MultiAgentDecisionProcess
Release 0.2.1
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BruteForceSearchPlanner implements an exact solution algorithm. More...
#include <BruteForceSearchPlanner.h>
Public Member Functions | |
BruteForceSearchPlanner (size_t horizon=3, DecPOMDPDiscreteInterface *p=0) | |
BruteForceSearchPlanner (const PlanningUnitMADPDiscreteParameters ¶ms, size_t horizon=3, DecPOMDPDiscreteInterface *p=0) | |
double | GetExpectedReward (void) const |
Returns the expected reward of the best found joint policy. | |
JointPolicy * | GetJointPolicy (void) |
Returns a pointer to the computed joint policy. | |
JointPolicyDiscrete * | GetJointPolicyDiscrete (void) |
JointPolicyPureVector * | GetJointPolicyPureVector (void) |
Returns the expected reward of the best found joint policy. | |
void | Plan () |
The methods that performs the planning. | |
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double | GetDiscount () const |
Returns the discount parameter. | |
DecPOMDPDiscreteInterface * | GetReferred () const |
Returns the DecPOMDPDiscreteInterface pointer. | |
double | GetReward (Index sI, Index jaI) const |
Return the reward for state, joint action indices. | |
PlanningUnitDecPOMDPDiscrete (const PlanningUnitMADPDiscreteParameters ¶ms, size_t horizon=3, DecPOMDPDiscreteInterface *p=0) | |
the (default) Constructor. | |
PlanningUnitDecPOMDPDiscrete (size_t horizon=3, DecPOMDPDiscreteInterface *p=0) | |
void | SetProblem (DecPOMDPDiscreteInterface *p) |
Set the problem (DecPOMDPDiscreteInterface) using a pointer. | |
void | SetReferred (DecPOMDPDiscreteInterface *p) |
Tell which SetReferred to use by default. | |
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Referrer (DecPOMDPDiscreteInterface *t_p=0) | |
(default) Constructor | |
Referrer (DecPOMDPDiscreteInterface &t) | |
Alternative constructor. | |
Referrer (const Referrer &a) | |
Copy constructor. | |
virtual | ~Referrer () |
Destructor. | |
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virtual bool | AreCachedJointToIndivIndices (PolicyGlobals::IndexDomainCategory pdc) const |
Check whether certain index conversions are cached. | |
void | ComputeHistoryArrays (Index hI, Index t, Index t_offset, Index Indices[], size_t indexDomainSize) const |
This function computes the indices of the sequence corr. | |
Index | ComputeHistoryIndex (Index t, Index t_offset, const Index indices[], size_t indexDomainSize) const |
This function computes the index of a history. | |
const Action * | GetAction (Index agentI, Index a) const |
Returns a ref to the a-th action of agent agentI. | |
void | GetActionHistoryArrays (Index agentI, Index ahI, Index t, Index aIs[]) const |
Computes the joint actions for jahI. | |
ActionHistoryTree * | GetActionHistoryTree (Index agentI, Index ohI) const |
Returns a pointer to action history# ohI of agent# agentI. | |
void | GetActionObservationHistoryArrays (Index agentI, Index aohI, Index t, Index aIs[], Index oIs[]) const |
Computes the joint actions and observations for aohI. | |
Index | GetActionObservationHistoryIndex (Index agentI, Index t, const std::vector< Index > &actions, const std::vector< Index > &observations) const |
converts the vectors of actions and observations of length t to a (individual) ObservationHistory Index for agentI. | |
ActionObservationHistoryTree * | GetActionObservationHistoryTree (Index agentI, Index aohI) const |
Returns a pointer to observation history# ohI of agent# agentI. | |
virtual PolicyGlobals::IndexDomainCategory | GetDefaultIndexDomCat () const |
Return the default IndexDomainCategory for the problem. | |
Index | GetFirstJointActionObservationHistoryIndex (Index ts) const |
Returns the index of the first joint action observation history of time step ts. | |
Index | GetFirstJointObservationHistoryIndex (Index ts) const |
Returns the index of the first joint observation history of time step ts. | |
Index | GetFirstObservationHistoryIndex (Index agI, Index ts) const |
Returns the index of the first ts observation history of agent agI. | |
double | GetInitialStateProbability (Index sI) const |
Returns the probability of a state in the initial state distribution. | |
double | GetJAOHProb (Index jaohI, Index p_jaohI=0, const JointBeliefInterface *p_jb=NULL, const JointPolicyDiscrete *jpol=NULL) const |
returns the probability of jaohI. | |
double | GetJAOHProbGivenPred (Index jaohI) const |
Gives the conditional probability of the realization of the joint action-observation history jaohI (and thus of the joint belief corresponding to JointActionObservationHistory jaohI). | |
double | GetJAOHProbs (JointBeliefInterface *jb, Index jaohI, Index p_jaohI=0, const JointBeliefInterface *p_jb=NULL, const JointPolicyDiscrete *jpol=NULL) const |
returns the probability of jaohI AND the corresponding joint belief given the predecessor p_jaohI (and its corresponding belief) | |
double | GetJAOHProbsRecursively (JointBeliefInterface *jb, const Index jaIs[], const Index joIs[], Index t_p, Index t, Index p_jaohI=0, const JointPolicyDiscrete *jpol=NULL) const |
the function that perfoms most of the work, called by GetJAOHProbs. | |
const JointAction * | GetJointAction (Index jaI) const |
Returns a ref to the i-th joint action. | |
Index | GetJointActionHistoryIndex (Index t, const std::vector< Index > &jointActions) const |
converts the vector joint observations of length t to a JointObservationHistory Index. | |
Index | GetJointActionHistoryIndex (Index t, const Index jointActions[]) const |
converts the vector joint observations of length t to a JointObservationHistory Index. | |
Index | GetJointActionHistoryIndex (JointActionHistoryTree *joh) const |
Returns the index of a JointActionHistoryTree pointer. | |
JointActionHistoryTree * | GetJointActionHistoryTree (Index jahI) const |
Returns a pointer to joint action history#. | |
void | GetJointActionObservationHistoryArrays (Index jaohI, Index t, Index jaIs[], Index joIs[]) const |
Computes the joint actions and observations for jaohI. | |
Index | GetJointActionObservationHistoryIndex (JointActionObservationHistoryTree *jaoh) const |
Returns the index of a JointObservationHistoryTree pointer. | |
Index | GetJointActionObservationHistoryIndex (Index t, const std::vector< Index > &Jactions, const std::vector< Index > &Jobservations) const |
converts the vectors of actions and observations of length t to a joint ActionObservationHistory Index. | |
JointActionObservationHistoryTree * | GetJointActionObservationHistoryTree (Index jaohI) const |
Returns a pointer to JointActionObservation history#. | |
void | GetJointActionObservationHistoryVectors (Index jaohI, std::vector< Index > &jaIs, std::vector< Index > &joIs) const |
returns the vectors with joint actions and observations for JointActionObservationHistory jaohi. | |
JointBeliefInterface * | GetJointBeliefInterface (Index jaohI) const |
brief Returns a pointer to a new joint belief. | |
const JointObservation * | GetJointObservation (Index joI) const |
Returns a ref to the joI-th joint observation. | |
void | GetJointObservationHistoryArrays (Index johI, Index t, Index joIs[]) const |
Computes the joint observations for johI. | |
Index | GetJointObservationHistoryIndex (JointObservationHistoryTree *joh) const |
Returns the index of a JointObservationHistoryTree pointer. | |
Index | GetJointObservationHistoryIndex (Index t, const std::vector< Index > &jointObservations) const |
converts the vector joint observations of length t to a JointObservationHistory Index. | |
Index | GetJointObservationHistoryIndex (Index t, const Index jointObservations[]) const |
converts the vector joint observations of length t to a JointObservationHistory Index. | |
JointObservationHistoryTree * | GetJointObservationHistoryTree (Index johI) const |
Returns a pointer to joint observation history#. | |
MultiAgentDecisionProcessDiscreteInterface * | GetMADPDI () |
const MultiAgentDecisionProcessDiscreteInterface * | GetMADPDI () const |
JointBeliefInterface * | GetNewJointBeliefFromISD () const |
Returns a new joint belief with the value of the initial state distribution. | |
virtual JointBeliefInterface * | GetNewJointBeliefInterface () const |
a function that forces derives classes to specify which types of joint beliefs are used. | |
virtual JointBeliefInterface * | GetNewJointBeliefInterface (size_t size) const |
size_t | GetNrActionHistories (Index agentI) const |
Returns the number of action histories for agentI. | |
size_t | GetNrActionObservationHistories (Index agentI) const |
Returns the number of action observation histories for agentI. | |
const std::vector< size_t > & | GetNrActions () const |
Returns the number of actions vector. | |
size_t | GetNrActions (Index agentI) const |
Returns the number of actions of agent agentI. | |
size_t | GetNrAgents () const |
Gets the number of agents. | |
size_t | GetNrJointActionHistories () const |
Returns the number of joint action histories. | |
size_t | GetNrJointActionObservationHistories () const |
Returns the number of jointActionObservation histories. | |
size_t | GetNrJointActions () const |
return the number of joint actions. | |
size_t | GetNrJointObservationHistories () const |
Returns the number of joint observation histories. | |
size_t | GetNrJointObservationHistories (Index ts) const |
Returns the number of joint observation histories for time step ts. | |
size_t | GetNrJointObservations () const |
Returns the number of joint observations. | |
LIndex | GetNrJointPolicies () const |
Returns the number of joint policies. | |
size_t | GetNrObservationHistories (Index agentI) const |
Returns the number of observation histories for agentI. | |
size_t | GetNrObservationHistories (Index agentI, Index ts) const |
Returns the number of observation histories for agentI for time step ts. | |
const std::vector< size_t > | GetNrObservationHistoriesVector () const |
Returns a vector with the number of OHs for each agent. | |
const std::vector< size_t > | GetNrObservationHistoriesVector (Index ts) const |
Returns a vector with the number of OHs in stage ts for each agent. | |
const std::vector< size_t > & | GetNrObservations () const |
Returns the number of observations vector. | |
size_t | GetNrObservations (Index agentI) const |
Returns the number of observations of agent agentI. | |
LIndex | GetNrPolicies (Index agentI) const |
Returns the number of policies for agentI. | |
size_t | GetNrPolicyDomainElements (Index agentI, PolicyGlobals::IndexDomainCategory cat, size_t depth=MAXHORIZON) const |
Get the number of elements in the domain of an agent's policy. | |
size_t | GetNrStates () const |
Returns the number of states. | |
const Observation * | GetObservation (Index agentI, Index o) const |
Returns a ref to the o-th observation of agent agentI. | |
void | GetObservationHistoryArrays (Index agentI, Index ohI, Index t, Index oIs[]) const |
Computes the observations for ohI. | |
Index | GetObservationHistoryIndex (Index agentI, Index t, const std::vector< Index > &observations) const |
converts the vector observations of length t to a (individual) ObservationHistory Index for agentI. | |
ObservationHistoryTree * | GetObservationHistoryTree (Index agentI, Index ohI) const |
Returns a pointer to observation history# ohI of agent# agentI. | |
const ObservationModelDiscrete * | GetObservationModelDiscretePtr () const |
double | GetObservationProbability (Index jaI, Index sucSI, Index joI) const |
Returns P(joI | jaI, sucSI ). Arguments are time-ordered. | |
const PlanningUnitMADPDiscreteParameters & | GetParams () const |
Get the parameters for this planning unit. | |
const MultiAgentDecisionProcessDiscreteInterface * | GetProblem () const |
Returns a reference to the problem of the PlanningUnitMADPDiscrete. | |
MultiAgentDecisionProcessDiscreteInterface * | GetProblem () |
const State * | GetState (Index i) const |
Get a pointer to a State by index. | |
Index | GetSuccessorAHI (Index agentI, Index ohI, Index oI) const |
Index | GetSuccessorAOHI (Index agI, Index aohI, Index aI, Index oI) const |
Returns the index of the successor of joint action-observation history jaohI via joint action jaI and joint observation joI. | |
Index | GetSuccessorJAHI (Index johI, Index joI) const |
Index | GetSuccessorJAOHI (Index jaohI, Index jaI, Index joI) const |
Returns the index of the successor of agent agI's action-observation history aohI via action aI and observation oI. | |
Index | GetSuccessorJOHI (Index johI, Index joI) const |
Returns the index of the successor of observation history johI via joint observation joI. | |
Index | GetSuccessorOHI (Index agentI, Index ohI, Index oI) const |
Returns the index of the successor of observation history ohI of agentI via observation joI. | |
Index | GetTimeStepForAHI (Index agentI, Index ohI) const |
Returns the time step of observation history ohI. | |
Index | GetTimeStepForAOHI (Index agentI, Index aohI) const |
Returns the time step of joint action-observation historyaohI. | |
Index | GetTimeStepForJAHI (Index johI) const |
Returns the time step of joint observation history johI. | |
Index | GetTimeStepForJAOHI (Index jaohI) const |
Returns the time step of joint action-observation historyjaohI. | |
Index | GetTimeStepForJOHI (Index johI) const |
Returns the time step of joint observation history johI. | |
Index | GetTimeStepForOHI (Index agentI, Index ohI) const |
Returns the time step of observation history ohI. | |
const TransitionModelDiscrete * | GetTransitionModelDiscretePtr () const |
double | GetTransitionProbability (Index sI, Index jaI, Index sucSI) const |
Returns the trans. prob for state, joint action, suc state indices. | |
Index | IndividualToJointActionHistoryIndex (Index t, const std::vector< Index > &indivIs) const |
converts individual history indices to a joint index | |
Index | IndividualToJointActionIndices (const Index *indivActionIndices) const |
Returns the joint action index that corresponds to the array of specified individual action indices. | |
Index | IndividualToJointActionIndices (const std::vector< Index > &indivActionIndices) const |
Returns the joint action index that corresponds to the vector of specified individual action indices. | |
Index | IndividualToJointActionObservationHistoryIndex (Index t, const std::vector< Index > &indivIs) const |
converts individual history indices to a joint index | |
Index | IndividualToJointObservationHistoryIndex (Index t, const std::vector< Index > &indivIs) const |
converts individual history indices to a joint index | |
Index | IndividualToJointObservationIndices (std::vector< Index > &inObs) const |
Returns the joint observation index that corresponds to the vector of specified individual observation indices. | |
void | JointAOHIndexToIndividualActionObservationVectors (Index jaohI, std::vector< std::vector< Index > > &indivO_vec, std::vector< std::vector< Index > > &indivA_vec) const |
computes the vectors of actions and obs. | |
void | JointAOHIndexToIndividualActionObservationVectors (Index jaohI, std::vector< std::vector< Index > > &indivAO_vec) const |
computes the vector of action-observations corresponding to jaohI indivAO_vec[agentI][t] = aoI | |
std::vector< Index > | JointToIndividualActionHistoryIndices (Index JAHistI) const |
Returns a vector containing the indices of the individual ObservationHistory s corresponding to the JointActionHistory index JAHistI. | |
const std::vector< Index > & | JointToIndividualActionHistoryIndicesRef (Index JAHistI) const |
Returns a reference to a cached vector containing the indices of the indiv. | |
std::vector< Index > | JointToIndividualActionIndices (Index jaI) const |
Returns a vector containing the indices of the indiv. | |
std::vector< Index > | JointToIndividualActionObservationHistoryIndices (Index jaohI) const |
Returns a vector containing the indices of the indiv. | |
const std::vector< Index > & | JointToIndividualActionObservationHistoryIndicesRef (Index jaohI) const |
Returns a vector containing the indices of the indiv. | |
std::vector< Index > | JointToIndividualObservationHistoryIndices (Index johI) const |
Returns a vector containing the indices of the indiv. | |
const std::vector< Index > & | JointToIndividualObservationHistoryIndicesRef (Index johI) const |
Returns a vector containing the indices of the indiv. | |
std::vector< Index > | JointToIndividualObservationIndices (Index joI) const |
Returns a vector containing the indices of the indiv. | |
std::vector< Index > | JointToIndividualPolicyDomainIndices (Index jdI, PolicyGlobals::IndexDomainCategory cat) const |
Converts joint indices to individual policy domain element indices. | |
const std::vector< Index > & | JointToIndividualPolicyDomainIndicesRef (Index jdI, PolicyGlobals::IndexDomainCategory cat) const |
Converts individual policy domain element indices to joint indices. | |
PlanningUnitMADPDiscrete (const PlanningUnitMADPDiscreteParameters ¶ms, size_t horizon=3, MultiAgentDecisionProcessDiscreteInterface *p=0) | |
Constructor with specified parameters. | |
PlanningUnitMADPDiscrete (size_t horizon=3, MultiAgentDecisionProcessDiscreteInterface *p=0) | |
Constructor with default parameters. | |
void | Print () |
Prints info regarding the planning unit. | |
void | PrintActionHistories () |
Prints the action histories for all agents. | |
void | PrintActionObservationHistories () |
Prints the actionObservation histories for all agents. | |
void | PrintObservationHistories () |
Prints the observation histories for all agents. | |
void | RegisterJointActionObservationHistoryTree (JointActionObservationHistoryTree *jaoht) |
Register a new jaoht in the vector of indices. | |
void | SetHorizon (size_t h) |
Sets the horizon for the planning problem. | |
void | SetParams (const PlanningUnitMADPDiscreteParameters ¶ms) |
Sets the parameters for this planning unit. | |
void | SetProblem (MultiAgentDecisionProcessDiscreteInterface *madp) |
Sets the problem for which to plan, using a pointer. | |
std::string | SoftPrintAction (Index agentI, Index actionI) const |
soft prints action actionI of agent agentI. | |
std::string | SoftPrintObservationHistory (Index agentI, Index ohIndex) const |
soft prints ObservationHistory ohIndex of agent agentI. | |
std::string | SoftPrintPolicyDomainElement (Index agentI, Index dI, PolicyGlobals::IndexDomainCategory cat) const |
Virtual function that has to be implemented by derived class. | |
~PlanningUnitMADPDiscrete () | |
Destructor. | |
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size_t | GetHorizon () const |
Returns the planning horizon. | |
Index | GetNextAgentIndex () |
Maintains a agent index and returns the next one on calling */. | |
int | GetSeed () const |
Returns the random seed stored. | |
void | InitSeed () const |
Initializes the random number generator (srand) to the stored seed. | |
PlanningUnit (size_t horizon, MultiAgentDecisionProcessInterface *p) | |
(default) Constructor | |
void | SetProblem (MultiAgentDecisionProcessInterface *p) |
Updates the problem pointer. | |
void | SetSeed (int s) |
Stores the random seed and calls InitSeed(). | |
virtual | ~PlanningUnit () |
Destructor. | |
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LIndex | GetNrJointPolicies (PolicyGlobals::IndexDomainCategory cat, size_t depth=MAXHORIZON) const |
Get the number of joint policies, given the policy's domain. | |
LIndex | GetNrPolicies (Index ag, PolicyGlobals::IndexDomainCategory cat, size_t depth=MAXHORIZON) const |
Get the number of policies for an agent, given the policy's domain. | |
virtual | ~Interface_ProblemToPolicyDiscretePure () |
Destructor. | |
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Interface_ProblemToPolicyDiscrete () | |
(default) Constructor | |
virtual | ~Interface_ProblemToPolicyDiscrete () |
Destructor. | |
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Referrer (MultiAgentDecisionProcessDiscreteInterface *t_p=0) | |
(default) Constructor | |
Referrer (MultiAgentDecisionProcessDiscreteInterface &t) | |
Alternative constructor. | |
Referrer (const Referrer &a) | |
Copy constructor. | |
void | SetReferred (MultiAgentDecisionProcessDiscreteInterface *t_p) |
Change the referred thing... | |
virtual | ~Referrer () |
Destructor. |
Private Attributes | |
double | _m_expectedRewardFoundPolicy |
JointPolicyPureVector | _m_foundPolicy |
Additional Inherited Members | |
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bool | SanityCheck () const |
Runs some consistency tests. | |
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std::vector< ActionHistoryTree * > | _m_actionHistoryTreeRootPointers |
A vector that stores pointers to the roots of the action history trees of each agent. | |
std::vector< std::vector < ActionHistoryTree * > > | _m_actionHistoryTreeVectors |
A vector which, for each agents, stores a vector with all ActionHistoryTree pointers. | |
std::vector < ActionObservationHistoryTree * > | _m_actionObservationHistoryTreeRootPointers |
A vector that stores pointers to the roots of the action-observation history trees of each agent. | |
std::vector< std::vector < ActionObservationHistoryTree * > > | _m_actionObservationHistoryTreeVectors |
A vector which, for each agents, stores a vector with all ActionObservationHistoryTree pointers. | |
std::vector< std::vector < LIndex > > | _m_firstAHIforT |
The _m_firstAHIforT[aI][t] contains the first action history for time-step t of agent aI. | |
std::vector< std::vector < LIndex > > | _m_firstAOHIforT |
The _m_firstAOHIforT[aI][t] contains the first actionObservation history for time-step t of agent aI. | |
std::vector< LIndex > | _m_firstJAHIforT |
The _m_firstJAHIforT[t] contains the first joint action history for time-step t. | |
std::vector< LIndex > | _m_firstJAOHIforT |
_m_firstJAOHIforT[t] contains the first joint actionObservation history for time-step t. | |
std::vector< LIndex > | _m_firstJOHIforT |
The _m_firstJOHIforT[t] contains the first joint observation history for time-step t. | |
std::vector< std::vector < LIndex > > | _m_firstOHIforT |
The _m_firstOHIforT[aI][t] contains the first observation history for time-step t of agent aI. | |
std::vector< double > | _m_jaohConditionalProbs |
Stores the conditional probability of this joint belief. | |
std::vector< double > | _m_jaohProbs |
Caches the probabilities of JointActionObservationHistory's (assuming b^0 is as specified by the problem and that a pure joint policy consistent with the i-th JointActionObservationHistory is followed). | |
std::vector< const JointBeliefInterface * > | _m_jBeliefCache |
_m_jBeliefCache[i] stores a pointer to the joint belief corresponding to the i-th JointActionObservationHistory (assuming b^0 is as specified by the problem and that a pure joint policy consistent with the i-th JointActionObservationHistory is followed) | |
JointActionHistoryTree * | _m_jointActionHistoryTreeRoot |
The root node of the joint action histories tree. | |
std::vector < JointActionHistoryTree * > | _m_jointActionHistoryTreeVector |
A vector which stores a JointActionHistoryTree pointer. | |
std::map< Index, JointActionObservationHistoryTree * > | _m_jointActionObservationHistoryTreeMap |
A map which is used instead of _m_jointActionObservationHistoryTreeVector when we don't cache all JointActionObservationHistoryTree's. | |
JointActionObservationHistoryTree * | _m_jointActionObservationHistoryTreeRoot |
The root node of the joint actionObservation histories tree. | |
std::vector < JointActionObservationHistoryTree * > | _m_jointActionObservationHistoryTreeVector |
A vector which stores JointActionObservationHistoryTree pointer. | |
JointObservationHistoryTree * | _m_jointObservationHistoryTreeRoot |
The root node of the joint observation histories tree. | |
std::vector < JointObservationHistoryTree * > | _m_jointObservationHistoryTreeVector |
A vector which stores a JointObservationHistoryTree pointer. | |
std::vector< size_t > | _m_nrActionHistories |
A vector that keeps track of the number of action histories per agent. | |
std::vector< std::vector < size_t > > | _m_nrActionHistoriesT |
A vector that keeps track of the number of action histories per agent per time step. | |
std::vector< size_t > | _m_nrActionObservationHistories |
A vector that keeps track of the number of action-obs. | |
std::vector< std::vector < size_t > > | _m_nrActionObservationHistoriesT |
Keeps track of the number of action-obs. | |
size_t | _m_nrJointActionHistories |
The number of joint action histories. | |
std::vector< size_t > | _m_nrJointActionHistoriesT |
The number of joint action histories per time-step. | |
size_t | _m_nrJointActionObservationHistories |
The number of joint actionAction histories. | |
std::vector< size_t > | _m_nrJointActionObservationHistoriesT |
The number of joint actionObservation histories per time-step. | |
size_t | _m_nrJointObservationHistories |
The number of joint observation histories. | |
std::vector< size_t > | _m_nrJointObservationHistoriesT |
The number of joint observation histories per time-step. | |
std::vector< size_t > | _m_nrObservationHistories |
A vector that keeps track of the number of observation histories per agent. | |
std::vector< std::vector < size_t > > | _m_nrObservationHistoriesT |
Keeps track of the number of observation histories per agent per time step. | |
std::vector < ObservationHistoryTree * > | _m_observationHistoryTreeRootPointers |
A vector that stores pointers to the roots of the observation history trees of each agent. | |
std::vector< std::vector < ObservationHistoryTree * > > | _m_observationHistoryTreeVectors |
A vector which, for each agents, stores a vector with all ObservationHistoryTree pointers. |
BruteForceSearchPlanner implements an exact solution algorithm.
Uses brute force search, i.e., it loops over all joint policies, computes the the value of each of them, and stores the one with the highest value. This results necessarily in the optimal value.
Definition at line 43 of file BruteForceSearchPlanner.h.
BruteForceSearchPlanner::BruteForceSearchPlanner | ( | size_t | horizon = 3 , |
DecPOMDPDiscreteInterface * | p = 0 |
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Definition at line 36 of file BruteForceSearchPlanner.cpp.
References PlanningUnitDecPOMDPDiscrete::SetReferred().
BruteForceSearchPlanner::BruteForceSearchPlanner | ( | const PlanningUnitMADPDiscreteParameters & | params, |
size_t | horizon = 3 , |
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DecPOMDPDiscreteInterface * | p = 0 |
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Definition at line 44 of file BruteForceSearchPlanner.cpp.
References PlanningUnitDecPOMDPDiscrete::SetReferred().
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inlinevirtual |
Returns the expected reward of the best found joint policy.
Implements PlanningUnitDecPOMDPDiscrete.
Definition at line 73 of file BruteForceSearchPlanner.h.
References _m_expectedRewardFoundPolicy.
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inlinevirtual |
Returns a pointer to the computed joint policy.
Implements PlanningUnit.
Definition at line 67 of file BruteForceSearchPlanner.h.
References _m_foundPolicy.
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inline |
Definition at line 68 of file BruteForceSearchPlanner.h.
References _m_foundPolicy.
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inlinevirtual |
Returns the expected reward of the best found joint policy.
Reimplemented from PlanningUnitDecPOMDPDiscrete.
Definition at line 70 of file BruteForceSearchPlanner.h.
References _m_foundPolicy.
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virtual |
The methods that performs the planning.
Implements PlanningUnit.
Definition at line 53 of file BruteForceSearchPlanner.cpp.
References _m_expectedRewardFoundPolicy, _m_foundPolicy, ValueFunctionDecPOMDPDiscrete::CalculateV(), DEBUG_BFS, PlanningUnitMADPDiscrete::GetNrJointPolicies(), and PrintTools::PrintProgress().
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private |
Definition at line 47 of file BruteForceSearchPlanner.h.
Referenced by GetExpectedReward(), and Plan().
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private |
Definition at line 46 of file BruteForceSearchPlanner.h.
Referenced by GetJointPolicy(), GetJointPolicyDiscrete(), GetJointPolicyPureVector(), and Plan().