taxi.hh

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#ifndef _TAXI_H_
#define _TAXI_H_

#include <set>
#include <rl_common/Random.h>
#include <rl_common/core.hh>
#include "gridworld.hh"

class Taxi: public Environment {
public:
  Taxi(Random &rand, const Gridworld *gridworld, bool stochastic);

  Taxi(Random &rand);

  Taxi(Random &rand, bool stochastic);

  Taxi(Random &rand, unsigned width, unsigned height, bool stochastic);

  virtual ~Taxi();

  virtual const std::vector<float> &sensation() const;
  virtual float apply(int action);

  virtual bool terminal() const;
  virtual void reset();
  virtual int getNumActions();
  virtual void getMinMaxFeatures(std::vector<float> *minFeat, std::vector<float> *maxFeat);
  virtual void getMinMaxReward(float* minR, float* maxR);
  virtual std::vector<experience> getSeedings();

  experience getExp(float s0, float s1, float s2, float s3, int a);

  void setSensation(std::vector<float> newS);

protected:
  typedef std::pair<float,float> coord_t;
  enum taxi_action_t {NORTH, SOUTH, EAST, WEST, PICKUP, PUTDOWN};

  class DefaultLandmarks: public std::vector<coord_t> {
  public:
    DefaultLandmarks();
  };

private:
  const Gridworld *const grid;
  std::vector<coord_t> landmarks; // not const because of randomize_landmarks
  const bool noisy;
  Random &rng;

  std::vector<float> s;
  bool fickle;

  float &ns;
  float &ew;
  float &pass;
  float &dest;

  static const Gridworld *create_default_map();

  static const DefaultLandmarks defaultlandmarks;

  taxi_action_t add_noise(taxi_action_t action);

  void apply_fickle_passenger();

  void randomize_landmarks();

  void randomize_landmarks_to_corners();
};

#endif