MonahanBGPlanner is the Bayesian Game version of MonahanPOMDPPlanner. More...

#include <MonahanBGPlanner.h>

Inheritance diagram for MonahanBGPlanner:

Public Member Functions
QFunctionsDiscrete	GetQFunctions (size_t horizon)

ValueFunctionPOMDPDiscrete	GetValueFunction (size_t horizon)

void	Initialize ()

	MonahanBGPlanner (const PlanningUnitDecPOMDPDiscrete *pu, bool doIncPrune=true)
	(default) Constructor More...

	MonahanBGPlanner (const boost::shared_ptr< const PlanningUnitDecPOMDPDiscrete > &pu, bool doIncPrune=true)

std::string	SoftPrintBrief () const

	~MonahanBGPlanner ()
	Destructor. More...

Public Member Functions inherited from MonahanPlanner
size_t	GetNrVectors () const
	Returns the total number of alpha-vectors stored (summed over all time steps). More...

double	GetQ (Index jaohI, Index jaI) const

double	GetQ (const JointBeliefInterface &b, Index jaI) const

double	GetQ (const JointBeliefInterface &b, Index t, Index jaI) const

void	Load (const std::string &filename)

	MonahanPlanner (const PlanningUnitDecPOMDPDiscrete *pu, bool doIncPrune=true)
	(default) Constructor More...

	MonahanPlanner (const boost::shared_ptr< const PlanningUnitDecPOMDPDiscrete > &pu, bool doIncPrune=true)

virtual void	Plan ()

virtual void	PlanWithCache (const std::string &filenameCache, bool computeIfNotCached=true)

void	Save (const std::string &filename) const

void	SetMaxNrAlphas (const std::vector< size_t > &maxNrAlphas)

void	SetResultsFilename (const std::string &filename)

virtual	~MonahanPlanner ()
	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...

Protected Member Functions
GaobetaVectorSet	ComputeAllGaoa (const ValueFunctionPOMDPDiscrete &V) const

VectorSet *	ComputeGaoa (const GaoVectorSet &Gao, const ValueFunctionPOMDPDiscrete &V, Index a, Index o, Index aPrime) const
	This function need V for the following reason: the Gao set does not specify which action (aPrime) is taken at the next stage. More...

Protected Member Functions inherited from MonahanPlanner
void	CheckMaxNrVectors (size_t maxNrAlphas, size_t nrAlphas) const

int	GetTimeStep () const

Private Member Functions
GaobetaVectorSet	BackProjectMonahanBG (const QFunctionsDiscrete &Qs) const

GaobetaVectorSet	BackProjectMonahanBG (const ValueFunctionPOMDPDiscrete &V) const

virtual QFunctionsDiscrete	BackupStage (const QFunctionsDiscrete &Qs, size_t maxNrAlphas=0)
	Compute a backup stage. More...

QFunctionsDiscrete	BackupStageSlow (const QFunctionsDiscrete &Qs)
	Compute a backup stage. More...

void	MonahanCrossSum (const GaobetaVectorSet &G, QFunctionsDiscrete &Q, Index a, bool doIncPrune, size_t maxNrAlphas=0) const

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)

Protected Attributes inherited from MonahanPlanner
bool	_m_alreadyComputed

bool	_m_doIncPrune

bool	_m_initialized

std::vector< size_t >	_m_maxNrAlphas

QFunctionsDiscreteNonStationary	_m_qFunction

std::string	_m_resultsFilename

Detailed Description

MonahanBGPlanner is the Bayesian Game version of MonahanPOMDPPlanner.

Constructor & Destructor Documentation

MonahanBGPlanner::MonahanBGPlanner	(	const PlanningUnitDecPOMDPDiscrete *	pu,
		bool	doIncPrune = `true`
	)

(default) Constructor

MonahanBGPlanner::MonahanBGPlanner	(	const boost::shared_ptr< const PlanningUnitDecPOMDPDiscrete > &	pu,
		bool	doIncPrune = `true`
	)

MonahanBGPlanner::~MonahanBGPlanner ( )

Destructor.

Member Function Documentation

GaobetaVectorSet MonahanBGPlanner::BackProjectMonahanBG ( const QFunctionsDiscrete & Qs ) const

private

References AlphaVectorPlanning::QFunctionsToValueFunction().

Referenced by BackupStageSlow().

GaobetaVectorSet MonahanBGPlanner::BackProjectMonahanBG ( const ValueFunctionPOMDPDiscrete & V ) const

private

!HOWEVER!! these vectors that are called 'v1' below corresponds to the

References AlphaVectorPlanning::BackProject(), Globals::CastLIndexToIndex(), PlanningUnitDecPOMDPDiscrete::GetDiscount(), PlanningUnitMADPDiscrete::GetNrJointActions(), PlanningUnitMADPDiscrete::GetNrJointObservations(), PlanningUnitMADPDiscrete::GetNrStates(), AlphaVectorPlanning::GetPU(), PlanningUnitDecPOMDPDiscrete::GetReward(), and AlphaVectorPlanning::VectorOfVectorsToVectorSet().

QFunctionsDiscrete MonahanBGPlanner::BackupStage	(	const QFunctionsDiscrete &	Qs,
		size_t	maxNrAlphas = `0`
	)

privatevirtual

Compute a backup stage.

Implements MonahanPlanner.

Reimplemented in QBGPlanner_TreeIncPruneBnB, and TreeIncPruneBGPlanner.

References MonahanPlanner::_m_doIncPrune, BackupStageSlow(), MonahanPlanner::CheckMaxNrVectors(), ComputeAllGaoa(), AlphaVectorPlanning::CrossSum(), PlanningUnitDecPOMDPDiscrete::GetDiscount(), PlanningUnitMADPDiscrete::GetNrJointActions(), PlanningUnitMADPDiscrete::GetNrJointObservations(), PlanningUnitMADPDiscrete::GetNrStates(), MonahanPlanner::GetNrVectors(), AlphaVectorPlanning::GetPU(), PrintTools::PrintProgress(), AlphaVectorPlanning::Prune(), AlphaVectorPlanning::QFunctionsToValueFunction(), ArgumentHandlers::size(), and AlphaVectorPlanning::VectorSetToValueFunction().

QFunctionsDiscrete MonahanBGPlanner::BackupStageSlow ( const QFunctionsDiscrete & Qs )

private

Compute a backup stage.

References MonahanPlanner::_m_doIncPrune, BackProjectMonahanBG(), PlanningUnitMADPDiscrete::GetNrJointActions(), AlphaVectorPlanning::GetPU(), and MonahanCrossSum().

Referenced by BackupStage().

GaobetaVectorSet MonahanBGPlanner::ComputeAllGaoa ( const ValueFunctionPOMDPDiscrete & V ) const

protected

References AlphaVectorPlanning::BackProject(), ComputeGaoa(), PlanningUnitMADPDiscrete::GetNrJointActions(), PlanningUnitMADPDiscrete::GetNrJointObservations(), AlphaVectorPlanning::GetPU(), and AlphaVectorPlanning::Prune().

Referenced by BackupStage(), and TreeIncPruneBGPlanner::BackupStage().

VectorSet * MonahanBGPlanner::ComputeGaoa	(	const GaoVectorSet &	Gao,
		const ValueFunctionPOMDPDiscrete &	V,
		Index	a,
		Index	o,
		Index	aPrime
	)		const

protected

This function need V for the following reason: the Gao set does not specify which action (aPrime) is taken at the next stage.

However, because Gao[a][o][i] is the backprojection of V[i], we can use V to look up aPrime.

!HOWEVER!! these vectors that are called 'v1' below corresponds to the

References PlanningUnitDecPOMDPDiscrete::GetDiscount(), PlanningUnitMADPDiscrete::GetNrJointObservations(), PlanningUnitMADPDiscrete::GetNrStates(), AlphaVectorPlanning::GetPU(), PlanningUnitDecPOMDPDiscrete::GetReward(), and AlphaVectorPlanning::VectorOfVectorsToVectorSet().

Referenced by ComputeAllGaoa().

QFunctionsDiscrete MonahanBGPlanner::GetQFunctions ( size_t horizon )

inline

References MonahanPlanner::_m_qFunction.

ValueFunctionPOMDPDiscrete MonahanBGPlanner::GetValueFunction ( size_t horizon )

References MonahanPlanner::_m_qFunction, and AlphaVectorPlanning::QFunctionsToValueFunction().

void MonahanBGPlanner::Initialize ( )

virtual

Implements MonahanPlanner.

Reimplemented in QBGPlanner_TreeIncPruneBnB, and TreeIncPruneBGPlanner.

References MonahanPlanner::_m_initialized, and AlphaVectorPlanning::Initialize().

void MonahanBGPlanner::MonahanCrossSum	(	const GaobetaVectorSet &	G,
		QFunctionsDiscrete &	Q,
		Index	a,
		bool	doIncPrune,
		size_t	maxNrAlphas = `0`
	)		const

private

References AlphaVectorPlanning::CrossSum(), PlanningUnitMADPDiscrete::GetNrJointObservations(), PlanningUnitMADPDiscrete::GetNrStates(), AlphaVectorPlanning::GetPU(), AlphaVectorPlanning::Prune(), AlphaVector::SetAction(), AlphaVector::SetBetaI(), AlphaVector::SetValue(), AlphaVectorPlanning::ValueFunctionToVectorSet(), and AlphaVectorPlanning::VectorSetToValueFunction().

Referenced by BackupStageSlow().

std::string MonahanBGPlanner::SoftPrintBrief ( void ) const

inlinevirtual

Implements MonahanPlanner.

Reimplemented in QBGPlanner_TreeIncPruneBnB, and TreeIncPruneBGPlanner.

Public Member Functions

Protected Member Functions

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation