#include <controller_pomdp.h>

Inheritance diagram for mdm_library::ControllerPOMDP:

Public Member Functions
	ControllerPOMDP (const std::string &problem_file, const CONTROLLER_STATUS initial_status=STARTED)
size_t	getNumberOfActions ()
size_t	getNumberOfObservations ()
size_t	getNumberOfStates ()
Protected Member Functions
void	act (const uint32_t observation)
virtual void	extBeliefCallback (const BeliefStateInfoConstPtr &msg)
virtual void	isdCallback (const FactoredDistributionConstPtr &msg)
void	normalizeBelief (boost::shared_ptr< JointBeliefInterface > b)
virtual void	observationCallback (const WorldSymbolConstPtr &msg)=0
void	publishAction (uint32_t a)
void	publishCurrentBelief ()
void	publishExpectedReward (uint32_t a)
Protected Attributes
ros::Publisher	action_pub_
boost::shared_ptr < JointBeliefInterface >	belief_
ros::Publisher	current_belief_pub_
ros::Publisher	exp_reward_pub_
ros::Subscriber	ext_belief_estimate_sub_
boost::shared_ptr< FSDist_COF >	ISD_
ros::Subscriber	isd_sub_
boost::shared_ptr< DecPOMDPLoader >	loader_
ros::Subscriber	observation_sub_
uint32_t	prev_action_
boost::shared_ptr < QFunctionJointBeliefInterface >	Q_

Detailed Description

ControllerPOMDP is an abstract class that provides the basic functionality for Factored Discrete POMDPs where the agent policy is implicitly described by a value function (or Q-value function).

Definition at line 49 of file controller_pomdp.h.

Constructor & Destructor Documentation

ControllerPOMDP::ControllerPOMDP	(	const std::string &	problem_file,
		const CONTROLLER_STATUS	initial_status = `STARTED`
	)

Constructor.

Parameters:

problem_file	the POMDP problem file in any MADP-compatible format.
initial_status	whether this controller should be auto-started upon construction or not.

Definition at line 43 of file controller_pomdp.cpp.

Member Function Documentation

void ControllerPOMDP::act ( const uint32_t observation ) [protected]

Main POMDP control step. Selects an action given an observation. The belief state will be updated according to the current observation and last action. The action with the highest value at the updated belief will be selected and published in the "action" topic in the current namespace.

Parameters:

observation the observation symbol for this decision step.

Definition at line 61 of file controller_pomdp.cpp.

void ControllerPOMDP::extBeliefCallback ( const BeliefStateInfoConstPtr & msg ) [protected, virtual]

The callback for external belief state estimates. Keep in mind that this information *will* override the POMDP's internal belief state. This can be used in scenarios where a belief state is naturally being estimated elsewhere, and the controller is only required to select an appropriate response.

Definition at line 184 of file controller_pomdp.cpp.

size_t ControllerPOMDP::getNumberOfActions ( )

Returns the number of actions in the POMDP, without exposing the DecPOMDPLoader.

Definition at line 157 of file controller_pomdp.cpp.

size_t ControllerPOMDP::getNumberOfObservations ( )

Returns the number of observations in the POMDP, without exposing the DecPOMDPLoader.

Definition at line 175 of file controller_pomdp.cpp.

size_t ControllerPOMDP::getNumberOfStates ( )

Returns the number of states in the POMDP, without exposing the DecPOMDPLoader.

Definition at line 166 of file controller_pomdp.cpp.

void ControllerPOMDP::isdCallback ( const FactoredDistributionConstPtr & msg ) [protected, virtual]

The callback for initial state distribution estimates. This information *will not* override the POMDP's internal belief state. It will set the ISD for this problem, which will be loaded after a controller reset, which will happen after the horizon runs out, or the controller is stopped/started by a higher level module.

handles normalization internally.

Definition at line 197 of file controller_pomdp.cpp.

void ControllerPOMDP::normalizeBelief ( boost::shared_ptr< JointBeliefInterface > b ) [protected]

Normalizes a given JointBeliefInterface so that it sums to 1.

normalizing belief to 1

Definition at line 236 of file controller_pomdp.cpp.

virtual void mdm_library::ControllerPOMDP::observationCallback ( const WorldSymbolConstPtr & msg ) [protected, pure virtual]

The callback for observations coming in through the "observation" topic in the current namespace. Each particular POMDP execution strategy (synchronous/asynchronous) will have to implement this callback.

Implemented in mdm_library::ControllerEventPOMDP, and mdm_library::ControllerTimedPOMDP.

void ControllerPOMDP::publishAction ( uint32_t a ) [protected]

Publishes an action symbol to the "action" topic.

Definition at line 114 of file controller_pomdp.cpp.

void ControllerPOMDP::publishCurrentBelief ( ) [protected]

Publishes the belief state after an update, useful for debugging purposes.

Definition at line 143 of file controller_pomdp.cpp.

void ControllerPOMDP::publishExpectedReward ( uint32_t a ) [protected]

Publishes the -immediate- expected reward for taking action "a" in the current belief state, to the "reward" topic.

Definition at line 126 of file controller_pomdp.cpp.