CoLoc.h

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#ifndef CoLoc_H
#define CoLoc_H

#include <string>
#include <vector>
#include <map>
#include <sstream>
#include <stdexcept>
#include "MOMDP.h"
#include "Observations.h"
#include "Actions.h"
#include "States.h"

#include "Rewards.h"

#include "ObservationProbabilities.h"
#include "StateTransitionX.h"
#include "StateTransitionXY.h"

#include "Belief.h"
#include "BeliefTransition.h"

#include "MObject.h"
#include "MathLib.h"

#include "Map2D.h"
#include "Map2DPosVar.h"
#include "Map2DPosValue.h"
#include "Variable.h"
#include "VariableValue.h"
#include "Map2DPath.h"

using namespace std;
using namespace momdp;

namespace momdp 
{

        class CoLoc: public MOMDP
        {
        private:
                Map2D baseMap;
                SharedPointer<Map2DPath> baseMapPath;

        public:
                                
                CoLoc(void); // default constructor

                virtual ~CoLoc(void);

                virtual string ToString();

                virtual REAL_VALUE getDiscount ()
                {
                        return discount;
                }

                virtual bool hasPOMDPMatrices();
                
                virtual obsState_prob_vector& getObsStateProbVector(obsState_prob_vector& result, BeliefWithState& b, int a);
                virtual SparseVector& getJointUnobsStateProbVector(SparseVector& result, SharedPointer<BeliefWithState> b,      int a, int Xn);

                virtual int getNumActions();
                virtual int getBeliefSize();

                //virtual bool getIsTerminalState(BeliefWithState &b); inherit from MOMDP's version

                virtual void getObsProbVectorFast(obs_prob_vector& result, int a, int Xn, SparseVector& tmp1);
                virtual void getObsProbVector(obs_prob_vector& result, const BeliefWithState& b, int a, int Xn);


                //
                virtual map<string, string> getActionsSymbols(int actionNum);
                virtual map<string, string> getFactoredObservedStatesSymbols(int stateNum) ;
                virtual map<string, string> getFactoredUnobservedStatesSymbols(int stateNum) ;
                virtual map<string, string> getObservationsSymbols(int observationNum) ;
        };
}
#endif