viplanner.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 __VIPLANNER_H_
#define __VIPLANNER_H_

#define MDP_ERRDELTA 0.01 

struct VIPLANNER_T
{
        CMDP MDP;
        CMDPSTATE* StartState;
        CMDPSTATE* GoalState;
        int iteration;
};

typedef class VIPLANNERSTATEDATA : public AbstractSearchState
{
public:
        CMDPSTATE* MDPstate; 
        float v;
        float Pc;
        unsigned int iteration;

        CMDPACTION *bestnextaction; 

        
public:
        VIPLANNERSTATEDATA() {};        
        ~VIPLANNERSTATEDATA() {};
} VIState;


class VIPlanner : public SBPLPlanner
{

public:
        int replan(double allocated_time_secs, vector<int>* solution_stateIDs_V);

        VIPlanner(DiscreteSpaceInformation* environment, MDPConfig* MDP_cfg)
        {
                environment_ = environment;
                MDPCfg_ = MDP_cfg;
        };

    ~VIPlanner();

private:
        
        //member variables
        MDPConfig*  MDPCfg_;
        VIPLANNER_T viPlanner;


        void Initialize_vidata(CMDPSTATE* state);

        CMDPSTATE* CreateState(int stateID);

        CMDPSTATE* GetState(int stateID);


        void PrintVIData();

        void PrintStatHeader(FILE* fOut);

        void PrintStat(FILE* fOut, clock_t starttime);


        void PrintPolicy(FILE* fPolicy);


        void backup(CMDPSTATE* state);

        void perform_iteration_backward();

        void perform_iteration_forward();

        void InitializePlanner();




};




#endif