PerseusBGPlanner implements the Perseus planning algorithm for BGs. More...

#include <PerseusBGPlanner.h>

Inheritance diagram for PerseusBGPlanner:

Public Member Functions
	PerseusBGPlanner (const PlanningUnitDecPOMDPDiscrete *pu, const QAVParameters &params)
	(default) Constructor More...

	PerseusBGPlanner (const PlanningUnitDecPOMDPDiscrete *pu)

	PerseusBGPlanner (const boost::shared_ptr< const PlanningUnitDecPOMDPDiscrete > &pu, const QAVParameters &params)

	PerseusBGPlanner (const boost::shared_ptr< const PlanningUnitDecPOMDPDiscrete > &pu)

virtual std::string	SoftPrintBrief () const

	~PerseusBGPlanner ()
	Destructor. More...

Public Member Functions inherited from AlphaVectorBG
	AlphaVectorBG (const PlanningUnitDecPOMDPDiscrete *pu)
	(default) Constructor More...

	AlphaVectorBG (const boost::shared_ptr< const PlanningUnitDecPOMDPDiscrete > &pu)

AlphaVector	BeliefBackup (const JointBeliefInterface &b, Index a, const GaoVectorSet &G, const ValueFunctionPOMDPDiscrete &V, BGBackupType type) const

virtual	~AlphaVectorBG ()
	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...

Public Member Functions inherited from PerseusQFunctionPlanner
	PerseusQFunctionPlanner (const PlanningUnitDecPOMDPDiscrete *pu)

	PerseusQFunctionPlanner (const boost::shared_ptr< const PlanningUnitDecPOMDPDiscrete > &pu)

void	Plan ()

virtual	~PerseusQFunctionPlanner ()
	Destructor. More...

Public Member Functions inherited from PerseusStationary
void	ExportBeliefSet (const std::string &filename) const
	Exports the belief set in a simple matrix format. More...

void	ExportValueFunction (const std::string &filename) const
	Calls AlphaVectorPlanning::ExportValueFunction. More...

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

double	GetQ (const JointBeliefInterface &b, Index jaI, AlphaVector::BGPolicyIndex &betaMaxI) const

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

double	GetQ (const JointBeliefInterface &b, Index t, Index jaI, AlphaVector::BGPolicyIndex &betaMaxI) const

QFunctionsDiscrete	GetQFunctions () const

ValueFunctionPOMDPDiscrete	GetValueFunction () const

void	Load (const std::string &filename)

	PerseusStationary (const PlanningUnitDecPOMDPDiscrete *pu)
	(default) Constructor More...

	PerseusStationary (const boost::shared_ptr< const PlanningUnitDecPOMDPDiscrete > &pu)

	PerseusStationary (const PlanningUnitFactoredDecPOMDPDiscrete *pu)

	PerseusStationary (const boost::shared_ptr< const PlanningUnitFactoredDecPOMDPDiscrete > &pu)

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

void	SetBeliefSet (const BeliefSet &S)
	Sets the belief set S that Perseus should use. More...

void	SetValueFunction (const std::string &filename)
	Sets the value function. More...

virtual	~PerseusStationary ()
	Destructor. More...

Public Member Functions inherited from Perseus
bool	CheckConvergence (const std::vector< double > &VB, const std::vector< double > &VBnew, int iter) const

std::string	GetIdentification () const

int	GetVerbose () const

void	Initialize ()

	Perseus (const PlanningUnitDecPOMDPDiscrete *pu)
	(default) Constructor More...

	Perseus (const boost::shared_ptr< const PlanningUnitDecPOMDPDiscrete > &pu)

	Perseus (const PlanningUnitFactoredDecPOMDPDiscrete *pu)

	Perseus (const boost::shared_ptr< const PlanningUnitFactoredDecPOMDPDiscrete > &pu)

int	SampleNotImprovedBeliefIndex (std::vector< bool > stillNeedToBeImproved, int nrNotImproved) const
	Sample an index of a belief in the set which has not been improved. More...

void	SetComputeVectorForEachBelief (bool compute)

void	SetDryrun (bool dryrun)

void	SetIdentification (const std::string &identification)

void	SetInitializeWithImmediateReward (bool initReward)

void	SetInitializeWithZero (bool initZero)

void	SetMaximumNumberOfIterations (int nr)

void	SetMinimumNumberOfIterations (int nr)

void	SetResultsFilename (const std::string &filename)

void	SetSaveIntermediateValueFunctions (bool save)

void	SetSaveTimings (bool save)

void	SetVerbose (int verbose)

virtual	~Perseus ()
	Destructor. More...

Private Member Functions
QFunctionsDiscrete	BackupStage (const BeliefSet &S, const QFunctionsDiscrete &V) const
	Compute a Perseus backup stage. More...

QFunctionsDiscrete	BackupStageAll (const BeliefSet &S, const QFunctionsDiscrete &V) const

QFunctionsDiscrete	BackupStageSampling (const BeliefSet &S, const QFunctionsDiscrete &V) const

QFunctionsDiscrete	BackupStageSamplingAlt (const BeliefSet &S, const QFunctionsDiscrete &V) const

Private Attributes
const BGBackupType	_m_backupType

Additional Inherited Members
Static Public Member Functions inherited from AlphaVectorBG
static std::string	SoftPrintBackupType (BGBackupType bgBackupType)

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)

Static Public Member Functions inherited from Perseus
static std::string	BackupTypeToString (const QAVParameters &params)

static QAVParameters	ProcessArguments (const ArgumentHandlers::Arguments &args)

Protected Member Functions inherited from PerseusStationary
std::vector< double >	GetImmediateRewardBeliefSet () const

void	InitializeBeliefs (int nrB, bool uniquify)

void	StoreValueFunction (const ValueFunctionPOMDPDiscrete &V)

void	StoreValueFunction (const QFunctionsDiscrete &Q)

Protected Member Functions inherited from Perseus
GaoVectorSet	BackupStageLeadIn (const ValueFunctionPOMDPDiscrete &V) const

void	BackupStageLeadOut (GaoVectorSet Gao) const

QFunctionsDiscreteNonStationary	GetInitialNonStationaryQFunctions () const

QFunctionsDiscrete	GetInitialQFunctions () const

ValueFunctionPOMDPDiscrete	GetInitialValueFunction () const

template<class VF >
void	PlanEndOfIteration (const VF &V)

void	PlanEndOfIteration () const

void	PlanLeadIn ()

void	PlanLeadOut ()

template<class VF >
void	PlanStartOfIteration (int iter, const std::vector< double > &VB, const VF &V) const

void	PrintMaxRewardInBeliefSet () const
	Prints the maximum immediate reward present in the belief set. More...

virtual void	StoreValueFunction (const QFunctionsDiscreteNonStationary &Q)

void	UpdateValueFunctionName ()

Protected Attributes inherited from PerseusStationary
BeliefSet *	_m_beliefs
	The belief set. More...

QFunctionsDiscrete	_m_qFunction
	The resulting Q functions, derived from _m_valueFunction. More...

ValueFunctionPOMDPDiscrete	_m_valueFunction
	The resulting value function. More...

Protected Attributes inherited from Perseus
bool	_m_beliefsInitialized
	Whether or not the belief set has been set. More...

double	_m_bestValue

bool	_m_computeVectorForEachBelief

bool	_m_dryrun

std::string	_m_identification

std::string	_m_resultsFilename

bool	_m_storeIntermediateValueFunctions

bool	_m_storeTimings

std::string	_m_valueFunctionFilename

Detailed Description

PerseusBGPlanner implements the Perseus planning algorithm for BGs.

Constructor & Destructor Documentation

PerseusBGPlanner::PerseusBGPlanner	(	const PlanningUnitDecPOMDPDiscrete *	pu,
		const QAVParameters &	params
	)

(default) Constructor

References AlphaVectorPlanning::Initialize(), and Perseus::Initialize().

PerseusBGPlanner::PerseusBGPlanner ( const PlanningUnitDecPOMDPDiscrete * pu )

References AlphaVectorPlanning::Initialize(), and Perseus::Initialize().

PerseusBGPlanner::PerseusBGPlanner	(	const boost::shared_ptr< const PlanningUnitDecPOMDPDiscrete > &	pu,
		const QAVParameters &	params
	)

References AlphaVectorPlanning::Initialize(), and Perseus::Initialize().

PerseusBGPlanner::PerseusBGPlanner ( const boost::shared_ptr< const PlanningUnitDecPOMDPDiscrete > & pu )

References AlphaVectorPlanning::Initialize(), and Perseus::Initialize().

PerseusBGPlanner::~PerseusBGPlanner ( )

Destructor.

Member Function Documentation

QFunctionsDiscrete PerseusBGPlanner::BackupStage	(	const BeliefSet &	S,
		const QFunctionsDiscrete &	V
	)		const

privatevirtual

Compute a Perseus backup stage.

Implements PerseusQFunctionPlanner.

References Perseus::_m_computeVectorForEachBelief, BackupStageAll(), BackupStageSampling(), and BackupStageSamplingAlt().

QFunctionsDiscrete PerseusBGPlanner::BackupStageAll	(	const BeliefSet &	S,
		const QFunctionsDiscrete &	V
	)		const

private

References _m_backupType, Perseus::BackupStageLeadIn(), Perseus::BackupStageLeadOut(), AlphaVectorBG::BeliefBackup(), PlanningUnitMADPDiscrete::GetNrJointActions(), PlanningUnitMADPDiscrete::GetNrStates(), AlphaVectorPlanning::GetPU(), BeliefValue::GetValues(), Perseus::GetVerbose(), AlphaVectorPlanning::QFunctionsToValueFunction(), and AlphaVectorPlanning::VectorIsInValueFunction().

Referenced by BackupStage().

QFunctionsDiscrete PerseusBGPlanner::BackupStageSampling	(	const BeliefSet &	S,
		const QFunctionsDiscrete &	V
	)		const

private

References _m_backupType, Perseus::BackupStageLeadIn(), Perseus::BackupStageLeadOut(), AlphaVectorBG::BeliefBackup(), BeliefValue::GetMaximizingVector(), PlanningUnitMADPDiscrete::GetNrJointActions(), PlanningUnitMADPDiscrete::GetNrStates(), AlphaVectorPlanning::GetPU(), BeliefValue::GetValues(), Perseus::GetVerbose(), AlphaVectorPlanning::QFunctionsToValueFunction(), Perseus::SampleNotImprovedBeliefIndex(), and AlphaVectorPlanning::VectorIsInValueFunction().

Referenced by BackupStage().

QFunctionsDiscrete PerseusBGPlanner::BackupStageSamplingAlt	(	const BeliefSet &	S,
		const QFunctionsDiscrete &	V
	)		const

private

References _m_backupType, Perseus::BackupStageLeadIn(), Perseus::BackupStageLeadOut(), AlphaVectorBG::BeliefBackup(), BeliefValue::GetMaximizingVector(), PlanningUnitMADPDiscrete::GetNrJointActions(), PlanningUnitMADPDiscrete::GetNrStates(), AlphaVectorPlanning::GetPU(), BeliefValue::GetValues(), Perseus::GetVerbose(), AlphaVectorPlanning::QFunctionsToValueFunction(), Perseus::SampleNotImprovedBeliefIndex(), and AlphaVectorPlanning::VectorIsInValueFunction().

Referenced by BackupStage().

virtual std::string PerseusBGPlanner::SoftPrintBrief ( void ) const

inlinevirtual

Member Data Documentation

const BGBackupType PerseusBGPlanner::_m_backupType

private

Referenced by BackupStageAll(), BackupStageSampling(), and BackupStageSamplingAlt().

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation