36 #define DEBUG_PerseusPOMDPPlanner 0
59 vector<double> VB,VBnew;
80 ValueFunctionPOMDPDiscrete::iterator it=V1.begin();
83 if(it->GetAction()==INT_MAX)
119 vector<bool> stillNeedToBeImproved(nrB,
true);
128 while(nrNotImproved!=0)
140 double x=S[k]->InnerProduct(alpha.
GetValues());
146 #if DEBUG_PerseusPOMDPPlanner
147 cout <<
"Getting n-1 vector for " << k << endl;
161 int nrImprovedByAlpha=0;
162 for(
int b=0;b!=nrB;b++)
163 if(stillNeedToBeImproved[b] && VBalpha[b]>=VB[b])
165 stillNeedToBeImproved[b]=
false;
171 cout <<
"Added vector for " << k <<
" (V " << VBalpha[k]
172 <<
" improved " << nrImprovedByAlpha <<
")" << endl;
173 #if DEBUG_PerseusPOMDPPlanner
175 if(nrImprovedByAlpha==0)