environment.h

Go to the documentation of this file.

/*
 * Copyright (c) 2008, Maxim Likhachev
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the University of Pennsylvania nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
#ifndef __ENVIRONMENT_H_
#define __ENVIRONMENT_H_

class DiscreteSpaceInformation
{

public:

        std::vector<int*> StateID2IndexMapping;
        
        FILE* fDeb;

        virtual bool InitializeEnv(const char* sEnvFile) = 0;

        virtual bool InitializeMDPCfg(MDPConfig *MDPCfg) = 0;

        virtual int  GetFromToHeuristic(int FromStateID, int ToStateID) = 0;
        virtual int  GetGoalHeuristic(int stateID) = 0;
        virtual int  GetStartHeuristic(int stateID) = 0;

        virtual void GetSuccs(int SourceStateID, std::vector<int>* SuccIDV, std::vector<int>* CostV) = 0;
        virtual void GetPreds(int TargetStateID, std::vector<int>* PredIDV, std::vector<int>* CostV) = 0;
        virtual void SetAllActionsandAllOutcomes(CMDPSTATE* state) = 0;
        virtual void SetAllPreds(CMDPSTATE* state) = 0;

        virtual int      SizeofCreatedEnv() = 0;
        virtual void PrintState(int stateID, bool bVerbose, FILE* fOut=NULL) = 0;
        virtual void PrintEnv_Config(FILE* fOut) = 0;

        virtual bool SetEnvParameter(const char* parameter, int value)
        {
                SBPL_ERROR("ERROR: Environment has no parameters that can be set via SetEnvParameter function\n");
                return false;
        }

        virtual std::vector<int> GetExpandedStates()
        {
                SBPL_ERROR("Error: Not yet defined for any environment other than door environment.\n");
                std::vector<int> list;
                return list;
        }

        virtual bool AreEquivalent(int StateID1, int StateID2){
                SBPL_ERROR("ERROR: environment does not support calls to AreEquivalent function\n");
                throw new SBPL_Exception();
        }

        virtual void GetRandomSuccsatDistance(int SourceStateID, std::vector<int>* SuccIDV, std::vector<int>* CLowV)
        {
                SBPL_ERROR("ERROR: environment does not support calls to GetRandomSuccsatDistance function\n");
                throw new SBPL_Exception();
        }
        virtual void GetRandomPredsatDistance(int TargetStateID, std::vector<int>* PredIDV, std::vector<int>* CLowV)
        {
                SBPL_ERROR("ERROR: environment does not support calls to GetRandomPredsatDistance function\n");
                throw new SBPL_Exception();
        };

    
        virtual void EnsureHeuristicsUpdated(bool bGoalHeuristics)
        {
                //by default the heuristics are up-to-date, but in some cases, the heuristics are computed only when really needed. For example,
                //xytheta environment uses 2D gridsearch as heuristics, and then re-computes them only when this function is called. This 
                //minimizes the number of times heuristics are re-computed which is an expensive operation
                //if bGoalHeuristics == true, then it updates goal heuristics (for forward search), otherwise it updates start heuristics (for backward search)

        };

        virtual ~DiscreteSpaceInformation(){
    SBPL_PRINTF("destroying discretespaceinformation\n");
    for(unsigned int i = 0; i < StateID2IndexMapping.size(); ++i){
      if(StateID2IndexMapping[i] != NULL)
        delete[] StateID2IndexMapping[i];
    }
    SBPL_FCLOSE(fDeb);
  }


        DiscreteSpaceInformation()
        {

#ifndef ROS
    const char* envdebug = "envdebug.txt";
#endif
          if((fDeb = SBPL_FOPEN(envdebug, "w")) == NULL)
            {
              SBPL_ERROR("ERROR: failed to open debug file for environment\n");
              throw new SBPL_Exception();
            }

        }
};



#endif