ValueFunctionDecPOMDPDiscrete Class Reference

ValueFunctionDecPOMDPDiscrete represents and calculates the value function of a (pure) joint policy for a discrete Dec-POMDP. More...

#include <ValueFunctionDecPOMDPDiscrete.h>

Inheritance diagram for ValueFunctionDecPOMDPDiscrete:

Public Member Functions
template<bool CACHED>
double	CalculateV ()
	Calculates the value function, which is stored and returns V(0). call with "CalculateV<true>()" for the cached version or call with "CalculateV<false>()" for the non-cached version. More...
	ValueFunctionDecPOMDPDiscrete (PlanningUnitDecPOMDPDiscrete &p, JointPolicyDiscretePure &jp)
	Constructor. More...
	ValueFunctionDecPOMDPDiscrete (PlanningUnitDecPOMDPDiscrete *p, JointPolicyDiscretePure *jp)
	Constructor. More...
	ValueFunctionDecPOMDPDiscrete (const ValueFunctionDecPOMDPDiscrete &a)
	Copy constructor. More...
	~ValueFunctionDecPOMDPDiscrete ()
	Destructor. More...
Public Member Functions inherited from ValueFunction
virtual	~ValueFunction ()
	Destructor. More...

Private Types
typedef boost::numeric::ublas::matrix < double >	Matrix

Private Member Functions
template<bool CACHED>
double	CalculateVsjohRecursively (Index sI, Index johI, unsigned int stage)
	Function used by CalculateV0Recursively. More...
double	CalculateVsjohRecursively_cached (Index sI, Index johI, unsigned int stage)
	Wraps and adds caching to method CalculateVsjohRecursively() More...
void	CreateV ()
	Creates a brand new value function (deleting the current one if it exists). More...
void	DeleteV ()
	Deletes the current value function. More...
Index	GetCombinedIndex (Index sI, Index JOHI) const
JointPolicyDiscretePure *	GetJPol () const
PlanningUnitDecPOMDPDiscrete *	GetPU () const
	Return a reference to the planning unit. More...
bool	IsCached (Index sI, Index JOHI)
void	SetCached (Index sI, Index JOHI)

Private Attributes
std::set< Index >	_m_cached
size_t	_m_h
JointPolicyDiscretePure *	_m_jointPolicyDiscretePure
JointPolicyDiscretePure *	_m_jpol
size_t	_m_nrJO
size_t	_m_nrJOH
size_t	_m_nrS
Matrix *	_m_p_V
PlanningUnitDecPOMDPDiscrete *	_m_planningUnitDecPOMDPDiscrete
PlanningUnitDecPOMDPDiscrete *	_m_pu
bool	_m_V_initialized

Detailed Description

ValueFunctionDecPOMDPDiscrete represents and calculates the value function of a (pure) joint policy for a discrete Dec-POMDP.

Member Typedef Documentation

typedef boost::numeric::ublas::matrix<double> ValueFunctionDecPOMDPDiscrete::Matrix

private

Constructor & Destructor Documentation

ValueFunctionDecPOMDPDiscrete::ValueFunctionDecPOMDPDiscrete	(	PlanningUnitDecPOMDPDiscrete &	p,
		JointPolicyDiscretePure &	jp
	)

Constructor.

References _m_h, _m_jpol, _m_nrJO, _m_nrJOH, _m_nrS, _m_p_V, _m_pu, _m_V_initialized, PlanningUnit::GetHorizon(), PlanningUnitMADPDiscrete::GetNrJointObservationHistories(), PlanningUnitMADPDiscrete::GetNrJointObservations(), and PlanningUnitMADPDiscrete::GetNrStates().

ValueFunctionDecPOMDPDiscrete::ValueFunctionDecPOMDPDiscrete	(	PlanningUnitDecPOMDPDiscrete *	p,
		JointPolicyDiscretePure *	jp
	)

Constructor.

References _m_h, _m_jpol, _m_nrJO, _m_nrJOH, _m_nrS, _m_p_V, _m_pu, _m_V_initialized, PlanningUnit::GetHorizon(), PlanningUnitMADPDiscrete::GetNrJointObservationHistories(), PlanningUnitMADPDiscrete::GetNrJointObservations(), and PlanningUnitMADPDiscrete::GetNrStates().

ValueFunctionDecPOMDPDiscrete::ValueFunctionDecPOMDPDiscrete

(

const ValueFunctionDecPOMDPDiscrete &

a

)

Copy constructor.

References _m_jpol, _m_nrJOH, _m_p_V, _m_pu, and _m_V_initialized.

ValueFunctionDecPOMDPDiscrete::~ValueFunctionDecPOMDPDiscrete

(

)

Destructor.

References DeleteV().

Member Function Documentation

template<bool CACHED>

template double ValueFunctionDecPOMDPDiscrete::CalculateV< false >

(

)

Calculates the value function, which is stored and returns V(0). call with "CalculateV<true>()" for the cached version or call with "CalculateV<false>()" for the non-cached version.

References _m_nrS, _m_pu, CalculateVsjohRecursively_cached(), CreateV(), PlanningUnitMADPDiscrete::GetInitialStateProbability(), GetJPol(), Globals::INITIAL_JOHI, and JointPolicy::Print().

Referenced by JESPExhaustivePlanner::ExhaustiveBestResponse(), BruteForceSearchPlanner::Plan(), and DICEPSPlanner::Plan().

template<bool CACHED>

double ValueFunctionDecPOMDPDiscrete::CalculateVsjohRecursively ( Index  sI, Index  johI, unsigned int  stage  )

private

Function used by CalculateV0Recursively.

This recursively Calculates the expected payoff of the joint policy starting from state sI and joint observation history johI.

References _m_h, _m_nrJO, _m_nrS, _m_pu, CalculateVsjohRecursively_cached(), JointPolicyDiscretePure::GetJointActionIndex(), GetJPol(), PlanningUnitMADPDiscrete::GetObservationProbability(), PlanningUnitDecPOMDPDiscrete::GetReward(), PlanningUnitMADPDiscrete::GetSuccessorJOHI(), and PlanningUnitMADPDiscrete::GetTransitionProbability().

double ValueFunctionDecPOMDPDiscrete::CalculateVsjohRecursively_cached ( Index  sI, Index  johI, unsigned int  stage  )

inlineprivate

Wraps and adds caching to method CalculateVsjohRecursively()

References _m_p_V, IsCached(), and SetCached().

Referenced by CalculateV(), and CalculateVsjohRecursively().

void ValueFunctionDecPOMDPDiscrete::CreateV ( )

private

Creates a brand new value function (deleting the current one if it exists).

References _m_nrJOH, _m_nrS, _m_p_V, _m_V_initialized, and DeleteV().

Referenced by CalculateV().

void ValueFunctionDecPOMDPDiscrete::DeleteV ( )

private

Deletes the current value function.

References _m_cached, _m_p_V, and _m_V_initialized.

Referenced by CreateV(), and ~ValueFunctionDecPOMDPDiscrete().

Index ValueFunctionDecPOMDPDiscrete::GetCombinedIndex ( Index  sI, Index  JOHI  ) const

inlineprivate

Referenced by IsCached(), and SetCached().

JointPolicyDiscretePure* ValueFunctionDecPOMDPDiscrete::GetJPol ( ) const

inlineprivate

References _m_jpol.

Referenced by CalculateV(), and CalculateVsjohRecursively().

PlanningUnitDecPOMDPDiscrete* ValueFunctionDecPOMDPDiscrete::GetPU ( ) const

inlineprivatevirtual

Return a reference to the planning unit.

Implements ValueFunction.

References _m_pu.

bool ValueFunctionDecPOMDPDiscrete::IsCached ( Index  sI, Index  JOHI  )

inlineprivate

References _m_cached, and GetCombinedIndex().

Referenced by CalculateVsjohRecursively_cached().

void ValueFunctionDecPOMDPDiscrete::SetCached ( Index  sI, Index  JOHI  )

inlineprivate

References _m_cached, and GetCombinedIndex().

Referenced by CalculateVsjohRecursively_cached().

Member Data Documentation

std::set<Index> ValueFunctionDecPOMDPDiscrete::_m_cached

private

Referenced by DeleteV(), IsCached(), and SetCached().

size_t ValueFunctionDecPOMDPDiscrete::_m_h

private

Referenced by CalculateVsjohRecursively(), and ValueFunctionDecPOMDPDiscrete().

JointPolicyDiscretePure* ValueFunctionDecPOMDPDiscrete::_m_jointPolicyDiscretePure

private

JointPolicyDiscretePure* ValueFunctionDecPOMDPDiscrete::_m_jpol

private

Referenced by GetJPol(), and ValueFunctionDecPOMDPDiscrete().

size_t ValueFunctionDecPOMDPDiscrete::_m_nrJO

private

Referenced by CalculateVsjohRecursively(), and ValueFunctionDecPOMDPDiscrete().

size_t ValueFunctionDecPOMDPDiscrete::_m_nrJOH

private

Referenced by CreateV(), and ValueFunctionDecPOMDPDiscrete().

size_t ValueFunctionDecPOMDPDiscrete::_m_nrS

private

Referenced by CalculateV(), CalculateVsjohRecursively(), CreateV(), and ValueFunctionDecPOMDPDiscrete().

Matrix* ValueFunctionDecPOMDPDiscrete::_m_p_V

private

Referenced by CalculateVsjohRecursively_cached(), CreateV(), DeleteV(), and ValueFunctionDecPOMDPDiscrete().

PlanningUnitDecPOMDPDiscrete* ValueFunctionDecPOMDPDiscrete::_m_planningUnitDecPOMDPDiscrete

private

PlanningUnitDecPOMDPDiscrete* ValueFunctionDecPOMDPDiscrete::_m_pu

private

Referenced by CalculateV(), CalculateVsjohRecursively(), GetPU(), and ValueFunctionDecPOMDPDiscrete().

bool ValueFunctionDecPOMDPDiscrete::_m_V_initialized

private

Referenced by CreateV(), DeleteV(), and ValueFunctionDecPOMDPDiscrete().