FSAOHDist_NECOF is a class that represents a NEarly COmpletely Factored distribution over state factors and action-observation histories. More...

#include <FSAOHDist_NECOF.h>

Inheritance diagram for FSAOHDist_NECOF:

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Public Member Functions
virtual FactoredStateAOHDistribution *	Clone () const

	FSAOHDist_NECOF ()
	Constructor without arguments, needed for serialization. More...

	FSAOHDist_NECOF (const PlanningUnitFactoredDecPOMDPDiscrete *p)
	(default) Constructor More...

	FSAOHDist_NECOF (const FSAOHDist_NECOF &a)
	Copy constructor. More...

virtual double	GetAOHProb_relT (const Scope &agSc, const std::vector< Index > &aohI) const
	function that returns the prob. of the AOH of a subset of agents More...

virtual double	GetOHProb_relT (const Scope &agSc, const std::vector< Index > &ohI) const

virtual double	GetXOHProb_relT (const Scope &sfSc, const std::vector< Index > &sfacI, const Scope &agSc, const std::vector< Index > &ohI) const
	returns P(sfacI, ohI) More...

virtual double	GetXOHProb_relT_SufficientSFscope (const Scope &sfSc, const std::vector< Index > &sfacI, const Scope &agSc, const std::vector< Index > &ohI) const
	returns P(sfacI, ohI) like GetXOHProb_relT. More...

virtual double	GetXProb (const Scope &sfSc, const std::vector< Index > &sfValI) const

virtual void	InitializeFromISD (const FactoredStateDistribution *d)

FSAOHDist_NECOF &	operator= (const FSAOHDist_NECOF &o)
	Copy assignment operator. More...

virtual void	SanityCheck ()

virtual std::string	SoftPrint () const

virtual void	Update (const JointPolicyDiscretePure &pol)
	Performs an update of the distribution to the next stage. More...

virtual	~FSAOHDist_NECOF ()
	Destructor. More...

Public Member Functions inherited from FactoredStateAOHDistribution
virtual	~FactoredStateAOHDistribution ()
	Destructor. More...

Private Attributes
std::vector < CPDDiscreteInterface * >	_m_oHistConditional
	the conditional observation history probabilities More...

std::vector< std::vector < double > >	_m_oHistMarginals
	marginals of observation history probs for each agent More...

const PlanningUnitFactoredDecPOMDPDiscrete *	_m_puf

FSDist_COF *	_m_sfacMarginals
	the maintained state factor marginals More...

std::vector< Scope >	_m_sfacSoI
	the state factors in the scope of influence for each agent('s obs.) More...

std::vector< size_t >	_m_sfacSoI_ii_size
	the number of influence instantiations for those scopes More...

Index	_m_stage
	The stage for which this distribution is. More...

std::vector< size_t * >	_m_stepsize
	the stepsize array (used to convert indiv<->joint indicies) is cached More...

Detailed Description

FSAOHDist_NECOF is a class that represents a NEarly COmpletely Factored distribution over state factors and action-observation histories.

This class assumes that the observations of different agents are independent given a,s'. i.e., that

$\Pr(o|a,s') = \prod_i \Pr(o_i|a,s')$

Constructor & Destructor Documentation

FSAOHDist_NECOF::FSAOHDist_NECOF ( )

Constructor without arguments, needed for serialization.

Referenced by Clone().

FSAOHDist_NECOF::FSAOHDist_NECOF ( const PlanningUnitFactoredDecPOMDPDiscrete * p )

(default) Constructor

References _m_oHistConditional, _m_puf, _m_sfacSoI, _m_sfacSoI_ii_size, _m_stepsize, IndexTools::CalculateStepSize(), MultiAgentDecisionProcessDiscreteFactoredStatesInterface::Get2DBN(), PlanningUnitFactoredDecPOMDPDiscrete::GetFDPOMDPD(), PlanningUnitMADPDiscrete::GetNrAgents(), MultiAgentDecisionProcessDiscreteFactoredStatesInterface::GetNrValuesPerFactor(), TwoStageDynamicBayesianNetwork::GetYSoI_O(), Scope::Insert(), IndexTools::RestrictIndividualIndicesToScope(), CPT::Set(), and VectorTools::VectorProduct().

FSAOHDist_NECOF::FSAOHDist_NECOF ( const FSAOHDist_NECOF & a )

Copy constructor.

References _m_puf, _m_sfacSoI, _m_stepsize, and PlanningUnitMADPDiscrete::GetNrAgents().

FSAOHDist_NECOF::~FSAOHDist_NECOF ( )

virtual

Destructor.

References _m_oHistConditional, _m_sfacMarginals, and _m_stepsize.

Member Function Documentation

virtual FactoredStateAOHDistribution* FSAOHDist_NECOF::Clone ( ) const

inlinevirtual

Implements FactoredStateAOHDistribution.

References FSAOHDist_NECOF().

virtual double FSAOHDist_NECOF::GetAOHProb_relT	(	const Scope &	agSc,
		const std::vector< Index > &	aohI
	)		const

inlinevirtual

function that returns the prob. of the AOH of a subset of agents

this function takes

agSC - the scope that specifies the subset of agents
aohI - a vector of indices of individual AOHs for each of the specified agents.

Note: relT indicates that the individual AOH indices are relative within the stage for which this distribution is.

Implements FactoredStateAOHDistribution.

double FSAOHDist_NECOF::GetOHProb_relT	(	const Scope &	agSc,
		const std::vector< Index > &	ohI
	)		const

virtual

Implements FactoredStateAOHDistribution.

References _m_oHistMarginals.

double FSAOHDist_NECOF::GetXOHProb_relT	(	const Scope &	sfSc,
		const std::vector< Index > &	sfacI,
		const Scope &	agSc,
		const std::vector< Index > &	ohI
	)		const

virtual

returns P(sfacI, ohI)

Implements FactoredStateAOHDistribution.

References _m_oHistConditional, _m_puf, _m_sfacSoI, _m_stepsize, PlanningUnitFactoredDecPOMDPDiscrete::GetFDPOMDPD(), MultiAgentDecisionProcessDiscreteFactoredStatesInterface::GetNrValuesPerFactor(), GetXProb(), IndexTools::Increment(), IndexTools::IndividualToJointIndicesStepSize(), Scope::Insert(), Scope::Remove(), IndexTools::RestrictIndividualIndicesToNarrowerScope(), and IndexTools::RestrictIndividualIndicesToScope().

double FSAOHDist_NECOF::GetXOHProb_relT_SufficientSFscope	(	const Scope &	sfSc,
		const std::vector< Index > &	sfacI,
		const Scope &	agSc,
		const std::vector< Index > &	ohI
	)		const

virtual

returns P(sfacI, ohI) like GetXOHProb_relT.

This version requires that sfSc is a superset of the scope of influence for all observations (of agents in agSc). I.e., this function will not perform any marginalization.

References _m_oHistConditional, _m_sfacSoI, _m_stepsize, GetXProb(), IndexTools::IndividualToJointIndicesStepSize(), and IndexTools::RestrictIndividualIndicesToNarrowerScope().

double FSAOHDist_NECOF::GetXProb	(	const Scope &	sfSc,
		const std::vector< Index > &	sfValI
	)		const

virtual

Implements FactoredStateAOHDistribution.

References _m_sfacMarginals, and FSDist_COF::GetProbability().

Referenced by GetXOHProb_relT(), and GetXOHProb_relT_SufficientSFscope().

void FSAOHDist_NECOF::InitializeFromISD ( const FactoredStateDistribution * d )

virtual

Implements FactoredStateAOHDistribution.

References _m_sfacMarginals, and FactoredStateDistribution::Clone().

FSAOHDist_NECOF & FSAOHDist_NECOF::operator= ( const FSAOHDist_NECOF & o )

Copy assignment operator.

void FSAOHDist_NECOF::SanityCheck ( void )

virtual

Implements FactoredStateAOHDistribution.

References _m_oHistConditional, _m_oHistMarginals, _m_sfacMarginals, Globals::EqualProbability(), and FSDist_COF::SanityCheck().

Referenced by Update().

string FSAOHDist_NECOF::SoftPrint ( ) const

virtual

References _m_oHistConditional, _m_oHistMarginals, _m_sfacMarginals, FSDist_COF::SoftPrint(), and PrintTools::SoftPrintVector().

Referenced by Update().

void FSAOHDist_NECOF::Update ( const JointPolicyDiscretePure & pol )

virtual

Performs an update of the distribution to the next stage.

In particular this function computes the new

state factor marginals
OH conditionals
OH marginals

from the previous stage marginals.

Implements FactoredStateAOHDistribution.

References _m_oHistConditional, _m_oHistMarginals, _m_puf, _m_sfacMarginals, _m_sfacSoI_ii_size, _m_stage, _m_stepsize, Globals::CastLIndexToIndex(), Scope::Contains(), MultiAgentDecisionProcessDiscreteFactoredStatesInterface::Get2DBN(), JointPolicyDiscretePure::GetActionIndex(), TwoStageDynamicBayesianNetwork::GetASoI_O(), TwoStageDynamicBayesianNetwork::GetASoI_Y(), PlanningUnitFactoredDecPOMDPDiscrete::GetFDPOMDPD(), PlanningUnitMADPDiscrete::GetFirstObservationHistoryIndex(), PlanningUnitMADPDiscrete::GetNrActions(), PlanningUnitMADPDiscrete::GetNrAgents(), PlanningUnitMADPDiscrete::GetNrObservationHistories(), PlanningUnitMADPDiscrete::GetNrObservations(), MultiAgentDecisionProcessDiscreteFactoredStatesInterface::GetNrStateFactors(), MultiAgentDecisionProcessDiscreteFactoredStatesInterface::GetNrValuesForFactor(), MultiAgentDecisionProcessDiscreteFactoredStatesInterface::GetNrValuesPerFactor(), TwoStageDynamicBayesianNetwork::GetOProbabilitiesExactScopes(), TwoStageDynamicBayesianNetwork::GetOSoI_O(), Scope::GetPositionForIndex(), FSDist_COF::GetProbability(), FSDist_COF::GetReferrence(), PlanningUnitMADPDiscrete::GetSuccessorOHI(), TwoStageDynamicBayesianNetwork::GetXSoI_Y(), TwoStageDynamicBayesianNetwork::GetYProbabilitiesExactScopes(), TwoStageDynamicBayesianNetwork::GetYSoI_O(), IndexTools::Increment(), IndexTools::IndividualToJointIndicesStepSize(), IndexTools::RestrictIndividualIndicesToScope(), SanityCheck(), FSDist_COF::SetZero(), JointPolicyDiscretePure::SoftPrint(), and SoftPrint().

Member Data Documentation

std::vector< CPDDiscreteInterface* > FSAOHDist_NECOF::_m_oHistConditional

private

the conditional observation history probabilities

Referenced by FSAOHDist_NECOF(), GetXOHProb_relT(), GetXOHProb_relT_SufficientSFscope(), SanityCheck(), SoftPrint(), Update(), and ~FSAOHDist_NECOF().

std::vector< std::vector<double> > FSAOHDist_NECOF::_m_oHistMarginals

private

marginals of observation history probs for each agent

used for updating the belief and by the GetOH... functions _m_oHistMarginals[agI][ohI] contains the probability of observation history ohI for agent agI.

Referenced by GetOHProb_relT(), SanityCheck(), SoftPrint(), and Update().