SARSOPPrune.h

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#ifndef SARSOPPrune_H
#define SARSOPPrune_H

#include "PointBasedAlgorithm.h"
#include "Bound.h"
#include "Prune.h"
#include "BoundSet.h"
#include "AlphaPlane.h"
#include "BeliefValuePair.h"
#include "SARSOP.h"

namespace momdp 
{
        class SARSOPPrune :public Prune
        {
        private:
                SARSOP* sarsopSolver;
                int pruneInterval; //numBackups between each 2 prunings
                int currentRound; 

                double elapsed;

                // for pruning
                double bglobal_delta;
                int state;
                bool firstPass;

        public:
                SARSOPPrune( SARSOP* _solver) :Prune(_solver)
                {
                        sarsopSolver = _solver;
                        pruneInterval = 50;
                        currentRound = 1;

                        state = 2;
                        firstPass = true;
                        setDelta(sarsopSolver->solverParams->delta);

                }

                ~SARSOPPrune(void)
                {
                }

                virtual void prune(void);
                void pruneLowerBound();
                void pruneUpperBound();
                void nullifySubOptimalBranches();
                void nullifySubOptimalCerts(BeliefTreeNode* cn);
                void nullifySubOptimalCerts(BeliefTreeQEntry* e);
                void nullifyEntry(BeliefTreeQEntry* e);
                void uncheckAllSubNodes(BeliefTreeNode* cn);
                void uncheckEntry(BeliefTreeQEntry* e);
                void pruneDynamicDeltaVersion();
                void updateDeltaVersion2(int overPrune, int underPrune);
                void increaseDelta();
                void decreaseDelta();

                void setDelta(double newDelta);

                static void onLowerBoundBackup (PointBasedAlgorithm* solver, BeliefTreeNode * node, SharedPointer<AlphaPlane> backupResult)
                {
                        // updating certs, etc
                }

                // Migrated from AlphaPlane
                bool hasMaxMetaAt(SharedPointer<AlphaPlane> alphaPlane, int index)
                {
                        SARSOPAlphaPlaneTuple* dataTuple = (SARSOPAlphaPlaneTuple *) alphaPlane->solverData;
                        FOREACH(AlphaPlaneMaxMeta* , entry, dataTuple->maxMeta)
                        {
                                if((*entry)->cacheIndex == index)
                                {
                                        return true;
                                }
                        }
                        return false;
                }




        };
}

#endif