IndividualBeliefJESP Class Reference

IndividualBeliefJESP stores individual beliefs for the JESP algorithm. More...

#include <IndividualBeliefJESP.h>

Inheritance diagram for IndividualBeliefJESP:

Public Member Functions
Index	GetAugmentedStateIndex (Index sI, const std::vector< Index > &oHist_others) const
std::vector< Index >	GetOthersObservationHistIndex (Index eI) const
	Get the vector with others' observation history indices cor.to eI. More...
Index	GetStateIndex (Index eI) const
	Get the state corresponding to augmented state index eI. More...
	IndividualBeliefJESP (Index agentI, Index stage, const PlanningUnitMADPDiscrete &pu)
	This constructor usess it arguments to set additional information. More...
IndividualBeliefJESP &	operator= (const IndividualBeliefJESP &o)
void	Print () const
	Prints the belief. More...
std::string	SoftPrint () const
	Prints the belief. More...
double	Update (const IndividualBeliefJESP &b_prev, Index lastAI, Index newOI, const JointPolicyPureVector *jpol)
	The individual belief update. More...
	~IndividualBeliefJESP ()
	Destructor. More...
Public Member Functions inherited from Belief
	Belief (size_t size=0)
	Constructor which sets the size of the belief. More...
	Belief (const std::vector< double > &belief)
	Constructor which copies belief in this belief. More...
	Belief (const BeliefInterface &belief)
	Constructor which copies belief in this belief. More...
	Belief (const StateDistribution &belief)
void	Clear ()
	Clears the belief. More...
virtual Belief *	Clone () const
	Returns a pointer to a copy of this class. More...
double	Get (Index sI) const
	Gets the probability of the sI'th state. More...
std::vector< double >	Get () const
	Gets a vector of probabilities representing the belief. More...
BeliefIteratorGeneric	GetIterator () const
double	InnerProduct (const std::vector< double > &values) const
	Computes the inner product of a belief with the vector values. More...
std::vector< double >	InnerProduct (const VectorSet &v) const
	Computes the inner product of a belief with the VectorSet v. More...
std::vector< double >	InnerProduct (const VectorSet &v, const std::vector< bool > &mask) const
	Computes the inner product of a belief with the VectorSet v. More...
Belief &	operator= (const Belief &o)
BeliefInterface &	operator= (const BeliefInterface &o)
	Copy assignment operator. More...
double &	operator[] (Index &i)
	Gets the probability of the i'th state. More...
double &	operator[] (int &i)
	Gets the probability of the i'th state. More...
bool	SanityCheck () const
	Checks whether the belief is a valid probability distribution. More...
virtual void	Set (const std::vector< double > &belief)
	Copy the belief into this object. More...
virtual void	Set (Index sI, double prob)
	Sets probability of the sI'th state to prob . More...
virtual void	Set (const BeliefInterface &belief)
	Copy the belief into this object. More...
virtual void	Set (const StateDistribution &belief)
	Copy the belief into this object. More...
unsigned int	Size () const
	Returns the size of this belief. More...
	~Belief ()
	Destructor. More...
Public Member Functions inherited from BeliefInterface
	BeliefInterface ()
	(default) Constructor More...
virtual	~BeliefInterface ()
	Destructor. More...

Private Attributes
Index	_m_agentI
	The agent for which this belief is. More...
size_t	_m_nrAgents
	the number of agents More...
std::vector< size_t >	_m_nrOH_others
	The number of observation histories of agents != _m_agentI. More...
Scope	_m_others
	The Scope of the others. More...
const PlanningUnitMADPDiscrete *	_m_pumadp
	pointer to PlanningUnitMADPDiscrete More...
std::vector< size_t >	_m_sizeVec
	a vector describing the size of the belief: _m_sizeVec=<nrS,nrJOHothers> More...
Index	_m_stage
	The time step this belief belongs to. More...
size_t *	_m_stepsizeJOHOH
	the step-size cache for joHistJ <-> <oHist1,...oHistnrA> conversion More...
size_t *	_m_stepsizeSJOH
	the step-size cache for eIndex <-> <S, joHistJ> conversion More...

Additional Inherited Members
Protected Attributes inherited from Belief
StateDistributionVector	_m_b
	The vector of probability values. More...

Detailed Description

IndividualBeliefJESP stores individual beliefs for the JESP algorithm.

Constructor & Destructor Documentation

IndividualBeliefJESP::IndividualBeliefJESP	(	Index	agentI,
		Index	stage,
		const PlanningUnitMADPDiscrete &	pu
	)

This constructor usess it arguments to set additional information.

References Belief::_m_b, _m_nrAgents, _m_nrOH_others, _m_others, _m_pumadp, _m_sizeVec, _m_stepsizeJOHOH, _m_stepsizeSJOH, IndexTools::CalculateStepSize(), PlanningUnitMADPDiscrete::GetNrAgents(), PlanningUnitMADPDiscrete::GetNrObservationHistories(), PlanningUnitMADPDiscrete::GetNrStates(), and ArgumentHandlers::size().

IndividualBeliefJESP::~IndividualBeliefJESP

(

)

Destructor.

References _m_stepsizeJOHOH, and _m_stepsizeSJOH.

Member Function Documentation

Index IndividualBeliefJESP::GetAugmentedStateIndex	(	Index	sI,
		const std::vector< Index > &	oHist_others
	)		const

References _m_others, _m_pumadp, _m_stage, _m_stepsizeJOHOH, _m_stepsizeSJOH, Globals::CastLIndexToIndex(), PlanningUnitMADPDiscrete::GetFirstObservationHistoryIndex(), and IndexTools::IndividualToJointIndicesStepSize().

Referenced by Update().

vector< Index > IndividualBeliefJESP::GetOthersObservationHistIndex

(

Index

eI

)

const

Get the vector with others' observation history indices cor.to eI.

References _m_nrAgents, _m_others, _m_pumadp, _m_stage, _m_stepsizeJOHOH, _m_stepsizeSJOH, Globals::CastLIndexToIndex(), and IndexTools::JointToIndividualIndicesStepSize().

Referenced by JESPDynamicProgrammingPlanner::DPBestResponseRecursively(), SoftPrint(), and Update().

Index IndividualBeliefJESP::GetStateIndex ( Index  eI ) const

inline

Get the state corresponding to augmented state index eI.

References _m_stepsizeSJOH, and IndexTools::JointToIndividualIndicesStepSize().

Referenced by JESPDynamicProgrammingPlanner::DPBestResponseRecursively(), SoftPrint(), and Update().

IndividualBeliefJESP & IndividualBeliefJESP::operator=

(

const IndividualBeliefJESP &

o

)

References Belief::operator=().

void IndividualBeliefJESP::Print ( ) const

inlinevirtual

Prints the belief.

Reimplemented from Belief.

References SoftPrint().

Referenced by JESPDynamicProgrammingPlanner::DPBestResponseRecursively().

string IndividualBeliefJESP::SoftPrint ( ) const

virtual

Prints the belief.

Reimplemented from Belief.

References Belief::Get(), GetOthersObservationHistIndex(), GetStateIndex(), Belief::Size(), and PrintTools::SoftPrintVector().

Referenced by Print().

double IndividualBeliefJESP::Update	(	const IndividualBeliefJESP &	b_prev,
		Index	lastAI,
		Index	newOI,
		const JointPolicyPureVector *	jpol
	)

The individual belief update.

This gets only an individual action lastAI and individual observation newOI, as its arguments.

References _m_agentI, Belief::_m_b, _m_nrAgents, _m_pumadp, Belief::Get(), JointPolicyPureVector::GetActionIndex(), GetAugmentedStateIndex(), PlanningUnitMADPDiscrete::GetNrAgents(), PlanningUnitMADPDiscrete::GetNrObservations(), PlanningUnitMADPDiscrete::GetNrStates(), PlanningUnitMADPDiscrete::GetObservationProbability(), GetOthersObservationHistIndex(), GetStateIndex(), PlanningUnitMADPDiscrete::GetSuccessorOHI(), PlanningUnitMADPDiscrete::IndividualToJointActionIndices(), PlanningUnitMADPDiscrete::IndividualToJointObservationIndices(), IndexTools::JointToIndividualIndices(), and Belief::Size().

Referenced by JESPDynamicProgrammingPlanner::DPBestResponseRecursively().

Member Data Documentation

Index IndividualBeliefJESP::_m_agentI

private

The agent for which this belief is.

Referenced by Update().

size_t IndividualBeliefJESP::_m_nrAgents

private

the number of agents

Referenced by GetOthersObservationHistIndex(), IndividualBeliefJESP(), and Update().

std::vector<size_t> IndividualBeliefJESP::_m_nrOH_others

private

The number of observation histories of agents != _m_agentI.

Referenced by IndividualBeliefJESP().

Scope IndividualBeliefJESP::_m_others

private

The Scope of the others.

Referenced by GetAugmentedStateIndex(), GetOthersObservationHistIndex(), and IndividualBeliefJESP().

const PlanningUnitMADPDiscrete* IndividualBeliefJESP::_m_pumadp

private

pointer to PlanningUnitMADPDiscrete

(might be 0 when this belief is not associated with a PUMADP)

Referenced by GetAugmentedStateIndex(), GetOthersObservationHistIndex(), IndividualBeliefJESP(), and Update().

std::vector<size_t> IndividualBeliefJESP::_m_sizeVec

private

a vector describing the size of the belief: _m_sizeVec=<nrS,nrJOHothers>

Referenced by IndividualBeliefJESP().

Index IndividualBeliefJESP::_m_stage

private

The time step this belief belongs to.

Referenced by GetAugmentedStateIndex(), and GetOthersObservationHistIndex().

size_t* IndividualBeliefJESP::_m_stepsizeJOHOH

private

the step-size cache for joHistJ <-> <oHist1,...oHistnrA> conversion

Referenced by GetAugmentedStateIndex(), GetOthersObservationHistIndex(), IndividualBeliefJESP(), and ~IndividualBeliefJESP().

size_t* IndividualBeliefJESP::_m_stepsizeSJOH

private

the step-size cache for eIndex <-> <S, joHistJ> conversion

Referenced by GetAugmentedStateIndex(), GetOthersObservationHistIndex(), GetStateIndex(), IndividualBeliefJESP(), and ~IndividualBeliefJESP().