CoLoc.h
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00001 #ifndef CoLoc_H
00002 #define CoLoc_H
00003 
00004 #include <string>
00005 #include <vector>
00006 #include <map>
00007 #include <sstream>
00008 #include <stdexcept>
00009 #include "MOMDP.h"
00010 #include "Observations.h"
00011 #include "Actions.h"
00012 #include "States.h"
00013 
00014 #include "Rewards.h"
00015 
00016 #include "ObservationProbabilities.h"
00017 #include "StateTransitionX.h"
00018 #include "StateTransitionXY.h"
00019 
00020 #include "Belief.h"
00021 #include "BeliefTransition.h"
00022 
00023 #include "MObject.h"
00024 #include "MathLib.h"
00025 
00026 #include "Map2D.h"
00027 #include "Map2DPosVar.h"
00028 #include "Map2DPosValue.h"
00029 #include "Variable.h"
00030 #include "VariableValue.h"
00031 #include "Map2DPath.h"
00032 
00033 using namespace std;
00034 using namespace momdp;
00035 
00036 namespace momdp 
00037 {
00038 
00039         class CoLoc: public MOMDP
00040         {
00041         private:
00042                 Map2D baseMap;
00043                 SharedPointer<Map2DPath> baseMapPath;
00044 
00045         public:
00046                                 
00047                 CoLoc(void); // default constructor
00048 
00049                 virtual ~CoLoc(void);
00050 
00051                 virtual string ToString();
00052 
00053                 virtual REAL_VALUE getDiscount ()
00054                 {
00055                         return discount;
00056                 }
00057 
00058                 virtual bool hasPOMDPMatrices();
00059                 
00060                 virtual obsState_prob_vector& getObsStateProbVector(obsState_prob_vector& result, BeliefWithState& b, int a);
00061                 virtual SparseVector& getJointUnobsStateProbVector(SparseVector& result, SharedPointer<BeliefWithState> b,      int a, int Xn);
00062 
00063                 virtual int getNumActions();
00064                 virtual int getBeliefSize();
00065 
00066                 //virtual bool getIsTerminalState(BeliefWithState &b); inherit from MOMDP's version
00067 
00068                 virtual void getObsProbVectorFast(obs_prob_vector& result, int a, int Xn, SparseVector& tmp1);
00069                 virtual void getObsProbVector(obs_prob_vector& result, const BeliefWithState& b, int a, int Xn);
00070 
00071 
00072                 //
00073                 virtual map<string, string> getActionsSymbols(int actionNum);
00074                 virtual map<string, string> getFactoredObservedStatesSymbols(int stateNum) ;
00075                 virtual map<string, string> getFactoredUnobservedStatesSymbols(int stateNum) ;
00076                 virtual map<string, string> getObservationsSymbols(int observationNum) ;
00077         };
00078 }
00079 #endif


appl
Author(s): petercai
autogenerated on Tue Jan 7 2014 11:02:28