BeliefTreeNode.h

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#ifndef BeliefTreeNode_H
#define BeliefTreeNode_H

#include <vector>
#include "Const.h"
#include "FacmodelStructs.h"
#include "MObject.h"

using namespace std;
using namespace momdp;
namespace momdp 
{
#define CB_QVAL_UNDEFINED (-99e+20)
#define CB_INITIALIZATION_PRECISION_FACTOR (1e-2)

        class BeliefTreeNode;
        class BeliefCache;
        class Tuple;

        class BeliefTreeEdge 
        {
        public:
                double obsProb;         // note that this is the joint prob of observation and next_x value
                BeliefTreeNode* nextState;
                BeliefTreeEdge();
                ~BeliefTreeEdge();
        };
        

        // added for factored - SYL 17072008
        class BeliefTreeObsState 
        {
        public:
                Tuple* extraData;
                vector<BeliefTreeEdge*> outcomes;       
                size_t getNumOutcomes(void) const { return outcomes.size(); }
                BeliefTreeObsState()
                {
                        extraData = NULL;
                }
        };

        class BeliefTreeQEntry
        {
        public:
                double immediateReward;
                //std::vector<BeliefTreeEdge*> outcomes;                // removed for factored - SYL 17072008
                vector<BeliefTreeObsState*> stateOutcomes;      // added for factored - SYL 17072008
                Tuple* extraData;
                double lbVal, ubVal;
                bool valid;//added rn 12/18/2006 //for purpose of record which entries are valid (not sub-optimal)
                size_t getNumStateOutcomes(void) const { return stateOutcomes.size(); }
                BeliefTreeQEntry()
                {
                        extraData = NULL;
                }
        };

        struct cacherow_stval 
        {
                int           row;
                state_val     sval;
        };

        class BeliefTreeNode :  public MObject
        {
        public:
                BeliefTreeNode(void);
                virtual ~BeliefTreeNode(void);


                int count;//the count of valid paths which led to the belief node in the reachable tree
                SharedPointer<BeliefWithState> s;                               // added for factored - SYL 17072008
                cacherow_stval cacheIndex;              // added for factored - SYL 17072008

                vector<BeliefTreeQEntry> Q;

                /*double lastUbVal;
                list<int> depth;
                list<int> depth2;
                list<double> targetUb;
                list<bool> examined;*/
                
                void print();

                // TODO: migrate checked to Pruning data tuple
                bool checked;

                bool isFringe(void) const { return Q.empty(); }
                size_t getNodeNumActions(void) const { return Q.size(); }
                BeliefTreeNode& getNextState(int a, int o, int x) { return *Q[a].stateOutcomes[x]->outcomes[o]->nextState; }  // added for factored - SYL 17072008

                Tuple* extraData;

        };

}


#endif