QMDP Class Reference

QMDP is a class that represents the QMDP heuristic. More...

#include <QMDP.h>

Inheritance diagram for QMDP:

Public Member Functions
void	Compute ()
	Compute the heuristic. More...
void	ComputeWithCachedQValues (const std::string &filename, bool computeIfNotCached=true)
	See ComputeWithCachedQValues(), this version accepts a filename. More...
double	GetQ (Index jaohI, Index jaI) const
	Returns Q(joint A-O history jaohI, jaI). More...
double	GetQ (const JointBeliefInterface &b, Index jaI) const
	Returns Q(b, jaI). More...
double	GetQ (const JointBeliefInterface &b, Index time_step, Index jaI) const
	Returns Q(b, jaI) for a particular time_step. More...
double	GetQNoCache (Index jaohI, Index jaI) const
	Return the Qvalue for JointActionObservationHistory Index jaohI and JointAction index jaI. More...
double	GetQSA (Index t, Index sI, Index jaI) const
void	Load (const std::string &filename)
	Load the Qvalues from disk from a file named filename. More...
	QMDP (const PlanningUnitDecPOMDPDiscrete *pu, bool useJaohQValuesCache=false)
	(default) Constructor More...
	QMDP (const boost::shared_ptr< const PlanningUnitDecPOMDPDiscrete > &pu, bool useJaohQValuesCache=false)
void	Save (const std::string &filename) const
	Stores the Qvalues to disk in file named filename. More...
void	SetPU (const PlanningUnitDecPOMDPDiscrete *pu)
void	SetPU (const boost::shared_ptr< const PlanningUnitDecPOMDPDiscrete > &pu)
std::string	SoftPrintBrief () const
	Returns a short description of the heuristic, can be used for constructing filenames. More...
	~QMDP ()
	Destructor. More...
Public Member Functions inherited from QFunctionJAOH
virtual void	ComputeWithCachedQValues (bool computeIfNotCached=true)
	Compute Qvalue function, while caching the Qvalues to disk. More...
	QFunctionJAOH (const PlanningUnitDecPOMDPDiscrete *pu)
	Default constructor, requires a planning unit. More...
	QFunctionJAOH (const boost::shared_ptr< const PlanningUnitDecPOMDPDiscrete > &pu)
virtual	~QFunctionJAOH ()
	Destructor. More...
Public Member Functions inherited from QFunctionJAOHInterface
	QFunctionJAOHInterface ()
virtual	~QFunctionJAOHInterface ()
	Destructor. More...
Public Member Functions inherited from QFunctionForDecPOMDPInterface
	QFunctionForDecPOMDPInterface ()
	(default) Constructor More...
virtual	~QFunctionForDecPOMDPInterface ()
	Destructor. More...
Public Member Functions inherited from QFunctionInterface
virtual void	Load ()
	Load the Qvalues from disk. More...
virtual void	Save () const
	Stores the Qvalues to disk. More...
virtual	~QFunctionInterface ()
Public Member Functions inherited from QFunctionForDecPOMDP
virtual std::string	GetCacheFilename () const
	Gets the filename where the Qvalues should be stored. More...
const PlanningUnitDecPOMDPDiscrete *	GetPU () const
	QFunctionForDecPOMDP (const PlanningUnitDecPOMDPDiscrete *pu)
	(default) Constructor More...
	QFunctionForDecPOMDP (const boost::shared_ptr< const PlanningUnitDecPOMDPDiscrete > &pu)
Public Member Functions inherited from QFunctionJointBeliefInterface
	QFunctionJointBeliefInterface ()
	(default) Constructor More...
virtual	~QFunctionJointBeliefInterface ()
	Destructor. More...

Private Member Functions
void	CacheJaohQValues ()
void	DeInitialize ()
void	Initialize ()

Private Attributes
bool	_m_initialized
MDPSolver *	_m_p
bool	_m_useJaohQValuesCache

Additional Inherited Members
Protected Attributes inherited from QFunctionJAOH
QTable	_m_QValues
	Table in which the Qvalues are stored. More...

Detailed Description

QMDP is a class that represents the QMDP heuristic.

It is associated with a PlanningUnitDecPOMDPDiscrete which it uses for things as horizon, action-/observation(history) indices, etc. *

Constructor & Destructor Documentation

QMDP::QMDP	(	const PlanningUnitDecPOMDPDiscrete *	pu,
		bool	useJaohQValuesCache = false
	)

(default) Constructor

QMDP::QMDP	(	const boost::shared_ptr< const PlanningUnitDecPOMDPDiscrete > &	pu,
		bool	useJaohQValuesCache = false
	)

QMDP::~QMDP

(

)

Destructor.

References DeInitialize().

Member Function Documentation

void QMDP::CacheJaohQValues ( )

private

References _m_p, QFunctionJAOH::_m_QValues, PlanningUnitMADPDiscrete::GetNrJointActionObservationHistories(), PlanningUnitMADPDiscrete::GetNrJointActions(), QFunctionForDecPOMDP::GetPU(), MDPSolver::GetQ(), and PlanningUnitMADPDiscrete::GetTimeStepForJAOHI().

Referenced by Compute(), and ComputeWithCachedQValues().

void QMDP::Compute ( )

virtual

Compute the heuristic.

(after associated with an initialized PlanningUnitDecPOMDPDiscrete).

Note: unlike QBG and QPOMDP, the QMDP heuristic can be computed without access to JointActionObservationHistory (Indices) and JointBeliefs. So there is only 1 compute version. However in order to get the Q for a particular JointActionObservationHistory (Index) this information is needed. Therefore there are multiple GetQ functions for this class.

Implements QFunctionInterface.

References _m_initialized, _m_p, _m_useJaohQValuesCache, CacheJaohQValues(), Initialize(), and MDPSolver::Plan().

Referenced by FactoredQLastTimeStepOrQMDP::Compute(), and AlphaVectorPlanning::SampleBeliefs().

void QMDP::ComputeWithCachedQValues ( const std::string &  filenameCache, bool  computeIfNotCached = true  )

virtual

See ComputeWithCachedQValues(), this version accepts a filename.

Reimplemented from QFunctionJAOH.

References _m_initialized, _m_p, _m_useJaohQValuesCache, CacheJaohQValues(), Initialize(), and MDPSolver::PlanWithCache().

void QMDP::DeInitialize ( )

private

References _m_initialized, _m_p, and QFunctionJAOH::_m_QValues.

Referenced by SetPU(), and ~QMDP().

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

inlinevirtual

Returns Q(joint A-O history jaohI, jaI).

Implements QFunctionJAOHInterface.

References QFunctionJAOH::_m_QValues, and GetQNoCache().

Referenced by FactoredQLastTimeStepOrQMDP::GetQ(), and AlphaVectorPlanning::SampleBeliefs().

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

inlinevirtual

Returns Q(b, jaI).

Implements QFunctionJointBeliefInterface.

References MDPSolver::GetQ().

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

inlinevirtual

Returns Q(b, jaI) for a particular time_step.

Implements QFunctionJointBeliefInterface.

References MDPSolver::GetQ().

double QMDP::GetQNoCache	(	Index	jaohI,
		Index	jaI
	)		const

Return the Qvalue for JointActionObservationHistory Index jaohI and JointAction index jaI.

References _m_p, PlanningUnitMADPDiscrete::GetJointBeliefInterface(), QFunctionForDecPOMDP::GetPU(), MDPSolver::GetQ(), and PlanningUnitMADPDiscrete::GetTimeStepForJAOHI().

Referenced by GetQ().

double QMDP::GetQSA ( Index  t, Index  sI, Index  jaI  ) const

inline

References MDPSolver::GetQ().

void QMDP::Initialize ( )

private

References _m_initialized, _m_p, QFunctionJAOH::_m_QValues, _m_useJaohQValuesCache, and QFunctionForDecPOMDP::GetPU().

Referenced by Compute(), ComputeWithCachedQValues(), and Load().

void QMDP::Load ( const std::string &  filename )

virtual

Load the Qvalues from disk from a file named filename.

Implements QFunctionInterface.

References _m_initialized, _m_p, QFunctionJAOH::_m_QValues, _m_useJaohQValuesCache, QFunctionForDecPOMDP::GetPU(), Initialize(), QTable::Load(), and MDPSolver::SetQTables().

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

virtual

Stores the Qvalues to disk in file named filename.

Implements QFunctionInterface.

References _m_p, QFunctionJAOH::_m_QValues, _m_useJaohQValuesCache, MDPSolver::GetQTables(), and QTable::Save().

void QMDP::SetPU ( const PlanningUnitDecPOMDPDiscrete *  pu )

virtual

Reimplemented from QFunctionForDecPOMDP.

References DeInitialize(), and QFunctionForDecPOMDP::SetPU().

void QMDP::SetPU ( const boost::shared_ptr< const PlanningUnitDecPOMDPDiscrete > &  pu )

virtual

Reimplemented from QFunctionForDecPOMDP.

References DeInitialize(), and QFunctionForDecPOMDP::SetPU().

std::string QMDP::SoftPrintBrief ( ) const

inlinevirtual

Returns a short description of the heuristic, can be used for constructing filenames.

Implements QFunctionInterface.

Member Data Documentation

bool QMDP::_m_initialized

private

Referenced by Compute(), ComputeWithCachedQValues(), DeInitialize(), Initialize(), and Load().

MDPSolver* QMDP::_m_p

private

Referenced by CacheJaohQValues(), Compute(), ComputeWithCachedQValues(), DeInitialize(), GetQNoCache(), Initialize(), Load(), and Save().

bool QMDP::_m_useJaohQValuesCache

private

Referenced by Compute(), ComputeWithCachedQValues(), Initialize(), Load(), and Save().