MultiAgentDecisionProcess
Release 0.2.1
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PerseusPOMDPPlanner implements the Perseus planning algorithm for POMDPs. More...
#include <PerseusPOMDPPlanner.h>
Public Member Functions | |
PerseusPOMDPPlanner (const PlanningUnitDecPOMDPDiscrete &pu) | |
(default) Constructor | |
void | Plan () |
~PerseusPOMDPPlanner () | |
Destructor. | |
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AlphaVectorPOMDP (const PlanningUnitDecPOMDPDiscrete &pu) | |
(default) Constructor | |
AlphaVector | BeliefBackup (const JointBeliefInterface &b, const GaoVectorSet &G) const |
Computes the AlphaVector resulting from backing up JointBeliefInterface b with the back-projected vectors in G. | |
AlphaVector | BeliefBackup (const JointBeliefInterface &b, Index a, const GaoVectorSet &G) const |
virtual | ~AlphaVectorPOMDP () |
Destructor. | |
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AlphaVectorPlanning (const PlanningUnitDecPOMDPDiscrete &pu) | |
(default) Constructor | |
GaoVectorSet | BackProject (const ValueFunctionPOMDPDiscrete &v) const |
Back projects a value function. | |
GaoVectorSet | BackProject (const VectorSet &v) const |
Back projects a value function, represented as a VectorSet. | |
GaoVectorSet | BackProjectMonahan (const QFunctionsDiscrete &Qs) const |
GaoVectorSet | BackProjectMonahan (const ValueFunctionPOMDPDiscrete &V) const |
VectorSet | CrossSum (const VectorSet &A, const VectorSet &B) const |
Compute the cross-sum of two vector sets. | |
void | ExportPOMDPFile (const std::string &filename) const |
Exports the POMDP to file named filename. | |
ValueFunctionPOMDPDiscrete | GetImmediateRewardValueFunction () const |
Returns the value function induced by the reward model. | |
const PlanningUnitDecPOMDPDiscrete * | GetPU () const |
Returns a ref to the PlanningUnit. | |
void | MonahanCrossSum (const GaoVectorSet &G, ValueFunctionPOMDPDiscrete &V, Index a, bool doIncPrune) const |
ValueFunctionPOMDPDiscrete | Prune (const ValueFunctionPOMDPDiscrete &V) const |
Prune a valuefunction. | |
VectorSet | Prune (const VectorSet &V) const |
Prune a VectorSet. | |
BeliefSet | SampleBeliefs (ArgumentHandlers::Arguments args) const |
Sample a belief set according to the arguments. | |
QFunctionsDiscrete | ValueFunctionToQ (const ValueFunctionPOMDPDiscrete &V) const |
virtual | ~AlphaVectorPlanning () |
Destructor. | |
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void | AddTimedEvent (const std::string &id, clock_t duration) |
Adds event of certain duration, e.g., an external program call. | |
std::vector< double > | GetTimedEventDurations (const std::string &id) |
Returns all stored durations (in s) for a particular event. | |
void | LoadTimers (const std::string &filename) |
Load timing info from file filename. | |
void | PrintTimers () const |
Print stored timing info. | |
void | PrintTimersSummary () const |
Sums data and prints out a summary. | |
void | SaveTimers (const std::string &filename) const |
Save collected timing info to file filename. | |
void | SaveTimers (std::ofstream &of) const |
Save collected timing info to ofstream of. | |
void | StartTimer (const std::string &id) const |
Start to time an event identified by id. | |
void | StopTimer (const std::string &id) const |
Stop to time an event identified by id. | |
TimedAlgorithm () | |
(default) Constructor | |
virtual | ~TimedAlgorithm () |
Destructor. | |
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void | ExportBeliefSet (const std::string &filename) const |
Exports the belief set in a simple matrix format. | |
void | ExportValueFunction (const std::string &filename) const |
Calls AlphaVectorPlanning::ExportValueFunction. | |
double | GetQ (const JointBeliefInterface &b, Index jaI) const |
double | GetQ (const JointBeliefInterface &b, Index jaI, int &betaMaxI) const |
double | GetQ (const JointBeliefInterface &b, Index t, Index jaI) const |
double | GetQ (const JointBeliefInterface &b, Index t, Index jaI, int &betaMaxI) const |
QFunctionsDiscrete | GetQFunctions () const |
ValueFunctionPOMDPDiscrete | GetValueFunction () const |
PerseusStationary (const PlanningUnitDecPOMDPDiscrete &pu) | |
(default) Constructor | |
void | SetBeliefSet (const BeliefSet &S) |
Sets the belief set S that Perseus should use. | |
void | SetValueFunction (const std::string &filename) |
Sets the value function. | |
virtual | ~PerseusStationary () |
Destructor. | |
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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 | |
int | SampleNotImprovedBeliefIndex (std::vector< bool > stillNeedToBeImproved, int nrNotImproved) const |
Sample an index of a belief in the set which has not been improved. | |
void | SetComputeVectorForEachBelief (bool compute) |
void | SetDryrun (bool dryrun) |
void | SetIdentification (std::string identification) |
void | SetInitializeWithImmediateReward (bool initReward) |
void | SetInitializeWithZero (bool initZero) |
void | SetMaximumNumberOfIterations (int nr) |
void | SetMinimumNumberOfIterations (int nr) |
void | SetResultsFilename (std::string filename) |
void | SetSaveIntermediateValueFunctions (bool save) |
void | SetSaveTimings (bool save) |
void | SetVerbose (int verbose) |
virtual | ~Perseus () |
Destructor. |
Private Member Functions | |
ValueFunctionPOMDPDiscrete | BackupStage (const BeliefSet &S, const ValueFunctionPOMDPDiscrete &V) |
Compute a Perseus backup stage. |
Additional Inherited Members | |
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static void | ExportBeliefSet (const BeliefSet &B, const std::string &filename) |
Exports a belief set to a file. | |
static void | ExportPOMDPFile (const std::string &filename, const PlanningUnitDecPOMDPDiscrete *pu) |
Exports the POMDP represented by pu to file named filename. | |
static void | ExportValueFunction (const std::string &filename, const ValueFunctionPOMDPDiscrete &V) |
Exports a value function V to file named filename. | |
static void | ExportValueFunction (const std::string &filename, const QFunctionsDiscrete &Q) |
Exports a Q functions Q to file named filename. | |
static void | ExportValueFunction (const std::string &filename, const QFunctionsDiscreteNonStationary &Q) |
Exports a Q functions Q to file named filename. | |
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()). | |
static ValueFunctionPOMDPDiscrete | GetImmediateRewardValueFunction (const PlanningUnitDecPOMDPDiscrete *pu) |
Returns the value function induced by the reward model of pu. | |
static ValueFunctionPOMDPDiscrete | ImportValueFunction (const std::string &filename) |
Imports a value function from a file named filename. | |
static QFunctionsDiscreteNonStationary | ImportValueFunction (const std::string &filename, size_t nr, size_t nrA, size_t nrS) |
static ValueFunctionPOMDPDiscrete | QFunctionsToValueFunction (const QFunctionsDiscrete &Q) |
static QFunctionsDiscrete | ValueFunctionToQ (const ValueFunctionPOMDPDiscrete &V, size_t nrA, size_t nrS) |
static bool | VectorIsInValueFunction (const AlphaVector &alpha, const ValueFunctionPOMDPDiscrete &V) |
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static std::string | BackupTypeToString (const QAVParameters ¶ms) |
static QAVParameters | ProcessArguments (const ArgumentHandlers::Arguments &args) |
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std::vector< double > | GetImmediateRewardBeliefSet () const |
void | InitializeBeliefs (int nrB, bool uniquify) |
void | StoreValueFunction (const ValueFunctionPOMDPDiscrete &V) |
void | StoreValueFunction (const QFunctionsDiscrete &Q) |
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BeliefSet * | _m_beliefs |
The belief set. | |
QFunctionsDiscrete | _m_qFunction |
The resulting Q functions, derived from _m_valueFunction. | |
ValueFunctionPOMDPDiscrete | _m_valueFunction |
The resulting value function. |
PerseusPOMDPPlanner implements the Perseus planning algorithm for POMDPs.
Definition at line 41 of file PerseusPOMDPPlanner.h.
PerseusPOMDPPlanner::PerseusPOMDPPlanner | ( | const PlanningUnitDecPOMDPDiscrete & | pu | ) |
(default) Constructor
Definition at line 39 of file PerseusPOMDPPlanner.cpp.
References AlphaVectorPlanning::Initialize().
PerseusPOMDPPlanner::~PerseusPOMDPPlanner | ( | ) |
Destructor.
Definition at line 50 of file PerseusPOMDPPlanner.cpp.
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private |
Compute a Perseus backup stage.
Definition at line 110 of file PerseusPOMDPPlanner.cpp.
References Perseus::_m_computeVectorForEachBelief, Perseus::BackupStageLeadIn(), Perseus::BackupStageLeadOut(), AlphaVectorPOMDP::BeliefBackup(), BeliefValue::GetMaximizingVector(), PlanningUnitMADPDiscrete::GetNrStates(), AlphaVectorPlanning::GetPU(), BeliefValue::GetValues(), AlphaVector::GetValues(), Perseus::GetVerbose(), AlphaVector::Print(), and Perseus::SampleNotImprovedBeliefIndex().
Referenced by Plan().
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virtual |
Implements Perseus.
Definition at line 54 of file PerseusPOMDPPlanner.cpp.
References PerseusStationary::_m_beliefs, BackupStage(), Perseus::CheckConvergence(), Perseus::GetInitialValueFunction(), BeliefValue::GetValues(), Perseus::PlanEndOfIteration(), Perseus::PlanLeadIn(), Perseus::PlanLeadOut(), and Perseus::PlanStartOfIteration().