PolicyGraphGenerator.h

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#ifndef PolicyGraphGenerator_H
#define PolicyGraphGenerator_H

#include <vector>
#include <ostream>
#include <string>
#include <set>
#include "MOMDP.h"
#include "BeliefTreeNode.h"
using namespace std;
using namespace momdp;

namespace momdp
{
    class AlphaVectorPolicy;
    class BeliefForest;
    class BeliefTreeNode;
    class BeliefCache;
    class Sample;
    class SolverParams;

    class NodeRelation
    {
        public:
            BeliefTreeNode *srcNode;
            BeliefTreeNode *destNode;
            int X;
            double xProb;

            int o;
            double oProb;

    };

    class PolicyGraphParam
    {
        public:
            bool useLookahead;
            int depth;
            double probThreshold;               //only show edges with probability above probThreshold
            int maxEdge;                        //max number of outgoing edges from a node      

            PolicyGraphParam()
            {
                depth = 0;              //depth of the graph, 0 for no limit
                useLookahead = true;
                probThreshold = 0;      
                maxEdge = 0;            
            }

    };

    class PolicyGraphGenerator
    {
        private:
            SharedPointer<MOMDP> problem;
            SharedPointer<AlphaVectorPolicy> policy;
            BeliefForest* beliefForest;
            Sample* sampleEngine;
            vector <BeliefCache *>  beliefCacheSet;
            PolicyGraphParam graphParam;

            set<BeliefTreeNode*> nodesList;             //list of node used in graph
            vector<NodeRelation> nodeRelationsList;     //list of edges

            void expandNode(BeliefTreeNode* curNode, int bestAction, vector<NodeRelation>& expansion);
            void generateNodesDot(ostream& output, BeliefTreeNode* node);
            string formatTuple(string name, int index, map<string, string> dataMap);
            void convertStCacheIndex(ostream& output, cacherow_stval& stRowIndex);
            void generateNodesRelation(ostream& output, vector<NodeRelation>& nodeRelations, set<BeliefTreeNode*> firstLevelNodes);
            void drawRootNodeDot(ostream& output, SharedPointer<SparseVector> initialBeliefY, SharedPointer<DenseVector> initialBeliefX, int bestAction);
            void dfsBeliefForest(BeliefTreeNode* curNode, vector<BeliefTreeNode*>& path ,int level);

        public:
            PolicyGraphGenerator(SharedPointer<MOMDP> _problem, SharedPointer<AlphaVectorPolicy> _policy, PolicyGraphParam _graphParam);
            void generateGraph(ostream& output);        //generate policy graph in DOT format
            ~PolicyGraphGenerator(void);
    };

}
#endif