Sample.h

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/********** tell emacs we use -*- c++ -*- style comments *******************
$Revision: 2.10 $  $Author: duyanzhu $  $Date: 2008/06/14 01:41:14 $

@file    Sample.h
@brief   the superclass of all the sample classes

***************************************************************************/
#ifndef Sample_H
#define Sample_H

#include <list>
#include <vector>
#include "Belief.h"
#include "BeliefTreeNode.h"
#include "BeliefForest.h"
#include "PointBasedAlgorithm.h"
using namespace std;
using namespace momdp;

namespace momdp
{
        class MOMDP;


        class Sample
        {
        public:
                typedef void (*GetNodeCallback)(PointBasedAlgorithm *solver, BeliefTreeNode *node, SharedPointer<BeliefWithState>& belief) ;
                
        protected:
                vector<GetNodeCallback> onGetNode;

                vector <BeliefCache *> *beliefCacheSet;
                BeliefForest *beliefForest;


        public:
                SharedPointer<MOMDP> problem;
                PointBasedAlgorithm* solver;

                int numStatesExpanded;
                bool dumpData;
                bool dumpPolicyTrace;
                bool dumpPolicyTraceTime;

                Sample()
                {
                        numStatesExpanded = 0;
                }

                virtual void setup(PointBasedAlgorithm* _solver, SharedPointer<MOMDP> _problem, vector <BeliefCache *> *_beliefCacheSet, BeliefForest* _beliefForest)
                {
                        solver = _solver;
                        problem = _problem;
                        beliefCacheSet = _beliefCacheSet;
                        beliefForest = _beliefForest;

                }
                
                virtual void appendOnGetNodeHandler(GetNodeCallback _callback)
                {
                        onGetNode.push_back( _callback);
                }

                
                
                virtual list<cacherow_stval> sample(cacherow_stval beliefIndex, unsigned int currentRoot) // modified for factored, prevly, virtual list<int> 
                {
                        return list<cacherow_stval>();
                }

                //virtual list<cacherow_stval> sample(cacherow_stval beliefIndex)=0; // modified for factored, prevly, virtual list<int> sample(int beliefIndex)=0;
                virtual void samplePrepare(cacherow_stval beliefIndex_Sval); // modified for factored, prevly, void samplePrepare(int beliefIndex);
                virtual void samplePrepare(BeliefTreeNode* cn);

                //tree related methods
                //XXX ???
                virtual BeliefTreeNode* getNode(SharedPointer<BeliefWithState>& s); // modified for factored, prevly, BeliefTreeNode* getNode(const state_vector& s);
                virtual void expand(BeliefTreeNode& cn);
                
                virtual BeliefForest* getGlobalNode(void);

                //destructor
                virtual ~Sample(void){}


        };

}; // namespace momdp

#endif

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* REVISION HISTORY:
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