most of the work, called by GetJAOHProbs.

given the joint belief jb, held for joint action observation history p_joahI, this function performs the joint belief updates corresponding to the sequence

jaIs[t_p], joIs[t_p], ..., jaIs[t], joIs[t]

the returned value is the probability of this sequence, given the start p_jaohI, and given the policy followed jpol.

The joint belief corresponding to this sequence is returned through jb (the belief jb is simply updated.)

References PolicyGlobals::AOHIST_INDEX, JointPolicyDiscrete::GetJointActionProb(), GetJointObservationHistoryIndex(), GetMADPDI(), JointPolicyDiscrete::GetPolicyDomainCategory(), GetSuccessorJAOHI(), PolicyGlobals::OHIST_INDEX, and JointBeliefInterface::Update().

Referenced by GetJAOHProbs(), and BayesianGameForDecPOMDPStage::Initialize().

const JointAction* PlanningUnitMADPDiscrete::GetJointAction ( Index jaI ) const

inline

Returns a ref to the i-th joint action.

References GetMADPDI().

Referenced by JointActionObservationHistory::SoftPrint(), JointActionHistory::SoftPrint(), SimulationFactoredDecPOMDPDiscrete::Step(), SimulationDecPOMDPDiscrete::Step(), and SimulationTOIDecPOMDPDiscrete::Step().

Index PlanningUnitMADPDiscrete::GetJointActionHistoryIndex	(	Index	t,
		const std::vector< Index > &	jointActions
	)		const

converts the vector joint observations of length t to a JointObservationHistory Index.

jointObservation needs to be a vector of length > t. The index of the history formed by the first t joint observations is returned.

References _m_firstJAHIforT, Globals::CastLIndexToIndex(), ComputeHistoryIndex(), and GetNrJointActions().

Referenced by IndividualToJointActionHistoryIndex().

Index PlanningUnitMADPDiscrete::GetJointActionHistoryIndex	(	Index	t,
		const Index	jointActions[]
	)		const

converts the vector joint observations of length t to a JointObservationHistory Index.

jointObservation needs to be a vector of length > t. The index of the history formed by the first t joint observations is returned.

References _m_firstJAHIforT, Globals::CastLIndexToIndex(), ComputeHistoryIndex(), and GetNrJointActions().

Index PlanningUnitMADPDiscrete::GetJointActionHistoryIndex ( JointActionHistoryTree * joh ) const

Returns the index of a JointActionHistoryTree pointer.

References _m_jointActionHistoryTreeVector, and _m_nrJointActionHistories.

JointActionHistoryTree * PlanningUnitMADPDiscrete::GetJointActionHistoryTree ( Index jahI ) const

Returns a pointer to joint action history#.

References _m_jointActionHistoryTreeVector, and _m_nrJointActionHistories.

Referenced by QBG::ComputeRecursivelyNoCache(), GetSuccessorJAHI(), and GetTimeStepForJAHI().

void PlanningUnitMADPDiscrete::GetJointActionObservationHistoryArrays	(	LIndex	jaohI,
		Index	t,
		Index	jaIs[],
		Index	joIs[]
	)		const

Computes the joint actions and observations for jaohI.

This function computes (i.e., does no look up).

jaohI - the JointActionObservationHistory index
t - the stage of jaohI
jaIs - an array of size t, which will be filled with joint actions a^0,...,a^(t-1)
joIs - an array of size t, which will be filled with joint observ. o^1,...,o^t

This function is called by GetJAOHProbs() and JointToIndividualActionObservationHistoryIndices() (when the aoh's are not cached).

References IndexTools::ActionObservation_to_ActionIndex(), IndexTools::ActionObservation_to_ObservationIndex(), and Globals::CastLIndexToIndex().

Referenced by GetJAOHProbs(), and JointAOHIndexToIndividualActionObservationVectors().

LIndex PlanningUnitMADPDiscrete::GetJointActionObservationHistoryIndex ( JointActionObservationHistoryTree * jaoh ) const

Returns the index of a JointActionObservationHistoryTree pointer.

References _m_jointActionObservationHistoryTreeVector, and _m_nrJointActionObservationHistories.

Referenced by GetJAOHProbGivenPred(), IndividualToJointActionObservationHistoryIndex(), and BayesianGameForDecPOMDPStage::Initialize().

Index PlanningUnitMADPDiscrete::GetJointActionObservationHistoryIndex	(	Index	t,
		const std::vector< Index > &	Jactions,
		const std::vector< Index > &	Jobservations
	)		const

converts the vectors of actions and observations of length t to a joint ActionObservationHistory Index.

Jactions and Jobservation needs to be a vector of length > t.

References _m_firstJAOHIforT, IndexTools::ActionAndObservation_to_ActionObservationIndex(), Globals::CastLIndexToIndex(), ComputeHistoryIndex(), GetNrJointActions(), and GetNrJointObservations().

Index PlanningUnitMADPDiscrete::GetJointActionObservationHistoryIndex	(	Index	t,
		const std::vector< Index > &	Jactions,
		const std::vector< Index > &	Jobservations,
		const Scope &	agentSope
	)		const

like GetJointActionObservationHistoryIndex, but works on a subset of agents.

References _m_firstJAOHIforT, IndexTools::ActionAndObservation_to_ActionObservationIndex(), Globals::CastLIndexToIndex(), ComputeHistoryIndex(), GetNrJointActions(), and GetNrJointObservations().

JointActionObservationHistoryTree * PlanningUnitMADPDiscrete::GetJointActionObservationHistoryTree ( LIndex jaohI ) const

Returns a pointer to JointActionObservation history#.

References _m_jointActionObservationHistoryTreeMap, _m_jointActionObservationHistoryTreeVector, _m_params, Globals::CastLIndexToIndex(), and PlanningUnitMADPDiscreteParameters::GetComputeJointActionObservationHistories().

Referenced by GetJAOHProbs(), MonahanPlanner::GetQ(), GetSuccessorJAOHI(), GetTimeStepForJAOHI(), BayesianGameForDecPOMDPStage::ProbRewardForjoahI(), and GMAA_MAA_ELSI::ProbRewardForjoahI().

void PlanningUnitMADPDiscrete::GetJointActionObservationHistoryVectors	(	LIndex	jaohI,
		std::vector< Index > &	jaIs,
		std::vector< Index > &	joIs
	)		const

returns the vectors with joint actions and observations for JointActionObservationHistory jaohi.

This function first tries to find jaohI in the cache. If it doesn't find it there, it computes the desired result using GetJointActionObservationHistoryArrays.

References JointActionObservationHistoryTree::GetJointActionObservationHistory().

Referenced by GetJAOHProbGivenPred(), GetJAOHProbs(), and GetJointBeliefInterface().

JointBeliefInterface * PlanningUnitMADPDiscrete::GetJointBeliefInterface ( LIndex jaohI ) const

brief Returns a pointer to a new joint belief.

When joint beliefs are cached, this function returns a new joint belief, which is a copy of the one stored in the joint belief cache.

When joint beliefs are not cached, this function simple calculates and returns a new belief.

In all cases, the programming is responsible to clean up! (i.e., 'delete' the ptr).

References _m_jBeliefCache, _m_params, Globals::CastLIndexToIndex(), PlanningUnitMADPDiscreteParameters::GetComputeJointBeliefs(), GetJointActionObservationHistoryVectors(), GetMADPDI(), GetNewJointBeliefFromISD(), GetNewJointBeliefInterface(), BeliefInterface::Print(), BeliefInterface::SanityCheck(), and JointBeliefInterface::Update().

Referenced by QHybrid::ComputeRecursively(), QFunctionJointBelief::GetQ(), MonahanPlanner::GetQ(), QHybrid::GetQ(), QAlphaVector::GetQ(), QAV< PerseusPOMDPPlanner >::GetQ(), and QMDP::GetQNoCache().

const JointObservation* PlanningUnitMADPDiscrete::GetJointObservation ( Index joI ) const

inline

Returns a ref to the joI-th joint observation.

References GetMADPDI().

Referenced by QBG::ComputeRecursivelyNoCache(), JointActionObservationHistory::SoftPrint(), JointObservationHistory::SoftPrint(), SimulationFactoredDecPOMDPDiscrete::Step(), SimulationDecPOMDPDiscrete::Step(), and SimulationTOIDecPOMDPDiscrete::Step().

void PlanningUnitMADPDiscrete::GetJointObservationHistoryArrays	(	Index	johI,
		Index	t,
		Index	joIs[]
	)		const

Computes the joint observations for johI.

This function computes (i.e., does no look up).

johI - the JointObservationHistory index
t - the stage of jaohI
joIs - an array of size t, which will be filled with observ. o^1,...,o^t

This function is called by JointToIndividualObservationHistoryIndices (used when obs-histories are not cached).

References Globals::CastLIndexToIndex().

Referenced by JointToIndividualObservationHistoryIndices().

Index PlanningUnitMADPDiscrete::GetJointObservationHistoryIndex ( JointObservationHistoryTree * joh ) const

Returns the index of a JointObservationHistoryTree pointer.

References _m_jointObservationHistoryTreeVector, and _m_nrJointObservationHistories.

Referenced by GetJAOHProbsRecursively(), and IndividualToJointObservationHistoryIndex().

Index PlanningUnitMADPDiscrete::GetJointObservationHistoryIndex	(	Index	t,
		const std::vector< Index > &	jointObservations
	)		const

converts the vector joint observations of length t to a JointObservationHistory Index.

jointObservation needs to be a vector of length > t. The index of the history formed by the first t joint observations is returned.

References _m_firstJOHIforT, Globals::CastLIndexToIndex(), ComputeHistoryIndex(), and GetNrJointObservations().

Index PlanningUnitMADPDiscrete::GetJointObservationHistoryIndex	(	Index	t,
		const Index	jointObservations[]
	)		const

converts the vector joint observations of length t to a JointObservationHistory Index.

jointObservation needs to be a vector of length > t. The index of the history formed by the first t joint observations is returned.

References _m_firstJOHIforT, Globals::CastLIndexToIndex(), ComputeHistoryIndex(), and GetNrJointObservations().

JointObservationHistoryTree * PlanningUnitMADPDiscrete::GetJointObservationHistoryTree ( Index johI ) const

Returns a pointer to joint observation history#.

References _m_jointObservationHistoryTreeVector, and _m_nrJointObservationHistories.

Referenced by QBG::ComputeRecursivelyNoCache(), GMAA_MAA_ELSI::Get_joht(), GetSuccessorJOHI(), and GetTimeStepForJOHI().

MultiAgentDecisionProcessDiscreteInterface* PlanningUnitMADPDiscrete::GetMADPDI ( )

inline

const MultiAgentDecisionProcessDiscreteInterface* PlanningUnitMADPDiscrete::GetMADPDI ( ) const

inline

References _m_madp.

JointBeliefInterface * PlanningUnitMADPDiscrete::GetNewJointBeliefFromISD ( ) const

Returns a new joint belief with the value of the initial state distribution.

References MultiAgentDecisionProcessDiscreteInterface::GetISD(), GetMADPDI(), GetNewJointBeliefInterface(), and BeliefInterface::Set().

Referenced by AgentBG::Act(), QFunctionJAOHTree::ComputeQ(), QHybrid::ComputeQ(), GetJointBeliefInterface(), BayesianGameForDecPOMDPStage::Initialize(), PerseusNonStationaryQPlanner::PlanAll(), Perseus::PlanEndOfIteration(), PerseusNonStationaryQPlanner::PlanSampling(), Perseus::PlanStartOfIteration(), BayesianGameForDecPOMDPStage::ProbRewardForjoahI(), GMAA_MAA_ELSI::ProbRewardForjoahI(), AgentPOMDP::ResetEpisode(), AgentQMDP::ResetEpisode(), and AgentBG::ResetEpisode().

JointBeliefInterface * PlanningUnitMADPDiscrete::GetNewJointBeliefInterface ( ) const

virtual

a function that forces derives classes to specify which types of joint beliefs are used.

The function returns a pointer to a joint belief that is allocated with new. Therefore it should also be *delete*d.

The function is virtual, so it can be overriden in derived classes. The behavior implemented here is as follows:

When _m_params._m_useSparseBeliefs -> return a JointBeliefSparse otherwise return a JointBelief.

References _m_params, GetNrStates(), and PlanningUnitMADPDiscreteParameters::GetUseSparseJointBeliefs().

Referenced by AgentPOMDP::AgentPOMDP(), BayesianGameWithClusterInfo::Extend(), GetJAOHProb(), GetJAOHProbGivenPred(), GetJointBeliefInterface(), GetNewJointBeliefFromISD(), InitializeJointActionObservationHistories(), AlphaVectorPlanning::SampleBeliefs(), and AlphaVectorPlanning::SampleBeliefsNonStationary().

JointBeliefInterface * PlanningUnitMADPDiscrete::GetNewJointBeliefInterface ( size_t size ) const

virtual

References _m_params, and PlanningUnitMADPDiscreteParameters::GetUseSparseJointBeliefs().

size_t PlanningUnitMADPDiscrete::GetNrActionHistories ( Index agentI ) const

Returns the number of action histories for agentI.

The planning unit (specifically _m_nrActionHistories) must be initialized when calling this function.

References _m_nrActionHistories.

Referenced by GetActionHistoryTree(), ArgumentUtils::GetHybridQheuristicFromArgs(), and QHybrid::Initialize().

size_t PlanningUnitMADPDiscrete::GetNrActionHistories	(	Index	agentI,
		Index	ts
	)		const

inline

Returns the number of action histories for agentI for time step ts.

The planning unit (specifically _m_nrActionHistories) must be initialized when calling this function.

size_t PlanningUnitMADPDiscrete::GetNrActionObservationHistories ( Index agentI ) const

inline

Returns the number of action observation histories for agentI.

The planning unit (specifically _m_nrObservationHistories) must be initialized and action-observation histories must have been created when calling this function.

Referenced by JESPDynamicProgrammingPlanner::DynamicProgrammingBestResponse(), and GetNrPolicyDomainElements().

const std::vector<size_t>& PlanningUnitMADPDiscrete::GetNrActions ( ) const

inline

Returns the number of actions vector.

References GetMADPDI().

Referenced by AgentRandom::Act(), GMAA_MAA_ELSI::CAVNP_quick_n_dirty2(), TreeIncPruneBGPlanner::ComputeKey(), GMAA_MAA_ELSI::ConstructBayesianGame(), CreateActionHistoryTree(), CreateActionObservationHistoryTree(), GetActionObservationHistoryIndex(), GetNrActions(), GetNrPolicies(), GetSuccessorAHI(), GetSuccessorAOHI(), TreeIncPruneBGPlanner::GetValidActions(), SimulationFactoredDecPOMDPDiscrete::RunSimulationsRandomActions(), TreeIncPruneBGPlanner::SaveStats(), TreeIncPruneBGPlanner::SoftPrintStats(), FSAOHDist_NECOF::Update(), and DICEPSPlanner::UpdateCEProbDistribution().

size_t PlanningUnitMADPDiscrete::GetNrActions ( Index agentI ) const

inlinevirtual

Returns the number of actions of agent agentI.

Implements Interface_ProblemToPolicyDiscrete.

References GetMADPDI(), and GetNrActions().

size_t PlanningUnitMADPDiscrete::GetNrAgents ( ) const

inlinevirtual

Gets the number of agents.

Implements Interface_ProblemToPolicyDiscrete.

References PlanningUnit::GetNrAgents().

Referenced by AgentBG::AgentBG(), AlphaVectorBG::AlphaVectorBG(), TreeIncPruneBGPlanner::BackupStage(), QBGPlanner_TreeIncPruneBnB::BackupStage(), BayesianGameWithClusterInfo::BayesianGameWithClusterInfo(), GMAA_MAA_ELSI::CAVNP_quick_n_dirty2(), TreeIncPruneBGPlanner::ComputeKey(), QFunctionJAOHTree::ComputeQ(), GMAA_MAAstarClassic::ConstructAndValuateNextPolicies(), GMAA_kGMAA::ConstructAndValuateNextPolicies(), GMAA_MAAstar::ConstructAndValuateNextPolicies(), GMAA_MAA_ELSI::ConstructBayesianGame(), GeneralizedMAAStarPlannerForDecPOMDPDiscrete::ConstructExtendedJointPolicy(), GeneralizedMAAStarPlannerForFactoredDecPOMDPDiscrete::ConstructExtendedJointPolicy(), BGforStageCreation::Fill_FirstOHtsI(), GMAA_MAA_ELSI::Fill_FirstOHtsI(), BGforStageCreation::Fill_joI_Array(), GMAA_MAA_ELSI::Fill_joI_Array(), FSAOHDist_NECOF::FSAOHDist_NECOF(), GetActionHistoryTree(), ArgumentUtils::GetHybridQheuristicFromArgs(), GetNrJointPolicies(), GetNrObservationHistoriesVector(), GetObservationHistoryTree(), IndividualBeliefJESP::IndividualBeliefJESP(), IndividualToJointActionHistoryIndex(), IndividualToJointActionObservationHistoryIndex(), IndividualToJointObservationHistoryIndex(), QHybrid::Initialize(), InitializeActionHistories(), InitializeActionObservationHistories(), InitializeJointActionHistories(), InitializeJointActionObservationHistories(), InitializeJointObservationHistories(), InitializeObservationHistories(), JointActionHistory::JointActionHistory(), JointActionObservationHistory::JointActionObservationHistory(), JointAOHIndexToIndividualActionObservationVectors(), JointObservationHistory::JointObservationHistory(), JointToIndividualActionObservationHistoryIndices(), JointToIndividualObservationHistoryIndices(), JESPExhaustivePlanner::Plan(), JESPDynamicProgrammingPlanner::Plan(), PrintActionHistories(), PrintActionObservationHistories(), PrintObservationHistories(), SimulationFactoredDecPOMDPDiscrete::RunSimulation(), SimulationDecPOMDPDiscrete::RunSimulationClusteredBG(), SimulationFactoredDecPOMDPDiscrete::RunSimulationsRandomActions(), TreeIncPruneBGPlanner::SaveStats(), GMAA_MAAstarCluster::SoftPrintClusteringStats(), GMAA_kGMAACluster::SoftPrintClusteringStats(), TreeIncPruneBGPlanner::SoftPrintStats(), JointPolicyPureVectorForClusteredBG::StartRecursiveConstructionPerAgent(), JointPolicyPureVectorForClusteredBG::StartRecursiveSoftPrintPerAgent(), TreeIncPruneBGPlanner::UnionNode(), IndividualBeliefJESP::Update(), and FSAOHDist_NECOF::Update().

size_t PlanningUnitMADPDiscrete::GetNrJointActionHistories ( ) const

Returns the number of joint action histories.

References _m_jointActionHistoryTreeVector.

size_t PlanningUnitMADPDiscrete::GetNrJointActionObservationHistories ( ) const

inline

Returns the number of jointActionObservation histories.

References _m_nrJointActionObservationHistories.

Referenced by QMDP::CacheJaohQValues().

size_t PlanningUnitMADPDiscrete::GetNrJointActions ( ) const

inline

return the number of joint actions.

References GetMADPDI().

Referenced by AgentPOMDP::Act(), AgentQMDP::Act(), AgentMDP::Act(), AlphaVectorPlanning::BackProject(), AlphaVectorPlanning::BackProjectFull(), MonahanBGPlanner::BackProjectMonahanBG(), AlphaVectorPlanning::BackProjectSparse(), AlphaVectorWeighted::BackProjectWeights(), MonahanBGPlanner::BackupStage(), MonahanPOMDPPlanner::BackupStage(), PerseusConstrainedPOMDPPlanner::BackupStage(), TreeIncPruneBGPlanner::BackupStage(), QBGPlanner_TreeIncPruneBnB::BackupStage(), PerseusBGPOMDPPlanner::BackupStageAll(), PerseusBGNSPlanner::BackupStageAll(), PerseusBGPlanner::BackupStageAll(), Perseus::BackupStageLeadOut(), PerseusBGNSPlanner::BackupStageSampling(), PerseusBGPlanner::BackupStageSampling(), PerseusBGPOMDPPlanner::BackupStageSamplingAlt(), PerseusBGPlanner::BackupStageSamplingAlt(), MonahanBGPlanner::BackupStageSlow(), AlphaVectorPOMDP::BeliefBackup(), AlphaVectorConstrainedPOMDP::BeliefBackup(), AlphaVectorBG::BeliefBackupBGIP_Solver(), AlphaVectorBG::BeliefBackupExhaustiveOnlyKeepMax(), AlphaVectorBG::BeliefBackupExhaustiveStoreAll(), AlphaVectorConstrainedPOMDP::BeliefBackupQ(), QMDP::CacheJaohQValues(), MonahanBGPlanner::ComputeAllGaoa(), QFunctionJAOHTree::ComputeQ(), QHybrid::ComputeQ(), QHybrid::ComputeRecursively(), QBG::ComputeRecursivelyNoCache(), GMAA_MAA_ELSI::ConstructBayesianGame(), ArgumentUtils::GetHybridQheuristicFromArgs(), AlphaVectorPlanning::GetImmediateRewardValueFunction(), Perseus::GetInitialQFunctions(), Perseus::GetInitialValueFunction(), GetJointActionHistoryIndex(), GetJointActionObservationHistoryIndex(), AlphaVectorBG::GetMask(), AgentBG::GetMaximizingActionIndex(), AgentBG::GetMaximizingBGIndex(), GetSuccessorJAHI(), GetSuccessorJAOHI(), MDPPolicyIteration::Initialize(), MDPPolicyIterationGPU::Initialize(), MDPValueIteration::Initialize(), QBGPlanner_TreeIncPruneBnB::Initialize(), SimulationDecPOMDPDiscrete::Initialize(), AlphaVectorPlanning::Initialize(), InitializeJointActionHistories(), InitializeJointActionObservationHistories(), QHybrid::Load(), MDPValueIteration::Plan(), MonahanPlanner::Plan(), MDPValueIteration::PlanSlow(), MDPPolicyIterationGPU::PlanSlow(), MDPPolicyIteration::PlanSlow(), AlphaVectorPlanning::SampleBeliefs(), AlphaVectorPlanning::SampleBeliefsNonStationary(), TreeIncPruneBGPlanner::SaveStats(), JointActionObservationHistory::SoftPrintJointIndices(), and TreeIncPruneBGPlanner::SoftPrintStats().

size_t PlanningUnitMADPDiscrete::GetNrJointObservationHistories ( ) const

inline

Returns the number of joint observation histories.

References _m_nrJointObservationHistories.

Referenced by GMAA_MAA_ELSI::CAVNP_quick_n_dirty2(), GMAA_MAA_ELSI::ConstructBayesianGame(), BayesianGameForDecPOMDPStage::Initialize(), DICEPSPlanner::Plan(), and ValueFunctionDecPOMDPDiscrete::ValueFunctionDecPOMDPDiscrete().

size_t PlanningUnitMADPDiscrete::GetNrJointObservationHistories ( Index ts ) const

inline

Returns the number of joint observation histories for time step ts.

size_t PlanningUnitMADPDiscrete::GetNrJointObservations ( ) const

inline

Returns the number of joint observations.

References GetMADPDI().

Referenced by AlphaVectorPlanning::BackProject(), AlphaVectorPlanning::BackProjectFull(), MonahanBGPlanner::BackProjectMonahanBG(), AlphaVectorPlanning::BackProjectSparse(), MonahanBGPlanner::BackupStage(), TreeIncPruneBGPlanner::BackupStage(), QBGPlanner_TreeIncPruneBnB::BackupStage(), Perseus::BackupStageLeadOut(), AlphaVectorPOMDP::BeliefBackup(), AlphaVectorConstrainedPOMDP::BeliefBackup(), AlphaVectorBG::BeliefBackupBGIP_Solver(), AlphaVectorBG::BeliefBackupExhaustiveOnlyKeepMax(), AlphaVectorBG::BeliefBackupExhaustiveStoreAll(), AlphaVectorConstrainedPOMDP::BeliefBackupQ(), MonahanBGPlanner::ComputeAllGaoa(), MonahanBGPlanner::ComputeGaoa(), QHybrid::ComputeRecursively(), QBG::ComputeRecursivelyNoCache(), GetJointActionObservationHistoryIndex(), GetJointObservationHistoryIndex(), GetSuccessorJAOHI(), GetSuccessorJOHI(), TreeIncPruneBGPlanner::Initialize(), QBGPlanner_TreeIncPruneBnB::Initialize(), AlphaVectorPlanning::Initialize(), InitializeJointActionObservationHistories(), InitializeJointObservationHistories(), MonahanPOMDPPlanner::MonahanCrossSum(), MonahanBGPlanner::MonahanCrossSum(), JointActionObservationHistory::SoftPrintJointIndices(), and ValueFunctionDecPOMDPDiscrete::ValueFunctionDecPOMDPDiscrete().

LIndex PlanningUnitMADPDiscrete::GetNrJointPolicies ( ) const

Returns the number of joint policies.

References GetNrAgents(), and GetNrPolicies().

Referenced by BruteForceSearchPlanner::Plan().

size_t PlanningUnitMADPDiscrete::GetNrObservationHistories ( Index agentI ) const

Returns the number of observation histories for agentI.

The planning unit (specifically _m_nrObservationHistories) must be initialized when calling this function.

References _m_nrObservationHistories.

Referenced by GMAA_MAA_ELSI::CAVNP_quick_n_dirty2(), GMAA_MAA_ELSI::ConstructBayesianGame(), ArgumentUtils::GetHybridQheuristicFromArgs(), GetNrObservationHistoriesVector(), GetNrPolicies(), GetNrPolicyDomainElements(), GetObservationHistoryTree(), IndividualBeliefJESP::IndividualBeliefJESP(), QHybrid::Initialize(), DICEPSPlanner::Plan(), PolicyToDotGraph(), FSAOHDist_NECOF::Update(), and DICEPSPlanner::UpdateCEProbDistribution().

size_t PlanningUnitMADPDiscrete::GetNrObservationHistories	(	Index	agentI,
		Index	ts
	)		const

inline

Returns the number of observation histories for agentI for time step ts.

The planning unit (specifically _m_nrObservationHistories) must be initialized when calling this function.

const vector< size_t > PlanningUnitMADPDiscrete::GetNrObservationHistoriesVector ( ) const

Returns a vector with the number of OHs for each agent.

This calls GetNrObservationHistories(Index agentI)

References GetNrAgents(), and GetNrObservationHistories().

const vector< size_t > PlanningUnitMADPDiscrete::GetNrObservationHistoriesVector ( Index ts ) const

Returns a vector with the number of OHs in stage ts for each agent.

This calls GetNrObservationHistories(Index agentI, Index ts)

References GetNrAgents(), and GetNrObservationHistories().

const std::vector<size_t>& PlanningUnitMADPDiscrete::GetNrObservations ( ) const

inline

Returns the number of observations vector.

References GetMADPDI().

Referenced by CreateActionObservationHistoryTree(), CreateObservationHistoryTree(), BayesianGameWithClusterInfo::Extend(), GetActionObservationHistoryIndex(), GetNrObservations(), GetObservationHistoryIndex(), GetSuccessorAOHI(), GetSuccessorOHI(), PolicyToDotGraph(), JointPolicyPureVectorForClusteredBG::RecursivelyFillPolicyForAgent(), JointPolicyPureVectorForClusteredBG::RecursivelyPrintPolicyForAgent(), TreeIncPruneBGPlanner::SaveStats(), GMAA_MAAstarCluster::SoftPrintClusteringStats(), GMAA_kGMAACluster::SoftPrintClusteringStats(), TreeIncPruneBGPlanner::SoftPrintStats(), IndividualBeliefJESP::Update(), and FSAOHDist_NECOF::Update().

size_t PlanningUnitMADPDiscrete::GetNrObservations ( Index agentI ) const

inline

Returns the number of observations of agent agentI.

References GetMADPDI(), and GetNrObservations().

LIndex PlanningUnitMADPDiscrete::GetNrPolicies ( Index agentI ) const

Returns the number of policies for agentI.

References GetNrActions(), and GetNrObservationHistories().

Referenced by GetNrJointPolicies().

size_t PlanningUnitMADPDiscrete::GetNrPolicyDomainElements	(	Index	agentI,
		PolicyGlobals::PolicyDomainCategory	cat,
		size_t	depth = `MAXHORIZON`
	)		const

virtual

Get the number of elements in the domain of an agent's policy.

Implements Interface_ProblemToPolicyDiscrete.

References _m_firstAOHIforT, _m_firstOHIforT, PolicyGlobals::AOHIST_INDEX, Globals::CastLIndexToIndex(), PlanningUnit::GetHorizon(), GetNrActionObservationHistories(), GetNrObservationHistories(), Globals::MAXHORIZON, PolicyGlobals::OHIST_INDEX, and PolicyGlobals::TYPE_INDEX.

size_t PlanningUnitMADPDiscrete::GetNrStates ( ) const

Returns the number of states.

References GetMADPDI(), and MultiAgentDecisionProcessDiscreteInterface::GetNrStates().

Referenced by AgentQMDP::Act(), AlphaVectorWeighted::AlphaVectorWeighted(), AlphaVectorPlanning::BackProject(), AlphaVectorPlanning::BackProjectFull(), MonahanBGPlanner::BackProjectMonahanBG(), AlphaVectorPlanning::BackProjectSparse(), AlphaVectorWeighted::BackProjectWeights(), PerseusPOMDPPlanner::BackupStage(), MonahanBGPlanner::BackupStage(), PerseusConstrainedPOMDPPlanner::BackupStage(), TreeIncPruneBGPlanner::BackupStage(), QBGPlanner_TreeIncPruneBnB::BackupStage(), PerseusBGPOMDPPlanner::BackupStageAll(), PerseusBGNSPlanner::BackupStageAll(), PerseusBGPlanner::BackupStageAll(), PerseusBGNSPlanner::BackupStageSampling(), PerseusBGPlanner::BackupStageSampling(), PerseusBGPOMDPPlanner::BackupStageSamplingAlt(), PerseusBGPlanner::BackupStageSamplingAlt(), AlphaVectorPOMDP::BeliefBackup(), AlphaVectorConstrainedPOMDP::BeliefBackup(), AlphaVectorBG::BeliefBackupBGIP_Solver(), AlphaVectorBG::BeliefBackupExhaustiveOnlyKeepMax(), AlphaVectorBG::BeliefBackupExhaustiveStoreAll(), AlphaVectorConstrainedPOMDP::BeliefBackupQ(), GMAA_MAA_ELSI::CAVNP_quick_n_dirty2(), QBGPlanner_TreeIncPruneBnB::CheckDominationPointWise(), MonahanBGPlanner::ComputeGaoa(), QFunctionJAOHTree::ComputeQ(), QBG::ComputeRecursivelyNoCache(), ArgumentUtils::GetHybridQheuristicFromArgs(), AlphaVectorPlanning::GetImmediateRewardValueFunction(), Perseus::GetInitialQFunctions(), Perseus::GetInitialValueFunction(), GetNewJointBeliefInterface(), IndividualBeliefJESP::IndividualBeliefJESP(), MDPPolicyIterationGPU::Initialize(), MDPPolicyIteration::Initialize(), MDPValueIteration::Initialize(), SimulationDecPOMDPDiscrete::Initialize(), AlphaVectorPlanning::Initialize(), MonahanPOMDPPlanner::MonahanCrossSum(), MonahanBGPlanner::MonahanCrossSum(), MDPValueIteration::Plan(), MonahanPlanner::Plan(), DICEPSPlanner::Plan(), MDPValueIteration::PlanSlow(), MDPPolicyIterationGPU::PlanSlow(), MDPPolicyIteration::PlanSlow(), BayesianGameForDecPOMDPStage::ProbRewardForjoahI(), GMAA_MAA_ELSI::ProbRewardForjoahI(), AlphaVectorPlanning::SampleBeliefs(), AlphaVectorPlanning::SampleBeliefsNonStationary(), IndividualBeliefJESP::Update(), and ValueFunctionDecPOMDPDiscrete::ValueFunctionDecPOMDPDiscrete().

const Observation* PlanningUnitMADPDiscrete::GetObservation	(	Index	agentI,
		Index	o
	)		const

inline

Returns a ref to the o-th observation of agent agentI.

References GetMADPDI().

Referenced by PolicyToDotGraph(), ActionObservationHistory::SoftPrint(), ObservationHistory::SoftPrint(), and SoftPrintObservationHistory().

void PlanningUnitMADPDiscrete::GetObservationHistoryArrays	(	Index	agentI,
		Index	ohI,
		Index	t,
		Index	oIs[]
	)		const

Computes the observations for ohI.

This function computes (i.e., does no look up).

agentI - the index of the relevant agent
ohI - the ObservationHistory index
t - the stage of jaohI
oIs - an array of size t, which will be filled with observations o^1,...,o^t

This function is called by JointToIndividualObservationHistoryIndices (used when obs-histories are not cached).

References Globals::CastLIndexToIndex().

Referenced by BayesianGameWithClusterInfo::BayesianGameWithClusterInfo(), BGforStageCreation::Fill_joI_Array(), BayesianGameForDecPOMDPStage::Fill_joI_Array(), IndividualToJointObservationHistoryIndex(), and SoftPrintObservationHistory().

Index PlanningUnitMADPDiscrete::GetObservationHistoryIndex	(	Index	agentI,
		Index	t,
		const std::vector< Index > &	observations
	)		const

converts the vector observations of length t to a (individual) ObservationHistory Index for agentI.

observation needs to be a vector of length > t. The index of the history formed by the first t observations is returned.

References _m_firstOHIforT, Globals::CastLIndexToIndex(), ComputeHistoryIndex(), and GetNrObservations().

Referenced by JointToIndividualObservationHistoryIndices(), JointPolicyPureVectorForClusteredBG::StartRecursiveConstructionPerAgent(), and JointPolicyPureVectorForClusteredBG::StartRecursiveSoftPrintPerAgent().

ObservationHistoryTree * PlanningUnitMADPDiscrete::GetObservationHistoryTree	(	Index	agentI,
		Index	ohI
	)		const

Returns a pointer to observation history# ohI of agent# agentI.

References _m_observationHistoryTreeVectors, _m_params, DEBUG_PUD, PlanningUnitMADPDiscreteParameters::GetComputeIndividualObservationHistories(), GetNrAgents(), GetNrObservationHistories(), and ArgumentHandlers::size().

Referenced by ActionObservationHistory::ActionObservationHistory(), GMAA_MAA_ELSI::Fill_joI_Array(), GetSuccessorOHI(), GetTimeStepForOHI(), ActionObservationHistory::SoftPrint(), and SoftPrintObservationHistory().

const ObservationModelDiscrete* PlanningUnitMADPDiscrete::GetObservationModelDiscretePtr ( ) const

inline

References GetMADPDI().

Referenced by AlphaVectorPlanning::Initialize().

double PlanningUnitMADPDiscrete::GetObservationProbability	(	Index	jaI,
		Index	sucSI,
		Index	joI
	)		const

inline

Returns P(joI | jaI, sucSI ). Arguments are time-ordered.

References GetMADPDI().

Referenced by ValueFunctionDecPOMDPDiscrete::CalculateVsjohRecursively(), and IndividualBeliefJESP::Update().

const PlanningUnitMADPDiscreteParameters& PlanningUnitMADPDiscrete::GetParams ( ) const

inline

Get the parameters for this planning unit.

Referenced by AlphaVectorPlanning::BackProjectFull(), AlphaVectorConstrainedPOMDP::BeliefBackupQ(), GeneralizedMAAStarPlannerForDecPOMDPDiscrete::GeneralizedMAAStarPlannerForDecPOMDPDiscrete(), and GeneralizedMAAStarPlannerForFactoredDecPOMDPDiscrete::GeneralizedMAAStarPlannerForFactoredDecPOMDPDiscrete().

const MultiAgentDecisionProcessDiscreteInterface* PlanningUnitMADPDiscrete::GetProblem ( ) const

inline

Returns a reference to the problem of the PlanningUnitMADPDiscrete.

References GetMADPDI().

Referenced by JESPDynamicProgrammingPlanner::DynamicProgrammingBestResponse().

MultiAgentDecisionProcessDiscreteInterface* PlanningUnitMADPDiscrete::GetProblem ( )

inline

References GetMADPDI().

const State* PlanningUnitMADPDiscrete::GetState ( Index i ) const

inline

Get a pointer to a State by index.

References GetMADPDI().

Index PlanningUnitMADPDiscrete::GetSuccessorAHI	(	Index	agentI,
		Index	ohI,
		Index	oI
	)		const

References _m_firstAHIforT, _m_params, Globals::CastLIndexToIndex(), GetActionHistoryTree(), PlanningUnitMADPDiscreteParameters::GetComputeIndividualActionHistories(), PlanningUnit::GetHorizon(), GetNrActions(), and GetTimeStepForAHI().

Index PlanningUnitMADPDiscrete::GetSuccessorAOHI	(	Index	agI,
		Index	aohI,
		Index	aI,
		Index	oI
	)		const

Returns the index of the successor of joint action-observation history jaohI via joint action jaI and joint observation joI.

References _m_firstAOHIforT, _m_params, Globals::CastLIndexToIndex(), GetActionObservationHistoryTree(), PlanningUnitMADPDiscreteParameters::GetComputeIndividualActionObservationHistories(), PlanningUnit::GetHorizon(), GetNrActions(), GetNrObservations(), and GetTimeStepForAOHI().

Referenced by JointActionObservationHistory::JointActionObservationHistory(), JointPolicyPureVectorForClusteredBG::RecursivelyFillPolicyForAgent(), and JointPolicyPureVectorForClusteredBG::RecursivelyPrintPolicyForAgent().

Index PlanningUnitMADPDiscrete::GetSuccessorJAHI	(	Index	johI,
		Index	joI
	)		const

References _m_firstJAHIforT, _m_params, Globals::CastLIndexToIndex(), PlanningUnitMADPDiscreteParameters::GetComputeJointActionHistories(), PlanningUnit::GetHorizon(), GetJointActionHistoryTree(), GetNrJointActions(), and GetTimeStepForJAHI().

LIndex PlanningUnitMADPDiscrete::GetSuccessorJAOHI	(	LIndex	jaohI,
		Index	jaI,
		Index	joI
	)		const

Returns the index of the successor of agent agI's action-observation history aohI via action aI and observation oI.

References _m_firstJAOHIforT, _m_params, PlanningUnitMADPDiscreteParameters::GetComputeJointActionObservationHistories(), PlanningUnit::GetHorizon(), TreeNode< Tcontained >::GetIndex(), GetJointActionObservationHistoryTree(), GetNrJointActions(), GetNrJointObservations(), and GetTimeStepForJAOHI().

Referenced by GetJAOHProbsRecursively().

Index PlanningUnitMADPDiscrete::GetSuccessorJOHI	(	Index	johI,
		Index	joI
	)		const

Returns the index of the successor of observation history johI via joint observation joI.

I.e., johIsuc = (johI, joI).

References _m_firstJOHIforT, _m_params, Globals::CastLIndexToIndex(), PlanningUnitMADPDiscreteParameters::GetComputeJointObservationHistories(), PlanningUnit::GetHorizon(), GetJointObservationHistoryTree(), GetNrJointObservations(), and GetTimeStepForJOHI().

Referenced by ValueFunctionDecPOMDPDiscrete::CalculateVsjohRecursively(), BGforStageCreation::Fill_jaI_Array(), BayesianGameForDecPOMDPStage::Fill_jaI_Array(), and SimulationDecPOMDPDiscrete::RunSimulation().

Index PlanningUnitMADPDiscrete::GetSuccessorOHI	(	Index	agentI,
		Index	ohI,
		Index	oI
	)		const

Returns the index of the successor of observation history ohI of agentI via observation joI.

I.e., johIsuc = (johI, joI).

References _m_firstOHIforT, _m_params, Globals::CastLIndexToIndex(), PlanningUnitMADPDiscreteParameters::GetComputeIndividualObservationHistories(), PlanningUnit::GetHorizon(), GetNrObservations(), GetObservationHistoryTree(), and GetTimeStepForOHI().

Referenced by BayesianGameWithClusterInfo::BayesianGameWithClusterInfo(), PolicyToDotGraph(), JointPolicyPureVectorForClusteredBG::RecursivelyFillPolicyForAgent(), JointPolicyPureVectorForClusteredBG::RecursivelyPrintPolicyForAgent(), SimulationFactoredDecPOMDPDiscrete::RunSimulation(), IndividualBeliefJESP::Update(), and FSAOHDist_NECOF::Update().

Index PlanningUnitMADPDiscrete::GetTimeStepForAHI	(	Index	agentI,
		Index	ohI
	)		const

Returns the time step of observation history ohI.

References _m_firstAHIforT, _m_params, GetActionHistoryTree(), PlanningUnitMADPDiscreteParameters::GetComputeIndividualActionHistories(), and PlanningUnit::GetHorizon().

Referenced by GetSuccessorAHI().

Index PlanningUnitMADPDiscrete::GetTimeStepForAOHI	(	Index	agentI,
		Index	aohI
	)		const

Returns the time step of joint action-observation historyaohI.

References _m_firstAOHIforT, _m_params, Globals::CastLIndexToIndex(), GetActionObservationHistoryTree(), PlanningUnitMADPDiscreteParameters::GetComputeIndividualActionObservationHistories(), and PlanningUnit::GetHorizon().

Referenced by GetSuccessorAOHI().

Index PlanningUnitMADPDiscrete::GetTimeStepForJAHI ( Index johI ) const

Returns the time step of joint observation history johI.

References _m_firstJAHIforT, _m_params, PlanningUnitMADPDiscreteParameters::GetComputeJointActionHistories(), PlanningUnit::GetHorizon(), and GetJointActionHistoryTree().

Referenced by GetSuccessorJAHI().

Index PlanningUnitMADPDiscrete::GetTimeStepForJAOHI ( LIndex jaohI ) const

Returns the time step of joint action-observation historyjaohI.

References _m_firstJAOHIforT, _m_params, PlanningUnitMADPDiscreteParameters::GetComputeJointActionObservationHistories(), PlanningUnit::GetHorizon(), GetJointActionObservationHistoryTree(), JointActionObservationHistoryTree::GetLength(), and Globals::MAXHORIZON.

Referenced by QMDP::CacheJaohQValues(), GetJAOHProbs(), QHybrid::GetQ(), QAlphaVector::GetQ(), QAV< PerseusPOMDPPlanner >::GetQ(), QMDP::GetQNoCache(), GetSuccessorJAOHI(), JointAOHIndexToIndividualActionObservationVectors(), and JointToIndividualActionObservationHistoryIndices().

Index PlanningUnitMADPDiscrete::GetTimeStepForJOHI ( Index johI ) const

Returns the time step of joint observation history johI.

References _m_firstJOHIforT, _m_params, PlanningUnitMADPDiscreteParameters::GetComputeJointObservationHistories(), TreeNode< Tcontained >::GetContainedElement(), PlanningUnit::GetHorizon(), and GetJointObservationHistoryTree().

Referenced by GetSuccessorJOHI(), and JointToIndividualObservationHistoryIndices().

Index PlanningUnitMADPDiscrete::GetTimeStepForOHI	(	Index	agentI,
		Index	ohI
	)		const

Returns the time step of observation history ohI.

References _m_firstOHIforT, _m_params, PlanningUnitMADPDiscreteParameters::GetComputeIndividualObservationHistories(), TreeNode< Tcontained >::GetContainedElement(), PlanningUnit::GetHorizon(), and GetObservationHistoryTree().

Referenced by GetSuccessorOHI(), PolicyToDotGraph(), and SoftPrintObservationHistory().

const TransitionModelDiscrete* PlanningUnitMADPDiscrete::GetTransitionModelDiscretePtr ( ) const

inline

References GetMADPDI().

Referenced by AlphaVectorPlanning::AlphaVectorPlanning(), AlphaVectorPlanning::Initialize(), and MDPValueIteration::Plan().

double PlanningUnitMADPDiscrete::GetTransitionProbability	(	Index	sI,
		Index	jaI,
		Index	sucSI
	)		const

inline

Returns the trans. prob for state, joint action, suc state indices.

References GetMADPDI().

Referenced by AlphaVectorWeighted::BackProjectWeights(), ValueFunctionDecPOMDPDiscrete::CalculateVsjohRecursively(), MDPValueIteration::PlanSlow(), MDPPolicyIterationGPU::PlanSlow(), and MDPPolicyIteration::PlanSlow().

Index PlanningUnitMADPDiscrete::IndividualToJointActionHistoryIndex	(	Index	t,
		const std::vector< Index > &	indivIs
	)		const

converts individual history indices to a joint index

This converts a vector of individual observation history indices to a joint observation history index.

t - the stage of the individual histories (must be the same, otherwise there is no corresponding joint index!)
indivIs - the vector containing the individual indices.

References GetActionHistoryArrays(), GetJointActionHistoryIndex(), GetNrAgents(), and IndividualToJointActionIndices().

Index PlanningUnitMADPDiscrete::IndividualToJointActionIndices ( const Index * indivActionIndices ) const

inlinevirtual

Returns the joint action index that corresponds to the array of specified individual action indices.

Implements Interface_ProblemToPolicyDiscrete.

References GetMADPDI().

Referenced by TreeIncPruneBGPlanner::GetGaoa(), QBGPlanner_TreeIncPruneBnB::GetGaoa(), IndividualToJointActionHistoryIndex(), IndividualToJointActionIndices(), IndividualToJointActionObservationHistoryIndex(), SimulationDecPOMDPDiscrete::RunSimulationClusteredBG(), SimulationDecPOMDPDiscrete::RunSimulations(), SimulationFactoredDecPOMDPDiscrete::Step(), SimulationTOIDecPOMDPDiscrete::Step(), and IndividualBeliefJESP::Update().

Index PlanningUnitMADPDiscrete::IndividualToJointActionIndices ( const std::vector< Index > & indivActionIndices ) const

inlinevirtual

Returns the joint action index that corresponds to the vector of specified individual action indices.

Implements Interface_ProblemToPolicyDiscrete.

References GetMADPDI(), and IndividualToJointActionIndices().

LIndex PlanningUnitMADPDiscrete::IndividualToJointActionObservationHistoryIndex	(	Index	t,
		const std::vector< Index > &	indivIs
	)		const

converts individual history indices to a joint index

This converts a vector of individual observation history indices to a joint observation history index.

t - the stage of the individual histories (must be the same, otherwise there is no corresponding joint index!)
indivIs - the vector containing the individual indices.

References GetActionObservationHistoryArrays(), GetJointActionObservationHistoryIndex(), GetNrAgents(), IndividualToJointActionIndices(), and IndividualToJointObservationIndices().

Index PlanningUnitMADPDiscrete::IndividualToJointObservationHistoryIndex	(	Index	t,
		const std::vector< Index > &	indivIs
	)		const

converts individual history indices to a joint index

This converts a vector of individual observation history indices to a joint observation history index.

t - the stage of the individual histories (must be the same, otherwise there is no corresponding joint index!)
indivIs - the vector containing the individual indices.

References GetJointObservationHistoryIndex(), GetNrAgents(), GetObservationHistoryArrays(), and IndividualToJointObservationIndices().

Index PlanningUnitMADPDiscrete::IndividualToJointObservationIndices ( const std::vector< Index > & inObs ) const

inline

Returns the joint observation index that corresponds to the vector of specified individual observation indices.

References GetMADPDI().

Referenced by BayesianGameWithClusterInfo::Extend(), BGforStageCreation::Fill_joI_Array(), BayesianGameForDecPOMDPStage::Fill_joI_Array(), GMAA_MAA_ELSI::Fill_joI_Array(), TreeIncPruneBGPlanner::GetGaoa(), QBGPlanner_TreeIncPruneBnB::GetGaoa(), IndividualToJointActionObservationHistoryIndex(), IndividualToJointObservationHistoryIndex(), SimulationFactoredDecPOMDPDiscrete::Step(), SimulationTOIDecPOMDPDiscrete::Step(), and IndividualBeliefJESP::Update().

void PlanningUnitMADPDiscrete::Initialize ( )

private

Calls functions to initialize the planning unit.

References _m_initialized, _m_madp, DEBUG_PUD, Deinitialize(), PlanningUnit::GetHorizon(), InitializeActionHistories(), InitializeActionObservationHistories(), InitializeJointActionHistories(), InitializeJointActionObservationHistories(), InitializeJointObservationHistories(), InitializeObservationHistories(), Globals::MAXHORIZON, E::Print(), Print(), and SanityCheck().

Referenced by PlanningUnitMADPDiscrete(), SetHorizon(), SetParams(), and SetProblem().

void PlanningUnitMADPDiscrete::InitializeActionHistories ( )

private

Constructs all possible action histories and puts them in a tree per agent.

Pointers to (the root nodes of) these trees are stored in _m_actionHistoryTreeRootPointers.

References _m_actionHistoryTreeRootPointers, _m_actionHistoryTreeVectors, _m_firstAHIforT, _m_nrActionHistories, _m_nrActionHistoriesT, _m_params, CreateActionHistoryTree(), PlanningUnitMADPDiscreteParameters::GetComputeIndividualActionHistories(), PlanningUnit::GetHorizon(), GetMADPDI(), MultiAgentDecisionProcessDiscreteInterface::GetNrActions(), and GetNrAgents().

Referenced by Initialize().

void PlanningUnitMADPDiscrete::InitializeActionObservationHistories ( )

private

Constructs all possible action-observation histories and puts them in a tree per agent.

Pointers to (the root nodes of) these trees are stored in _m_observationHistoryTreeRootPointers.

References _m_actionObservationHistoryTreeRootPointers, _m_actionObservationHistoryTreeVectors, _m_firstAOHIforT, _m_nrActionObservationHistories, _m_nrActionObservationHistoriesT, _m_params, CreateActionObservationHistoryTree(), PlanningUnitMADPDiscreteParameters::GetComputeIndividualActionObservationHistories(), PlanningUnit::GetHorizon(), GetMADPDI(), MultiAgentDecisionProcessDiscreteInterface::GetNrActions(), GetNrAgents(), and MultiAgentDecisionProcessDiscreteInterface::GetNrObservations().

Referenced by Initialize().

void PlanningUnitMADPDiscrete::InitializeJointActionHistories ( )

private

Creates all the joint action histories.

The root is stored as _m_jointActionHistoryTreeRoot and all joint action histories are accessible by index through _m_jointActionHistoryTreeVector.

References _m_firstJAHIforT, _m_jointActionHistoryTreeRoot, _m_jointActionHistoryTreeVector, _m_nrActionHistoriesT, _m_nrJointActionHistories, _m_nrJointActionHistoriesT, _m_params, PlanningUnitMADPDiscreteParameters::GetComputeJointActionHistories(), PlanningUnit::GetHorizon(), GetJointActionHistory, GetNrAgents(), GetNrJointActions(), and JointActionHistory::Print().

Referenced by Initialize().

void PlanningUnitMADPDiscrete::InitializeJointActionObservationHistories ( )

private

Creates all the joint action-observation histories.

The root is stored as _m_jointActionObservationHistoryTreeRoot and all joint act-obs. histories are accessible by index through _m_jointActionObservationHistoryTreeVector. Depending on _m_params, the joint beliefs should are calculated and stored (and their conditional probabilities).

Referenced by Initialize().

void PlanningUnitMADPDiscrete::InitializeJointObservationHistories ( )

private

Creates all the joint observation histories.

The root is stored as _m_jointObservationHistoryTreeRoot and all joint obs. histories are accessible by index through _m_jointObservationHistoryTreeVector.

References _m_firstJOHIforT, _m_jointObservationHistoryTreeRoot, _m_jointObservationHistoryTreeVector, _m_nrJointObservationHistories, _m_nrJointObservationHistoriesT, _m_nrObservationHistoriesT, _m_params, Globals::CastLIndexToIndex(), PlanningUnitMADPDiscreteParameters::GetComputeJointObservationHistories(), TreeNode< Tcontained >::GetContainedElement(), PlanningUnit::GetHorizon(), History::GetLength(), GetNrAgents(), GetNrJointObservations(), JointObservationHistory::Print(), TreeNode< Tcontained >::Print(), TreeNode< Tcontained >::SetIndex(), and TreeNode< Tcontained >::SetSuccessor().

Referenced by Initialize().

void PlanningUnitMADPDiscrete::InitializeObservationHistories ( )

private

Constructs all possible observation histories and puts them in a tree per agent.

Pointers to (the root nodes of) these trees are stored in _m_observationHistoryTreeRootPointers.

References _m_firstOHIforT, _m_nrObservationHistories, _m_nrObservationHistoriesT, _m_observationHistoryTreeRootPointers, _m_observationHistoryTreeVectors, _m_params, CreateObservationHistoryTree(), PlanningUnitMADPDiscreteParameters::GetComputeIndividualObservationHistories(), PlanningUnit::GetHorizon(), GetMADPDI(), GetNrAgents(), and MultiAgentDecisionProcessDiscreteInterface::GetNrObservations().

Referenced by Initialize().

void PlanningUnitMADPDiscrete::JointAOHIndexToIndividualActionObservationVectors	(	LIndex	jaohI,
		std::vector< std::vector< Index > > &	indivO_vec,
		std::vector< std::vector< Index > > &	indivA_vec
	)		const

computes the vectors of actions and obs.

corresponding to jaohI indivO_vec[agentI][t] = oI

References GetJointActionObservationHistoryArrays(), GetNrAgents(), GetTimeStepForJAOHI(), JointToIndividualActionIndices(), and JointToIndividualObservationIndices().

Referenced by JointToIndividualActionObservationHistoryIndices().

void PlanningUnitMADPDiscrete::JointAOHIndexToIndividualActionObservationVectors	(	LIndex	jaohI,
		std::vector< std::vector< Index > > &	indivAO_vec
	)		const

computes the vector of action-observations corresponding to jaohI indivAO_vec[agentI][t] = aoI

vector< Index > PlanningUnitMADPDiscrete::JointToIndividualActionHistoryIndices ( Index JAHistI ) const

Returns a vector containing the indices of the individual ObservationHistory s corresponding to the JointActionHistory index JAHistI.

This method does not depend on a cached vector. (and thus also works if JointActionHistory s are not generated.

const vector< Index > & PlanningUnitMADPDiscrete::JointToIndividualActionHistoryIndicesRef ( Index JAHistI ) const

Returns a reference to a cached vector containing the indices of the indiv.

action histories corresponding to the joint action history index JAHistI. NOTE: The cached vector (of which the reference is returned) is stored in the generated JointActionHistory. If joint action histories are not generated (see PlanningUnitMADPDiscrete constructor), this method will fail.

References _m_jointActionHistoryTreeVector, and _m_nrJointActionHistories.

vector< Index > PlanningUnitMADPDiscrete::JointToIndividualActionIndices ( Index jaI ) const