pomdp.h

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#ifndef _wam_pomdp_h_
#define _wam_pomdp_h_

#include "ros/this_node.h"
#include "ros/names.h"
#include "ros/node_handle.h"
#include "ros/rate.h"
#include <list>

#include "mutex.h"
#include "Policy.h"

// [publisher subscriber headers]

// [service client headers]
#include "std_srvs/Empty.h"
#include "std_msgs/Int32.h"
#include "iri_wam_common_msgs/wamaction.h"
#include "iri_wam_common_msgs/obs_request.h"
#include "iri_wam_common_msgs/belief_summary.h"
#include "iri_wam_common_msgs/belief.h"

// [action server client headers]

#define LOGFILE "log.txt"

#define MAXNUMB 5 //maxnumb + 1
#define AZONEMSG 1
#define BZONEMSG 2
#define ANYZONE 0

enum {
    //remember to change the other .h enums (dummy_pomdp)!
    TAKEHIGH,
    TAKELOW,
    CHANGEPILE,
    FOLDLOW,
    SPREAD,
    FLIP,
    SHAKE,
    FOLDHIGH,
    MOVEAWAY,
    DUMMY
};

enum {
    STRAIGHT,
    ISOMETRIC,
    PEG
};

class Pomdp
{
  private:
    CMutex execution_mutex;
    bool execution_flag;
    int actioncount;
    std::vector<int> probablestates;

    ros::NodeHandle node_handle_;

    Policy *myPolicy;
    
    // [publisher attributes]
    ros::Publisher focused_obj_label_publisher;
    std_msgs::Int32 ObjLabel_msg;
    ros::Publisher belief_summary_publisher;
    iri_wam_common_msgs::belief_summary belief_summary_msg;
    ros::Publisher belief_publisher;
    iri_wam_common_msgs::belief belief_msg;

    // [subscriber attributes]
        
    // [service attributes]
    ros::ServiceServer execution_flow_control_server;
    bool execution_flow_controlCallback(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res);
            
    // [client attributes]
    ros::ServiceClient obs_client;
    iri_wam_common_msgs::obs_request obs_request_srv;
    ros::ServiceClient wam_action_client;
    iri_wam_common_msgs::wamaction wam_actions_client_srv;
            
    // [action server attributes]
            
    // [action client attributes]

    void pomdp_action2wam_action(int pomdp_action, int& wam_action, int& zone, int& hand);
    void publish_belief();
  public:
    Pomdp();

    void mainLoop(void);

};
#endif