MonahanPlanner Class Reference

MonahanPlanner provides shared functionality for MonahanPOMDPPlanner and MonahanBGPlanner. More...

#include <MonahanPlanner.h>

Inheritance diagram for MonahanPlanner:

Public Member Functions
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
virtual void	Initialize ()=0
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 std::string	SoftPrintBrief () const =0
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
virtual QFunctionsDiscrete	BackupStage (const QFunctionsDiscrete &Q, size_t maxNrAlphas=0)=0
	Compute a backup stage. More...
void	CheckMaxNrVectors (size_t maxNrAlphas, size_t nrAlphas) const
int	GetTimeStep () const

Protected Attributes
bool	_m_alreadyComputed
bool	_m_doIncPrune
bool	_m_initialized
std::vector< size_t >	_m_maxNrAlphas
QFunctionsDiscreteNonStationary	_m_qFunction
std::string	_m_resultsFilename

Private Attributes
int	_m_timeStep

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)

Detailed Description

MonahanPlanner provides shared functionality for MonahanPOMDPPlanner and MonahanBGPlanner.

Constructor & Destructor Documentation

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

(default) Constructor

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

MonahanPlanner::~MonahanPlanner ( )

virtual

Destructor.

Member Function Documentation

virtual QFunctionsDiscrete MonahanPlanner::BackupStage ( const QFunctionsDiscrete &  Q, size_t  maxNrAlphas = 0  )

protectedpure virtual

Compute a backup stage.

Implemented in QBGPlanner_TreeIncPruneBnB, TreeIncPruneBGPlanner, MonahanPOMDPPlanner, and MonahanBGPlanner.

Referenced by Plan().

void MonahanPlanner::CheckMaxNrVectors ( size_t  maxNrAlphas, size_t  nrAlphas  ) const

protected

Referenced by MonahanBGPlanner::BackupStage(), MonahanPOMDPPlanner::BackupStage(), MonahanPOMDPPlanner::MonahanCrossSum(), and Plan().

size_t MonahanPlanner::GetNrVectors

(

)

const

Returns the total number of alpha-vectors stored (summed over all time steps).

References _m_qFunction.

Referenced by MonahanBGPlanner::BackupStage(), MonahanPOMDPPlanner::BackupStage(), MonahanPOMDPPlanner::MonahanCrossSum(), and Plan().

double MonahanPlanner::GetQ	(	Index	jaohI,
		Index	jaI
	)		const

References _m_qFunction, PlanningUnitMADPDiscrete::GetJointActionObservationHistoryTree(), PlanningUnitMADPDiscrete::GetJointBeliefInterface(), JointActionObservationHistoryTree::GetLength(), AlphaVectorPlanning::GetPU(), and BeliefValue::GetValue().

Referenced by QTreeIncPruneBG::GetQ(), QMonahanBG::GetQ(), and QMonahanPOMDP::GetQ().

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

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

References _m_qFunction, and BeliefValue::GetValue().

int MonahanPlanner::GetTimeStep ( ) const

inlineprotected

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

virtual void MonahanPlanner::Initialize ( )

pure virtual

Implemented in MonahanBGPlanner, QBGPlanner_TreeIncPruneBnB, TreeIncPruneBGPlanner, and MonahanPOMDPPlanner.

Referenced by Load(), Plan(), and PlanWithCache().

void MonahanPlanner::Load

(

const std::string &

filename

)

References _m_alreadyComputed, _m_initialized, _m_qFunction, AlphaVectorPlanning::GetPU(), AlphaVectorPlanning::ImportValueFunction(), and Initialize().

Referenced by PlanWithCache().

void MonahanPlanner::Plan ( )

virtual

References _m_alreadyComputed, _m_initialized, _m_maxNrAlphas, _m_qFunction, _m_resultsFilename, _m_timeStep, BackupStage(), CheckMaxNrVectors(), AlphaVectorPlanning::ExportValueFunction(), PlanningUnit::GetHorizon(), AlphaVectorPlanning::GetImmediateRewardValueFunction(), PlanningUnitMADPDiscrete::GetNrJointActions(), PlanningUnitMADPDiscrete::GetNrStates(), GetNrVectors(), AlphaVectorPlanning::GetPU(), BeliefValue::GetValue(), Initialize(), ArgumentHandlers::size(), SoftPrintBrief(), and AlphaVectorPlanning::ValueFunctionToQ().

Referenced by QTreeIncPruneBG::Compute(), QMonahanPOMDP::Compute(), QMonahanBG::Compute(), ArgumentUtils::GetHybridQheuristicFromArgs(), and PlanWithCache().

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

virtual

References _m_initialized, Initialize(), Load(), Plan(), and Save().

Referenced by ArgumentUtils::GetHybridQheuristicFromArgs().

void MonahanPlanner::Save

(

const std::string &

filename

)

const

References _m_qFunction, and AlphaVectorPlanning::ExportValueFunction().

Referenced by PlanWithCache().

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

inline

void MonahanPlanner::SetResultsFilename

(

const std::string &

filename

)

References _m_resultsFilename.

virtual std::string MonahanPlanner::SoftPrintBrief ( ) const

pure virtual

Implemented in QBGPlanner_TreeIncPruneBnB, TreeIncPruneBGPlanner, MonahanBGPlanner, and MonahanPOMDPPlanner.

Referenced by Plan().

Member Data Documentation

bool MonahanPlanner::_m_alreadyComputed

protected

Referenced by Load(), and Plan().

bool MonahanPlanner::_m_doIncPrune

protected

Referenced by MonahanBGPlanner::BackupStage(), MonahanPOMDPPlanner::BackupStage(), and MonahanBGPlanner::BackupStageSlow().

bool MonahanPlanner::_m_initialized

protected

Referenced by MonahanPOMDPPlanner::Initialize(), TreeIncPruneBGPlanner::Initialize(), QBGPlanner_TreeIncPruneBnB::Initialize(), MonahanBGPlanner::Initialize(), Load(), Plan(), and PlanWithCache().

std::vector<size_t> MonahanPlanner::_m_maxNrAlphas

protected

Referenced by Plan().

QFunctionsDiscreteNonStationary MonahanPlanner::_m_qFunction

protected

Referenced by GetNrVectors(), GetQ(), MonahanBGPlanner::GetQFunctions(), TreeIncPruneBGPlanner::GetQFunctions(), QBGPlanner_TreeIncPruneBnB::GetQFunctions(), MonahanBGPlanner::GetValueFunction(), TreeIncPruneBGPlanner::GetValueFunction(), Load(), Plan(), and Save().

std::string MonahanPlanner::_m_resultsFilename

protected

Referenced by Plan(), and SetResultsFilename().

int MonahanPlanner::_m_timeStep

private

Referenced by Plan().