ProblemParams.h

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#ifndef ProblemParams_H
#define ProblemParams_H


#include "MObject.h"
using namespace momdp;
namespace momdp 
{

        class ProblemParams : public MObject
        {
        public:
                double AUVtoSUVProb; // r
                double SUVtoAUVProb; // p
                double NoisyAUVObsRadius; // D , not a circular radius, it is the greatest delta in x and/or y
                double NoisyAUVObsProb; // s
                double AUVBlindMoveProb; // q
                double MovementCost;
                double OnPathReward;
                double OnGoalReward;
                double ModemRange;
                double DiscountFactor;
                double OffPathPenalty;

                ProblemParams()
                {
                        AUVtoSUVProb = 0.9; // r
                        SUVtoAUVProb = 0.9; // p
                        NoisyAUVObsRadius = 1; // D , not a circular radius, it is the greatest delta in x and/or y
                        NoisyAUVObsProb = 0.8; // s
                        AUVBlindMoveProb = 0.85; // q
                        MovementCost = -10;
                        OnPathReward = 10;
                        OnGoalReward = 100;
                        ModemRange = 1.5;
                        DiscountFactor = 0.95;
                        OffPathPenalty = -10;
                }

        };
}

#endif