QBGPlanner_TreeIncPruneBnB computes vector-based QBG functions using tree-based incremental pruning. More...

#include <QBGPlanner_TreeIncPruneBnB.h>

Inheritance diagram for QBGPlanner_TreeIncPruneBnB:

Public Member Functions
QFunctionsDiscrete	GetQFunctions (size_t horizon)

ValueFunctionPOMDPDiscrete	GetValueFunction (size_t horizon)

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

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

std::string	SoftPrintBrief () const

std::string	SoftPrintStats () const

	~QBGPlanner_TreeIncPruneBnB ()
	Destructor. More...

Public Member Functions inherited from MonahanBGPlanner
QFunctionsDiscrete	GetQFunctions (size_t horizon)

ValueFunctionPOMDPDiscrete	GetValueFunction (size_t horizon)

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

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

	~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
bool	CheckDomination (const AlphaVector &v, const std::vector< AlphaVector > &vSet)

bool	CheckDominationLP (const AlphaVector &v, const std::vector< AlphaVector > &vSet)

bool	CheckDominationPointWise (const AlphaVector &v, const std::vector< AlphaVector > &vSet)

bool	CheckNotDominatedLP_POMDPSolve (const AlphaVector &v, const std::vector< AlphaVector > &vSet)

Protected Member Functions inherited from MonahanBGPlanner
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
virtual QFunctionsDiscrete	BackupStage (const QFunctionsDiscrete &Qs, size_t maxNrAlphas=0)
	Compute a backup stage. More...

void	CrossSumNode (Index a, Index depth, const std::vector< std::vector< Index > > &jpol, std::vector< AlphaVector > &L, std::vector< AlphaVector > &G)

std::vector< AlphaVector > *	GetGaoa (Index a, const std::vector< Index > &os, const std::vector< Index > &as) const

std::vector< AlphaVector > *	GetGaoa (Index a, Index o, Index aPrime) const

Index	GetJointObservationsFromDepth (Index depth) const

std::vector< Index >	GetObservationsFromDepth (Index depth) const

std::vector< Scope >	GetValidActions (Index depth, const std::vector< std::vector< Index > > &jpol) const

std::vector< Scope >	GetValidJointActions (Index depth, const std::vector< std::vector< Index > > &jpol) const

void	Initialize ()

void	InitializeHeuristicsForJA (Index ja)
	This initializes H using Gao vectors for ja. More...

bool	IsDominatedNode (Index depth, std::vector< AlphaVector > &L, std::vector< AlphaVector > &G)

std::string	SoftPrintJpol (const std::vector< std::vector< Index > > &jpol) const

void	UnionNode (Index a, Index depth, const std::vector< std::vector< Index > > &jpol, std::vector< AlphaVector > &L, std::vector< AlphaVector > &G)

Private Attributes
std::vector< LIndex >	_m_cs_nodes_at_level

boost::multi_array < std::vector< AlphaVector >, 2 > *	_m_Gao_storage

boost::multi_array < std::vector< AlphaVector > , 3 >	_m_Gaoa

boost::multi_array < std::vector< AlphaVector >, 3 > *	_m_Gaoa_storage

std::vector< std::vector < AlphaVector > >	_m_heuristic_for_depth
	The sets H that represent the heuristic function h. More...

Index	_m_maxDepth

LIndex	_m_nodes_visited

LIndex	_m_nr_backtracks

LIndex	_m_nr_bottom_hits

bool	_m_pruneAfterCrossSum

bool	_m_pruneAfterUnion

Timing	_m_timing

std::vector< LIndex >	_m_union_nodes_at_level

bool	_m_useVectorCache

Static Private Attributes
static const Index	UNSPECIFIED_ACTION =INDEX_MAX

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

QBGPlanner_TreeIncPruneBnB computes vector-based QBG functions using tree-based incremental pruning.

Constructor & Destructor Documentation

QBGPlanner_TreeIncPruneBnB::QBGPlanner_TreeIncPruneBnB ( const PlanningUnitDecPOMDPDiscrete * pu )

(default) Constructor

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

QBGPlanner_TreeIncPruneBnB::~QBGPlanner_TreeIncPruneBnB ( )

Destructor.

References _m_Gao_storage, _m_Gaoa, and _m_Gaoa_storage.

Member Function Documentation

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

privatevirtual

Compute a backup stage.

Reimplemented from MonahanBGPlanner.

References _m_cs_nodes_at_level, _m_Gaoa_storage, _m_maxDepth, _m_nodes_visited, _m_nr_backtracks, _m_nr_bottom_hits, _m_timing, _m_union_nodes_at_level, AlphaVectorPlanning::BackProject(), AlphaVector::GetAction(), PlanningUnitDecPOMDPDiscrete::GetDiscount(), PlanningUnitMADPDiscrete::GetNrAgents(), PlanningUnitMADPDiscrete::GetNrJointActions(), PlanningUnitMADPDiscrete::GetNrJointObservations(), PlanningUnitMADPDiscrete::GetNrStates(), AlphaVectorPlanning::GetPU(), PlanningUnitDecPOMDPDiscrete::GetReward(), MonahanPlanner::GetTimeStep(), InitializeHeuristicsForJA(), Timing::PrintSummary(), AlphaVectorPlanning::Prune(), AlphaVectorPlanning::QFunctionsToValueFunction(), AlphaVector::SetAction(), AlphaVector::SetValues(), SoftPrintStats(), PrintTools::SoftPrintVector(), Timing::Start(), Timing::Stop(), UnionNode(), UNSPECIFIED_ACTION, and AlphaVectorPlanning::VectorSetToValueFunction().

bool QBGPlanner_TreeIncPruneBnB::CheckDomination	(	const AlphaVector &	v,
		const std::vector< AlphaVector > &	vSet
	)

protected

References CheckDominationLP(), and CheckDominationPointWise().

bool QBGPlanner_TreeIncPruneBnB::CheckDominationLP	(	const AlphaVector &	v,
		const std::vector< AlphaVector > &	vSet
	)

protected

References CheckNotDominatedLP_POMDPSolve().

Referenced by CheckDomination().

bool QBGPlanner_TreeIncPruneBnB::CheckDominationPointWise	(	const AlphaVector &	v,
		const std::vector< AlphaVector > &	vSet
	)

protected

References PlanningUnitMADPDiscrete::GetNrStates(), AlphaVectorPlanning::GetPU(), and AlphaVector::GetValue().

Referenced by CheckDomination().

bool QBGPlanner_TreeIncPruneBnB::CheckNotDominatedLP_POMDPSolve	(	const AlphaVector &	v,
		const std::vector< AlphaVector > &	vSet
	)

protected

Referenced by CheckDominationLP().

void QBGPlanner_TreeIncPruneBnB::CrossSumNode	(	Index	a,
		Index	depth,
		const std::vector< std::vector< Index > > &	jpol,
		std::vector< AlphaVector > &	L,
		std::vector< AlphaVector > &	G
	)

private

References AlphaVectorPlanning::CrossSum(), and PrintTools::SoftPrintVector().

std::vector< AlphaVector > * QBGPlanner_TreeIncPruneBnB::GetGaoa	(	Index	a,
		const std::vector< Index > &	os,
		const std::vector< Index > &	as
	)		const

private

References AlphaVectorPlanning::GetPU(), PlanningUnitMADPDiscrete::IndividualToJointActionIndices(), and PlanningUnitMADPDiscrete::IndividualToJointObservationIndices().

std::vector< AlphaVector > * QBGPlanner_TreeIncPruneBnB::GetGaoa	(	Index	a,
		Index	o,
		Index	aPrime
	)		const

private

References _m_Gaoa, and UNSPECIFIED_ACTION.

Index QBGPlanner_TreeIncPruneBnB::GetJointObservationsFromDepth ( Index depth ) const

private

Referenced by InitializeHeuristicsForJA().

vector< Index > QBGPlanner_TreeIncPruneBnB::GetObservationsFromDepth ( Index depth ) const

private

References PrintTools::SoftPrintVector().

QFunctionsDiscrete QBGPlanner_TreeIncPruneBnB::GetQFunctions ( size_t horizon )

inline

References MonahanPlanner::_m_qFunction.

vector< Scope > QBGPlanner_TreeIncPruneBnB::GetValidActions	(	Index	depth,
		const std::vector< std::vector< Index > > &	jpol
	)		const

private

References BGIP_BnB::UNSPECIFIED_ACTION.

vector< Scope > QBGPlanner_TreeIncPruneBnB::GetValidJointActions	(	Index	depth,
		const std::vector< std::vector< Index > > &	jpol
	)		const

private

References PrintTools::SoftPrintVector().

ValueFunctionPOMDPDiscrete QBGPlanner_TreeIncPruneBnB::GetValueFunction ( size_t horizon )

void QBGPlanner_TreeIncPruneBnB::Initialize ( )

privatevirtual

Reimplemented from MonahanBGPlanner.

References _m_Gao_storage, _m_Gaoa, _m_Gaoa_storage, MonahanPlanner::_m_initialized, _m_maxDepth, PlanningUnitMADPDiscrete::GetNrJointActions(), PlanningUnitMADPDiscrete::GetNrJointObservations(), AlphaVectorPlanning::GetPU(), and AlphaVectorPlanning::Initialize().

void QBGPlanner_TreeIncPruneBnB::InitializeHeuristicsForJA ( Index ja )

private

This initializes H using Gao vectors for ja.

References _m_Gao_storage, _m_heuristic_for_depth, _m_maxDepth, AlphaVectorPlanning::CrossSum(), GetJointObservationsFromDepth(), and AlphaVectorPlanning::Prune().

Referenced by BackupStage().

bool QBGPlanner_TreeIncPruneBnB::IsDominatedNode	(	Index	depth,
		std::vector< AlphaVector > &	L,
		std::vector< AlphaVector > &	G
	)

private

References PrintTools::SoftPrintVector().

string QBGPlanner_TreeIncPruneBnB::SoftPrintBrief ( void ) const

virtual

Reimplemented from MonahanBGPlanner.

string QBGPlanner_TreeIncPruneBnB::SoftPrintJpol ( const std::vector< std::vector< Index > > & jpol ) const

private

References BGIP_BnB::UNSPECIFIED_ACTION.

string QBGPlanner_TreeIncPruneBnB::SoftPrintStats ( ) const

Referenced by BackupStage().

void QBGPlanner_TreeIncPruneBnB::UnionNode	(	Index	a,
		Index	depth,
		const std::vector< std::vector< Index > > &	jpol,
		std::vector< AlphaVector > &	L,
		std::vector< AlphaVector > &	G
	)

private

References PrintTools::SoftPrintVector(), and BGIP_BnB::UNSPECIFIED_ACTION.

Referenced by BackupStage().

Member Data Documentation

std::vector<LIndex> QBGPlanner_TreeIncPruneBnB::_m_cs_nodes_at_level

private

Referenced by BackupStage().

boost::multi_array< std::vector<AlphaVector>, 2>* QBGPlanner_TreeIncPruneBnB::_m_Gao_storage

private

Referenced by Initialize(), InitializeHeuristicsForJA(), and ~QBGPlanner_TreeIncPruneBnB().

boost::multi_array< std::vector<AlphaVector>*, 3>* QBGPlanner_TreeIncPruneBnB::_m_Gaoa

private

Referenced by GetGaoa(), Initialize(), and ~QBGPlanner_TreeIncPruneBnB().

boost::multi_array< std::vector<AlphaVector>, 3>* QBGPlanner_TreeIncPruneBnB::_m_Gaoa_storage

private

Referenced by BackupStage(), Initialize(), and ~QBGPlanner_TreeIncPruneBnB().

std::vector< std::vector<AlphaVector> > QBGPlanner_TreeIncPruneBnB::_m_heuristic_for_depth

private

The sets H that represent the heuristic function h.

Referenced by InitializeHeuristicsForJA().

Index QBGPlanner_TreeIncPruneBnB::_m_maxDepth

private

Referenced by BackupStage(), Initialize(), and InitializeHeuristicsForJA().

LIndex QBGPlanner_TreeIncPruneBnB::_m_nodes_visited

private

Referenced by BackupStage().

LIndex QBGPlanner_TreeIncPruneBnB::_m_nr_backtracks

private

Referenced by BackupStage().

LIndex QBGPlanner_TreeIncPruneBnB::_m_nr_bottom_hits

private

Referenced by BackupStage().

bool QBGPlanner_TreeIncPruneBnB::_m_pruneAfterCrossSum

private

bool QBGPlanner_TreeIncPruneBnB::_m_pruneAfterUnion

private

Timing QBGPlanner_TreeIncPruneBnB::_m_timing

private

Referenced by BackupStage().

std::vector<LIndex> QBGPlanner_TreeIncPruneBnB::_m_union_nodes_at_level

private

Referenced by BackupStage().

bool QBGPlanner_TreeIncPruneBnB::_m_useVectorCache

private

const Index QBGPlanner_TreeIncPruneBnB::UNSPECIFIED_ACTION =INDEX_MAX

staticprivate

Referenced by BackupStage(), and GetGaoa().

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation