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MADP toolbox --- an example
Here we give an example of how to use the MADP toolbox. Figure 1 provides the full source code listing of a simple program.
1 #include "ProblemDecTiger.h"
2 #include "JESPExhaustivePlanner.h"
3 int main()
4 {
5 ProblemDecTiger dectiger;
6 JESPExhaustivePlanner jesp(3,&dectiger);
7 jesp.Plan();
8 cout << jesp.GetExpectedReward() << endl;
9 cout << jesp.GetJointPolicy()->SoftPrint() << endl;
10 return(0);
11 }
| Figure 1: | A small example program that runs JESP on the DecTiger problem. |
It uses exhaustive JESP to plan for 3 time steps for the DecTiger problem, and prints out the computed value as well as the policy. Line 5 constructs an instance of the DecTiger problem directly, without the need to parse dectiger.dpomdp. Line 6 instantiates the planner, with as arguments the planning horizon and a reference to the problem it should consider. Line 7 invokes the actual planning and lines 8 and 9 print out the results.
This is a simple but complete program, and in the distribution (in src/examples) more elaborate examples are provided which, for instance, demonstrate the command-line parsing functionality and the use of the .dpomdp parser.
src/examples> ./decTigerJESP Value computed for DecTiger horizon 3: 5.19081 Policy computed: JointPolicyPureVector index 120340 depth 999999 Policy for agent 0 (index 55): Oempty, --> a00:Listen Oempty, o00:HearLeft, --> a00:Listen Oempty, o01:HearRight, --> a00:Listen Oempty, o00:HearLeft, o00:HearLeft, --> a02:OpenRight Oempty, o00:HearLeft, o01:HearRight, --> a00:Listen Oempty, o01:HearRight, o00:HearLeft, --> a00:Listen Oempty, o01:HearRight, o01:HearRight, --> a01:OpenLeft Policy for agent 1 (index 55): Oempty, --> a10:Listen Oempty, o10:HearLeft, --> a10:Listen Oempty, o11:HearRight, --> a10:Listen Oempty, o10:HearLeft, o10:HearLeft, --> a12:OpenRight Oempty, o10:HearLeft, o11:HearRight, --> a10:Listen Oempty, o11:HearRight, o10:HearLeft, --> a10:Listen Oempty, o11:HearRight, o11:HearRight, --> a11:OpenLeft
| Figure 2: | Output of the above program. |