MonahanPOMDPPlanner Class Reference
MonahanPOMDPPlanner implements Monahan's (1982) POMDP algorithm, which basically generates all possible next-step alpha vectors, followed by pruning. More...
#include <MonahanPOMDPPlanner.h>
Inheritance diagram for MonahanPOMDPPlanner:
Public Member Functions | |
| MonahanPOMDPPlanner (const PlanningUnitDecPOMDPDiscrete *pu, bool doIncPrune=true) | |
| (default) Constructor More... | |
| MonahanPOMDPPlanner (const boost::shared_ptr< const PlanningUnitDecPOMDPDiscrete > &pu, bool doIncPrune=true) | |
| std::string | SoftPrintBrief () const |
| ~MonahanPOMDPPlanner () | |
| 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... | |
Private Member Functions | |
| virtual QFunctionsDiscrete | BackupStage (const QFunctionsDiscrete &Q, size_t maxNrAlphas=0) |
| Compute a backup stage. More... | |
| void | Initialize () |
| void | MonahanCrossSum (const GaoVectorSet &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 Member Functions inherited from MonahanPlanner | |
| void | CheckMaxNrVectors (size_t maxNrAlphas, size_t nrAlphas) const |
| int | GetTimeStep () const |
| 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
MonahanPOMDPPlanner implements Monahan's (1982) POMDP algorithm, which basically generates all possible next-step alpha vectors, followed by pruning.
The pruning is simply checking the values at each corner of the belief simplex (Eagle's algorithm). It can do a simple form of Incremental Pruning.
Constructor & Destructor Documentation
| MonahanPOMDPPlanner::MonahanPOMDPPlanner | ( | const PlanningUnitDecPOMDPDiscrete * | pu, |
| bool | doIncPrune = true |
||
| ) |
(default) Constructor
| MonahanPOMDPPlanner::MonahanPOMDPPlanner | ( | const boost::shared_ptr< const PlanningUnitDecPOMDPDiscrete > & | pu, |
| bool | doIncPrune = true |
||
| ) |
| MonahanPOMDPPlanner::~MonahanPOMDPPlanner | ( | ) |
Destructor.
Member Function Documentation
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privatevirtual |
Compute a backup stage.
Implements MonahanPlanner.
References MonahanPlanner::_m_doIncPrune, AlphaVectorPlanning::BackProject(), MonahanPlanner::CheckMaxNrVectors(), PlanningUnitMADPDiscrete::GetNrJointActions(), MonahanPlanner::GetNrVectors(), AlphaVectorPlanning::GetPU(), MonahanCrossSum(), and AlphaVectorPlanning::QFunctionsToValueFunction().
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privatevirtual |
Implements MonahanPlanner.
References MonahanPlanner::_m_initialized, and AlphaVectorPlanning::Initialize().
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private |
References MonahanPlanner::CheckMaxNrVectors(), AlphaVectorPlanning::CrossSum(), PlanningUnitMADPDiscrete::GetNrJointObservations(), PlanningUnitMADPDiscrete::GetNrStates(), MonahanPlanner::GetNrVectors(), AlphaVectorPlanning::GetPU(), AlphaVectorPlanning::Prune(), AlphaVector::SetAction(), AlphaVector::SetValue(), and ArgumentHandlers::size().
Referenced by BackupStage().
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inlinevirtual |
Implements MonahanPlanner.
