viplanner.h
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00001 /*
00002  * Copyright (c) 2008, Maxim Likhachev
00003  * All rights reserved.
00004  * 
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  * 
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the University of Pennsylvania nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  * 
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 #ifndef __VIPLANNER_H_
00030 #define __VIPLANNER_H_
00031 
00032 #define MDP_ERRDELTA 0.01 
00033 
00034 struct VIPLANNER_T
00035 {
00036         CMDP MDP;
00037         CMDPSTATE* StartState;
00038         CMDPSTATE* GoalState;
00039         int iteration;
00040 };
00041 
00044 typedef class VIPLANNERSTATEDATA : public AbstractSearchState
00045 {
00046 public:
00049         CMDPSTATE* MDPstate; 
00052         float v;
00053         float Pc;
00054         unsigned int iteration;
00055 
00058         CMDPACTION *bestnextaction; 
00059 
00060         
00061 public:
00062         VIPLANNERSTATEDATA() {};        
00063         ~VIPLANNERSTATEDATA() {};
00064 } VIState;
00065 
00066 
00069 class VIPlanner : public SBPLPlanner
00070 {
00071 
00072 public:
00075         int replan(double allocated_time_secs, vector<int>* solution_stateIDs_V);
00076 
00079         VIPlanner(DiscreteSpaceInformation* environment, MDPConfig* MDP_cfg)
00080         {
00081                 environment_ = environment;
00082                 MDPCfg_ = MDP_cfg;
00083         };
00084 
00087     ~VIPlanner();
00088 
00089 private:
00090         
00091         //member variables
00092         MDPConfig*  MDPCfg_;
00093         VIPLANNER_T viPlanner;
00094 
00095 
00096         void Initialize_vidata(CMDPSTATE* state);
00097 
00098         CMDPSTATE* CreateState(int stateID);
00099 
00100         CMDPSTATE* GetState(int stateID);
00101 
00102 
00103         void PrintVIData();
00104 
00105         void PrintStatHeader(FILE* fOut);
00106 
00107         void PrintStat(FILE* fOut, clock_t starttime);
00108 
00109 
00110         void PrintPolicy(FILE* fPolicy);
00111 
00112 
00113         void backup(CMDPSTATE* state);
00114 
00115         void perform_iteration_backward();
00116 
00117         void perform_iteration_forward();
00118 
00119         void InitializePlanner();
00120 
00121 
00122 
00123 
00124 };
00125 
00126 
00127 
00128 
00129 #endif
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sbpl
Author(s): Maxim Likhachev/maximl@seas.upenn.edu
autogenerated on Fri Jan 18 2013 13:41:53