environment_XXX.h

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/*
 * 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_XXX_H_
#define __ENVIRONMENT_XXX_H_


#define XXX_MAXACTIONSWIDTH 9           

typedef struct ENV_XXX_CONFIG
{
        //parameters that are read from the configuration file
        unsigned int StartX1;
        unsigned int StartX2;
        unsigned int StartX3;
        unsigned int StartX4;
        unsigned int GoalX1;
        unsigned int GoalX2;
        unsigned int GoalX3;
        unsigned int GoalX4;


        //derived and initialized elsewhere parameters

} EnvXXXConfig_t;

typedef struct ENVXXXHASHENTRY
{
        int stateID;
        unsigned int X1;
        unsigned int X2;
        unsigned int X3;
        unsigned int X4;

} EnvXXXHashEntry_t;

typedef struct
{

        int startstateid;
        int goalstateid;

        //hash table of size x_size*y_size. Maps from coords to stateId 
        int HashTableSize;
        vector<EnvXXXHashEntry_t*>* Coord2StateIDHashTable;

        //vector that maps from stateID to coords       
        vector<EnvXXXHashEntry_t*> StateID2CoordTable;

        //any additional variables

}EnvironmentXXX_t;


class EnvironmentXXX : public DiscreteSpaceInformation
{

public:
        bool InitializeEnv(const char* sEnvFile);


        bool InitializeMDPCfg(MDPConfig *MDPCfg);
        int  GetFromToHeuristic(int FromStateID, int ToStateID);
        int  GetGoalHeuristic(int stateID);
        int  GetStartHeuristic(int stateID);
        void SetAllActionsandAllOutcomes(CMDPSTATE* state);
        void SetAllPreds(CMDPSTATE* state);
        void GetSuccs(int SourceStateID, vector<int>* SuccIDV, vector<int>* CostV);
        void GetPreds(int TargetStateID, vector<int>* PredIDV, vector<int>* CostV);

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


    ~EnvironmentXXX(){};

private:

        //member variables
        EnvXXXConfig_t EnvXXXCfg;
        EnvironmentXXX_t EnvXXX;


        
        void ReadConfiguration(FILE* fCfg);

        void InitializeEnvConfig();

        unsigned int GETHASHBIN(unsigned int X1, unsigned int X2, 
                                                unsigned int X3, unsigned int X4);

        void PrintHashTableHist();


        EnvXXXHashEntry_t* GetHashEntry(unsigned int X1, unsigned int X2, 
                                                                                unsigned int X3, unsigned int X4);


        EnvXXXHashEntry_t* CreateNewHashEntry(unsigned int X1, unsigned int X2, 
                                                                                                        unsigned int X3, unsigned int X4);


        void CreateStartandGoalStates();

        void InitializeEnvironment();


        void AddAllOutcomes(unsigned int SourceX1, unsigned int SourceX2, unsigned int SourceX3,
                                                unsigned int SourceX4, CMDPACTION* action, int cost);

        void ComputeHeuristicValues();


};


#endif