AlphaVectorWeighted implements a weighted BG/POMDP backup. More...

#include <AlphaVectorWeighted.h>

Inheritance diagram for AlphaVectorWeighted:

Public Member Functions
	AlphaVectorWeighted (const PlanningUnitDecPOMDPDiscrete *pu, double weight)
	(default) Constructor More...

	AlphaVectorWeighted (const PlanningUnitDecPOMDPDiscrete *pu, std::vector< double > weights)

	AlphaVectorWeighted (const PlanningUnitDecPOMDPDiscrete *pu)

	AlphaVectorWeighted (const boost::shared_ptr< const PlanningUnitDecPOMDPDiscrete > &pu, double weight)

	AlphaVectorWeighted (const boost::shared_ptr< const PlanningUnitDecPOMDPDiscrete > &pu, std::vector< double > weights)

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

AlphaVector	BeliefBackup (const JointBeliefInterface &b, Index a, const GaoVectorSet &G, const QFunctionsDiscrete &Q) const

void	SetWeights (std::vector< double > weights)

virtual	~AlphaVectorWeighted ()
	Destructor. More...

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

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

AlphaVector	BeliefBackup (const JointBeliefInterface &b, const GaoVectorSet &G) const
	Computes the AlphaVector resulting from backing up JointBeliefInterface b with the back-projected vectors in G. More...

AlphaVector	BeliefBackup (const JointBeliefInterface &b, Index a, const GaoVectorSet &G) const

virtual	~AlphaVectorPOMDP ()
	Destructor. More...

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

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

	AlphaVectorPlanning (const PlanningUnitFactoredDecPOMDPDiscrete *pu)

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

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

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

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

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

size_t	GetAcceleratedPruningThreshold () const

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

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

void	Initialize ()

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

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

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

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

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

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

void	SetAcceleratedPruningThreshold (size_t acceleratedPruningThreshold)

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

QFunctionsDiscrete	ValueFunctionToQ (const ValueFunctionPOMDPDiscrete &V) const

virtual	~AlphaVectorPlanning ()
	Destructor. More...

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

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

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

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

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

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

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

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

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

	TimedAlgorithm ()
	(default) Constructor More...

virtual	~TimedAlgorithm ()
	Destructor. More...

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

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

AlphaVector	BeliefBackup (const JointBeliefInterface &b, Index a, const GaoVectorSet &G, const ValueFunctionPOMDPDiscrete &V, BGBackupType type) const

virtual	~AlphaVectorBG ()
	Destructor. More...

Private Member Functions
void	BackProjectWeights ()

Private Attributes
bool	_m_initialized

std::vector< double >	_m_weights

std::vector< std::vector < double > >	_m_weightsBackProjected

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

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

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

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

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

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

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

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

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

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

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

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

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

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

static VectorSet	ValueFunctionToVectorSet (const ValueFunctionPOMDPDiscrete &V)

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

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

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

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

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

Static Public Member Functions inherited from AlphaVectorBG
static std::string	SoftPrintBackupType (BGBackupType bgBackupType)

Detailed Description

AlphaVectorWeighted implements a weighted BG/POMDP backup.

Returns a vector which is _m_weight*POMDP + (1-_m_weight)*BG.

Constructor & Destructor Documentation

AlphaVectorWeighted::AlphaVectorWeighted	(	const PlanningUnitDecPOMDPDiscrete *	pu,
		double	weight
	)

(default) Constructor

References BackProjectWeights().

AlphaVectorWeighted::AlphaVectorWeighted	(	const PlanningUnitDecPOMDPDiscrete *	pu,
		std::vector< double >	weights
	)

References _m_weights, BackProjectWeights(), PlanningUnitMADPDiscrete::GetNrStates(), and AlphaVectorPlanning::GetPU().

AlphaVectorWeighted::AlphaVectorWeighted ( const PlanningUnitDecPOMDPDiscrete * pu )

AlphaVectorWeighted::AlphaVectorWeighted	(	const boost::shared_ptr< const PlanningUnitDecPOMDPDiscrete > &	pu,
		double	weight
	)

References BackProjectWeights().

AlphaVectorWeighted::AlphaVectorWeighted	(	const boost::shared_ptr< const PlanningUnitDecPOMDPDiscrete > &	pu,
		std::vector< double >	weights
	)

References _m_weights, BackProjectWeights(), PlanningUnitMADPDiscrete::GetNrStates(), and AlphaVectorPlanning::GetPU().

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

AlphaVectorWeighted::~AlphaVectorWeighted ( )

virtual

Destructor.

Member Function Documentation

void AlphaVectorWeighted::BackProjectWeights ( )

private

References _m_initialized, _m_weights, _m_weightsBackProjected, PlanningUnitMADPDiscrete::GetNrJointActions(), PlanningUnitMADPDiscrete::GetNrStates(), AlphaVectorPlanning::GetPU(), and PlanningUnitMADPDiscrete::GetTransitionProbability().

Referenced by AlphaVectorWeighted(), and SetWeights().

AlphaVector AlphaVectorWeighted::BeliefBackup	(	const JointBeliefInterface &	b,
		Index	a,
		const GaoVectorSet &	G,
		const QFunctionsDiscrete &	Q
	)		const

References _m_initialized, _m_weights, _m_weightsBackProjected, AlphaVectorPOMDP::BeliefBackup(), AlphaVectorBG::BeliefBackup(), BGIP_SOLVER_EXHAUSTIVE, AlphaVector::GetBetaI(), AlphaVector::GetNrValues(), BeliefValue::GetValue(), AlphaVector::GetValue(), AlphaVectorPlanning::QFunctionsToValueFunction(), AlphaVector::SetValues(), and BeliefInterface::SoftPrint().

Referenced by PerseusWeightedPlanner::BeliefBackup().

void AlphaVectorWeighted::SetWeights ( std::vector< double > weights )

References _m_weights, and BackProjectWeights().

Member Data Documentation

bool AlphaVectorWeighted::_m_initialized

private

Referenced by BackProjectWeights(), and BeliefBackup().

std::vector<double> AlphaVectorWeighted::_m_weights

private

Referenced by AlphaVectorWeighted(), BackProjectWeights(), BeliefBackup(), and SetWeights().

std::vector<std::vector<double> > AlphaVectorWeighted::_m_weightsBackProjected

private

Referenced by BackProjectWeights(), and BeliefBackup().

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation