AlphaVectorPlanning provides base functionality for alpha-vector based POMDP or BG techniques. More...

#include <AlphaVectorPlanning.h>

Inheritance diagram for AlphaVectorPlanning:

Public Member Functions
	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 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)

Private Types
typedef boost::numeric::ublas::compressed_vector < double >	SparseVector

Private Member Functions
GaoVectorSet	BackProjectFull (const VectorSet &v) const
	Implements equation (3.11) of PhD thesis Matthijs. More...

GaoVectorSet	BackProjectSparse (const VectorSet &v) const
	Implements equation (3.11) of PhD thesis Matthijs. More...

void	DeInitialize ()

Private Attributes
size_t	_m_acceleratedPruningThreshold

std::vector< std::vector < std::vector< SparseVector * > > >	_m_eventOsForBackup

bool	_m_initialized

std::vector< const ObservationModelMapping::Matrix * >	_m_O

std::vector< std::vector < const EventObservationModelMapping::Matrix * > >	_m_Oe

std::vector< std::vector < const EventObservationModelMappingSparse::SparseMatrix * > >	_m_Oes

std::vector< const ObservationModelMappingSparse::SparseMatrix * >	_m_Os

std::vector< std::vector < SparseVector * > >	_m_OsForBackup

const PlanningUnitDecPOMDPDiscrete *	_m_pu
	A pointer to the PlanningUnit (which can only be a PlanningUnitDecPOMDPDiscrete or derived type). More...

boost::shared_ptr< const PlanningUnitDecPOMDPDiscrete >	_m_puShared

std::vector< const TransitionModelMapping::Matrix * >	_m_T

std::vector< const TransitionModelMappingSparse::SparseMatrix * >	_m_Ts

std::vector< std::vector < SparseVector * > >	_m_TsForBackup

std::vector< std::vector < std::vector< SparseVector * > > >	_m_TsOsForBackup

bool	_m_useSparse

Detailed Description

AlphaVectorPlanning provides base functionality for alpha-vector based POMDP or BG techniques.

Member Typedef Documentation

typedef boost::numeric::ublas::compressed_vector<double> AlphaVectorPlanning::SparseVector

private

Constructor & Destructor Documentation

AlphaVectorPlanning::AlphaVectorPlanning ( const PlanningUnitDecPOMDPDiscrete * pu )

(default) Constructor

References _m_initialized, _m_useSparse, GetPU(), and PlanningUnitMADPDiscrete::GetTransitionModelDiscretePtr().

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

References _m_initialized, _m_useSparse, GetPU(), and PlanningUnitMADPDiscrete::GetTransitionModelDiscretePtr().

AlphaVectorPlanning::AlphaVectorPlanning ( const PlanningUnitFactoredDecPOMDPDiscrete * pu )

References _m_pu.

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

AlphaVectorPlanning::~AlphaVectorPlanning ( )

virtual

Destructor.

References DeInitialize().

Member Function Documentation

GaoVectorSet AlphaVectorPlanning::BackProject ( const ValueFunctionPOMDPDiscrete & v ) const

Back projects a value function.

References _m_useSparse, BackProjectFull(), BackProjectSparse(), and ArgumentHandlers::size().

Referenced by MonahanBGPlanner::BackProjectMonahanBG(), MonahanPOMDPPlanner::BackupStage(), TreeIncPruneBGPlanner::BackupStage(), QBGPlanner_TreeIncPruneBnB::BackupStage(), Perseus::BackupStageLeadIn(), and MonahanBGPlanner::ComputeAllGaoa().

GaoVectorSet AlphaVectorPlanning::BackProject ( const VectorSet & v ) const

Back projects a value function, represented as a VectorSet.

Implements equation (3.11) of PhD thesis Matthijs.

References _m_O, _m_T, _m_useSparse, BackProjectFull(), BackProjectSparse(), PlanningUnitMADPDiscrete::GetNrJointActions(), PlanningUnitMADPDiscrete::GetNrJointObservations(), PlanningUnitMADPDiscrete::GetNrStates(), GetPU(), TimedAlgorithm::StartTimer(), and TimedAlgorithm::StopTimer().

GaoVectorSet AlphaVectorPlanning::BackProjectFull ( const VectorSet & v ) const

private

Implements equation (3.11) of PhD thesis Matthijs.

The distinction between row and column stems from the fact that in a standard model, _m_O[a] is (s',o), while in an event-driven model, _m_Oe[a][o] is (s,s') (because _m_T[a] is also (s,s')) The distinction between row and column stems from the fact that in a standard model, _m_O[a] is (s',o), while in an event-driven model, _m_Oe[a][o] is (s,s') (because _m_T[a] is also (s,s'))

References _m_O, _m_Oe, _m_T, GetDuplicateIndices(), PlanningUnitMADPDiscreteParameters::GetEventObservability(), PlanningUnitMADPDiscrete::GetNrJointActions(), PlanningUnitMADPDiscrete::GetNrJointObservations(), PlanningUnitMADPDiscrete::GetNrStates(), PlanningUnitMADPDiscrete::GetParams(), GetPU(), TimedAlgorithm::StartTimer(), and TimedAlgorithm::StopTimer().

Referenced by BackProject().

GaoVectorSet AlphaVectorPlanning::BackProjectSparse ( const VectorSet & v ) const

private

Implements equation (3.11) of PhD thesis Matthijs.

References _m_Os, _m_Ts, _m_TsOsForBackup, GetDuplicateIndices(), PlanningUnitMADPDiscrete::GetNrJointActions(), PlanningUnitMADPDiscrete::GetNrJointObservations(), PlanningUnitMADPDiscrete::GetNrStates(), GetPU(), TimedAlgorithm::StartTimer(), and TimedAlgorithm::StopTimer().

Referenced by BackProject().

void AlphaVectorPlanning::CrossSum	(	const std::vector< AlphaVector > &	A,
		const std::vector< AlphaVector > &	B,
		std::vector< AlphaVector > &	output
	)

static

Compute the cross-sum of two vector sets.

Referenced by MonahanBGPlanner::BackupStage(), TreeIncPruneBGPlanner::BackupStage(), TreeIncPruneBGPlanner::CrossSumNode(), QBGPlanner_TreeIncPruneBnB::CrossSumNode(), QBGPlanner_TreeIncPruneBnB::InitializeHeuristicsForJA(), MonahanPOMDPPlanner::MonahanCrossSum(), and MonahanBGPlanner::MonahanCrossSum().

VectorSet AlphaVectorPlanning::CrossSum	(	const VectorSet &	A,
		const VectorSet &	B
	)		const

Compute the cross-sum of two vector sets.

void AlphaVectorPlanning::DeInitialize ( )

private

References _m_eventOsForBackup, _m_initialized, _m_O, _m_Oe, _m_Os, _m_OsForBackup, _m_T, _m_Ts, _m_TsForBackup, and _m_TsOsForBackup.

Referenced by Initialize(), and ~AlphaVectorPlanning().

bool AlphaVectorPlanning::EqualVS	(	const VectorSet &	VS1,
		const VectorSet &	VS2
	)

static

References Globals::EqualReward().

Referenced by TreeIncPruneBGPlanner::CheckCache_Union().

void AlphaVectorPlanning::ExportBeliefSet	(	const BeliefSet &	B,
		const std::string &	filename
	)

static

Exports a belief set to a file.

Referenced by PerseusStationary::ExportBeliefSet().

void AlphaVectorPlanning::ExportPOMDPFile	(	const std::string &	filename,
		const DecPOMDPDiscreteInterface *	decpomdp
	)

static

Exports the POMDP represented by pu to file named filename.

Export is in Tony Cassandra's POMDP file format.

Referenced by ExportPOMDPFile().

void AlphaVectorPlanning::ExportPOMDPFile ( const std::string & filename ) const

Exports the POMDP to file named filename.

References ExportPOMDPFile(), and GetPU().

void AlphaVectorPlanning::ExportValueFunction	(	const std::string &	filename,
		const ValueFunctionPOMDPDiscrete &	V,
		bool	includeBGindices = `true`
	)

static

Exports a value function V to file named filename.

Export is in a simple text format used by Tony Cassandra for .alpha files.

The format is simply:

Referenced by PerseusNonStationary::ExportValueFunction(), PerseusStationary::ExportValueFunction(), ExportValueFunction(), MonahanPlanner::Plan(), Perseus::PlanStartOfIteration(), Prune(), and MonahanPlanner::Save().

void AlphaVectorPlanning::ExportValueFunction	(	const std::string &	filename,
		const QFunctionsDiscrete &	Q,
		bool	includeBGindices = `true`
	)

static

Exports a Q functions Q to file named filename.

References ExportValueFunction(), and QFunctionsToValueFunction().

void AlphaVectorPlanning::ExportValueFunction	(	const std::string &	filename,
		const QFunctionsDiscreteNonStationary &	Q,
		bool	includeBGindices = `true`
	)

static

Exports a Q functions Q to file named filename.

References ExportValueFunction().

size_t AlphaVectorPlanning::GetAcceleratedPruningThreshold ( ) const

References _m_acceleratedPruningThreshold.

vector< int > AlphaVectorPlanning::GetDuplicateIndices ( const VectorSet & V )

static

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()).

References PrintTools::PrintVectorCout(), and Globals::PROB_PRECISION.

Referenced by BackProjectFull(), and BackProjectSparse().

ValueFunctionPOMDPDiscrete AlphaVectorPlanning::GetImmediateRewardValueFunction ( ) const

Returns the value function induced by the reward model.

References GetPU().

Referenced by PerseusNonStationary::GetImmediateRewardBeliefSet(), PerseusStationary::GetImmediateRewardBeliefSet(), and MonahanPlanner::Plan().

ValueFunctionPOMDPDiscrete AlphaVectorPlanning::GetImmediateRewardValueFunction ( const PlanningUnitDecPOMDPDiscrete * pu )

static

Returns the value function induced by the reward model of pu.

References PlanningUnitMADPDiscrete::GetNrJointActions(), PlanningUnitMADPDiscrete::GetNrStates(), PlanningUnitDecPOMDPDiscrete::GetReward(), AlphaVector::SetAction(), and AlphaVector::SetValue().

const PlanningUnitDecPOMDPDiscrete* AlphaVectorPlanning::GetPU ( ) const

inline

Returns a ref to the PlanningUnit.

Referenced by AlphaVectorPlanning(), AlphaVectorWeighted::AlphaVectorWeighted(), BackProject(), BackProjectFull(), MonahanBGPlanner::BackProjectMonahanBG(), BackProjectSparse(), AlphaVectorWeighted::BackProjectWeights(), PerseusPOMDPPlanner::BackupStage(), 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(), Perseus::CheckConvergence(), QBGPlanner_TreeIncPruneBnB::CheckDominationPointWise(), MonahanBGPlanner::ComputeAllGaoa(), MonahanBGPlanner::ComputeGaoa(), TreeIncPruneBGPlanner::ComputeKey(), ExportPOMDPFile(), TreeIncPruneBGPlanner::GetGaoa(), QBGPlanner_TreeIncPruneBnB::GetGaoa(), PerseusNonStationary::GetImmediateRewardBeliefSet(), PerseusStationary::GetImmediateRewardBeliefSet(), GetImmediateRewardValueFunction(), Perseus::GetInitialNonStationaryQFunctions(), Perseus::GetInitialQFunctions(), Perseus::GetInitialValueFunction(), AlphaVectorBG::GetMask(), TreeIncPruneBGPlanner::GetObservationsFromDepth(), MonahanPlanner::GetQ(), TreeIncPruneBGPlanner::GetValidActions(), TreeIncPruneBGPlanner::Initialize(), QBGPlanner_TreeIncPruneBnB::Initialize(), Initialize(), PerseusNonStationary::Load(), MonahanPlanner::Load(), MonahanPOMDPPlanner::MonahanCrossSum(), MonahanBGPlanner::MonahanCrossSum(), MonahanPlanner::Plan(), PerseusNonStationaryQPlanner::PlanAll(), Perseus::PlanEndOfIteration(), Perseus::PlanLeadOut(), PerseusNonStationaryQPlanner::PlanSampling(), Perseus::PlanStartOfIteration(), SampleBeliefs(), SampleBeliefsNonStationary(), TreeIncPruneBGPlanner::SaveStats(), PerseusNonStationary::SetValueFunction(), PerseusStationary::SetValueFunction(), TreeIncPruneBGPlanner::SoftPrintStats(), TreeIncPruneBGPlanner::UnionNode(), Perseus::UpdateValueFunctionName(), and ValueFunctionToQ().

ValueFunctionPOMDPDiscrete AlphaVectorPlanning::ImportValueFunction ( const std::string & filename )

static

Imports a value function from a file named filename.

Function lacks error checking.

References Globals::CastLIndexToIndex(), AlphaVector::GetBetaI(), AlphaVector::SetAction(), AlphaVector::SetBetaI(), and AlphaVector::SetValues().

Referenced by ImportValueFunction(), QAlphaVector::Initialize(), PerseusNonStationary::Load(), PerseusStationary::Load(), MonahanPlanner::Load(), Prune(), PerseusNonStationary::SetValueFunction(), and PerseusStationary::SetValueFunction().

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

static

References ImportValueFunction(), and ValueFunctionToQ().

void AlphaVectorPlanning::Initialize ( )

References _m_eventOsForBackup, _m_initialized, _m_O, _m_Oe, _m_Oes, _m_Os, _m_OsForBackup, _m_T, _m_Ts, _m_TsForBackup, _m_TsOsForBackup, _m_useSparse, DeInitialize(), TransitionModelMapping::GetMatrixPtr(), ObservationModelMapping::GetMatrixPtr(), EventObservationModelMapping::GetMatrixPtr(), ObservationModelMappingSparse::GetMatrixPtr(), TransitionModelMappingSparse::GetMatrixPtr(), EventObservationModelMappingSparse::GetMatrixPtr(), PlanningUnitMADPDiscrete::GetNrJointActions(), PlanningUnitMADPDiscrete::GetNrJointObservations(), PlanningUnitMADPDiscrete::GetNrStates(), PlanningUnitMADPDiscrete::GetObservationModelDiscretePtr(), GetPU(), and PlanningUnitMADPDiscrete::GetTransitionModelDiscretePtr().

Referenced by MonahanPOMDPPlanner::Initialize(), TreeIncPruneBGPlanner::Initialize(), QBGPlanner_TreeIncPruneBnB::Initialize(), MonahanBGPlanner::Initialize(), PerseusBGNSPlanner::PerseusBGNSPlanner(), PerseusBGPlanner::PerseusBGPlanner(), PerseusConstrainedPOMDPPlanner::PerseusConstrainedPOMDPPlanner(), PerseusPOMDPPlanner::PerseusPOMDPPlanner(), and PerseusWeightedPlanner::PerseusWeightedPlanner().

QFunctionsDiscrete AlphaVectorPlanning::Prune ( const QFunctionsDiscrete & Q ) const

Prune a Q-valuefunction.

References ArgumentHandlers::size().

Referenced by MonahanBGPlanner::BackupStage(), TreeIncPruneBGPlanner::BackupStage(), PerseusConstrainedPOMDPPlanner::BackupStage(), QBGPlanner_TreeIncPruneBnB::BackupStage(), MonahanBGPlanner::ComputeAllGaoa(), QBGPlanner_TreeIncPruneBnB::InitializeHeuristicsForJA(), MonahanPOMDPPlanner::MonahanCrossSum(), MonahanBGPlanner::MonahanCrossSum(), Prune(), TreeIncPruneBGPlanner::PruneAfterCrossSum(), and TreeIncPruneBGPlanner::PruneAfterUnion().

ValueFunctionPOMDPDiscrete AlphaVectorPlanning::Prune ( const ValueFunctionPOMDPDiscrete & V ) const

Prune a POMDP valuefunction.

References _m_acceleratedPruningThreshold, ExportValueFunction(), Timing::GetEventDurations(), ImportValueFunction(), AlphaVectorPruning::Prune(), PrintTools::SoftPrintVector(), Timing::Start(), and Timing::Stop().

VectorSet AlphaVectorPlanning::Prune ( const VectorSet & V ) const

Prune a VectorSet.

References Prune(), ValueFunctionToVectorSet(), and VectorSetToValueFunction().

ValueFunctionPOMDPDiscrete AlphaVectorPlanning::QFunctionsToValueFunction ( const QFunctionsDiscrete & Q )

static

Takes all the vectors from the Q-function Q and throws them together as a 'V' function.

Note: this function does NOT perform any maximization (or pruning)

BeliefSet AlphaVectorPlanning::SampleBeliefs ( const ArgumentHandlers::Arguments & args ) const

Sample a belief set according to the arguments.

References JointBeliefInterface::Clone(), QMDP::Compute(), DEBUG_AlphaVectorPlanning_BeliefSampling, BeliefInterface::Get(), PlanningUnitDecPOMDPDiscrete::GetDPOMDPD(), PlanningUnit::GetHorizon(), PlanningUnitMADPDiscrete::GetNewJointBeliefInterface(), PlanningUnitMADPDiscrete::GetNrJointActions(), PlanningUnitMADPDiscrete::GetNrStates(), GetPU(), QMDP::GetQ(), Globals::MAXHORIZON, ArgumentHandlers::Arguments::nrBeliefs, ArgumentHandlers::Arguments::QMDPexploreProb, ArgumentHandlers::Arguments::resetAfter, MultiAgentDecisionProcessDiscreteInterface::SampleInitialState(), MultiAgentDecisionProcessDiscreteInterface::SampleJointObservation(), MultiAgentDecisionProcessDiscreteInterface::SampleSuccessorState(), BeliefInterface::SanityCheck(), BeliefInterface::Set(), TimedAlgorithm::StartTimer(), TimedAlgorithm::StopTimer(), ArgumentHandlers::Arguments::uniqueBeliefs, JointBeliefInterface::Update(), and ArgumentHandlers::Arguments::useQMDPforSamplingBeliefs.

Referenced by PerseusStationary::InitializeBeliefs().

BeliefSetNonStationary AlphaVectorPlanning::SampleBeliefsNonStationary ( const ArgumentHandlers::Arguments & args ) const

Sample a non-stationary belief set according to the arguments.

References ArgumentHandlers::Arguments::nrBeliefs, ArgumentHandlers::Arguments::QMDPexploreProb, ArgumentHandlers::Arguments::resetAfter, ArgumentHandlers::Arguments::uniqueBeliefs, and ArgumentHandlers::Arguments::useQMDPforSamplingBeliefs.

Referenced by PerseusNonStationary::InitializeBeliefs().

BeliefSetNonStationary AlphaVectorPlanning::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.

References BeliefSetNonStationary::Add(), PlanningUnitDecPOMDPDiscrete::GetDPOMDPD(), PlanningUnit::GetHorizon(), PlanningUnitMADPDiscrete::GetNewJointBeliefInterface(), PlanningUnitMADPDiscrete::GetNrJointActions(), PlanningUnitMADPDiscrete::GetNrStates(), GetPU(), Globals::MAXHORIZON, MultiAgentDecisionProcessDiscreteInterface::SampleInitialState(), MultiAgentDecisionProcessDiscreteInterface::SampleJointObservation(), MultiAgentDecisionProcessDiscreteInterface::SampleSuccessorState(), BeliefInterface::Set(), TimedAlgorithm::StartTimer(), TimedAlgorithm::StopTimer(), and JointBeliefInterface::Update().

void AlphaVectorPlanning::SetAcceleratedPruningThreshold ( size_t acceleratedPruningThreshold )

References _m_acceleratedPruningThreshold.

Referenced by ArgumentUtils::GetHybridQheuristicFromArgs(), and ArgumentUtils::GetQheuristicFromArgs().

string AlphaVectorPlanning::SoftPrint ( const VectorSet & VS )

static

Referenced by TreeIncPruneBGPlanner::AddToCache_CrossSum(), TreeIncPruneBGPlanner::AddToCache_Union(), TreeIncPruneBGPlanner::CheckCache_Union(), TreeIncPruneBGPlanner::ComputeKey(), and PerseusNonStationary::GetQ().

VectorSet AlphaVectorPlanning::Union	(	const VectorSet &	A,
		const VectorSet &	B
	)		const

Computes the union of two vector sets.

References ValueFunctionToVectorSet(), and VectorSetToValueFunction().

Referenced by TreeIncPruneBGPlanner::UnionNode().

QFunctionsDiscrete AlphaVectorPlanning::ValueFunctionToQ ( const ValueFunctionPOMDPDiscrete & V ) const

References GetPU().

Referenced by ImportValueFunction(), QAlphaVector::Initialize(), MonahanPlanner::Plan(), PerseusStationary::SetValueFunction(), and PerseusStationary::StoreValueFunction().

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

static

References AlphaVector::SetAction().

VectorSet AlphaVectorPlanning::ValueFunctionToVectorSet ( const ValueFunctionPOMDPDiscrete & V )

static

Referenced by MonahanBGPlanner::MonahanCrossSum(), Prune(), and Union().

bool AlphaVectorPlanning::VectorIsDominated	(	const AlphaVector &	alpha,
		const ValueFunctionPOMDPDiscrete &	V
	)

static

References AlphaVector::GetNrValues(), and AlphaVector::GetValue().

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

static

bool AlphaVectorPlanning::VectorIsInValueFunction	(	const AlphaVector &	alpha,
		const ValueFunctionPOMDPDiscrete &	V
	)

static

References AlphaVector::GetAction(), AlphaVector::GetNrValues(), AlphaVector::GetValue(), and Globals::REWARD_PRECISION.

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

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

static

Referenced by MonahanBGPlanner::BackProjectMonahanBG(), and MonahanBGPlanner::ComputeGaoa().

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

static

References AlphaVector::SetAction().

Referenced by MonahanBGPlanner::BackupStage(), TreeIncPruneBGPlanner::BackupStage(), QBGPlanner_TreeIncPruneBnB::BackupStage(), MonahanBGPlanner::MonahanCrossSum(), Prune(), and Union().

Member Data Documentation

size_t AlphaVectorPlanning::_m_acceleratedPruningThreshold

private

Referenced by GetAcceleratedPruningThreshold(), Prune(), and SetAcceleratedPruningThreshold().

std::vector<std::vector<std::vector<SparseVector* > > > AlphaVectorPlanning::_m_eventOsForBackup

private

Referenced by DeInitialize(), and Initialize().

bool AlphaVectorPlanning::_m_initialized

private

Referenced by AlphaVectorPlanning(), DeInitialize(), and Initialize().

std::vector<const ObservationModelMapping::Matrix* > AlphaVectorPlanning::_m_O

private

Referenced by BackProject(), BackProjectFull(), DeInitialize(), and Initialize().

std::vector< std::vector <const EventObservationModelMapping::Matrix* > > AlphaVectorPlanning::_m_Oe

private

Referenced by BackProjectFull(), DeInitialize(), and Initialize().

std::vector< std::vector <const EventObservationModelMappingSparse::SparseMatrix* > > AlphaVectorPlanning::_m_Oes

private

Referenced by Initialize().

std::vector<const ObservationModelMappingSparse::SparseMatrix* > AlphaVectorPlanning::_m_Os

private

Referenced by BackProjectSparse(), DeInitialize(), and Initialize().

std::vector<std::vector<SparseVector* > > AlphaVectorPlanning::_m_OsForBackup

private

Referenced by DeInitialize(), and Initialize().

const PlanningUnitDecPOMDPDiscrete* AlphaVectorPlanning::_m_pu

private

A pointer to the PlanningUnit (which can only be a PlanningUnitDecPOMDPDiscrete or derived type).

Referenced by AlphaVectorPlanning().

boost::shared_ptr<const PlanningUnitDecPOMDPDiscrete> AlphaVectorPlanning::_m_puShared

private

std::vector<const TransitionModelMapping::Matrix* > AlphaVectorPlanning::_m_T

private

Referenced by BackProject(), BackProjectFull(), DeInitialize(), and Initialize().

std::vector<const TransitionModelMappingSparse::SparseMatrix* > AlphaVectorPlanning::_m_Ts

private

Referenced by BackProjectSparse(), DeInitialize(), and Initialize().

std::vector<std::vector<SparseVector* > > AlphaVectorPlanning::_m_TsForBackup

private

Referenced by DeInitialize(), and Initialize().

std::vector<std::vector<std::vector<SparseVector* > > > AlphaVectorPlanning::_m_TsOsForBackup

private

Referenced by BackProjectSparse(), DeInitialize(), and Initialize().

bool AlphaVectorPlanning::_m_useSparse

private

Referenced by AlphaVectorPlanning(), BackProject(), and Initialize().

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation