PruneBeliefValuePair.cpp

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#include "PruneBeliefValuePair.h"
#include "BeliefValuePair.h"
#include "BeliefValuePairPool.h"

using namespace std;
using namespace momdp;

namespace momdp{

        void PruneBeliefValuePair::prune(void) 
        {
                unsigned int nextPruneNumPts = max(lastPruneNumPts + PRUNE_PTS_INCREMENT, (int) (lastPruneNumPts * PRUNE_PTS_FACTOR));
                if (bvPairPool->points.size() > nextPruneNumPts) 
                {
                        prunePoints();
                }
        }

        void PruneBeliefValuePair::prunePoints(void) 
        {
#if USE_DEBUG_PRINT
                int oldNum = bvPairPool->points.size();
#endif

                list< std::list<SharedPointer<BeliefValuePair> >::iterator > erase_ptrs;

                LISTFOREACH_NOCONST(SharedPointer<BeliefValuePair> , ptp,  bvPairPool->points) 
                {
                        SharedPointer<BeliefValuePair> try_pair = *ptp;
                        try_pair->disabled = true;
                        // put pt back in if v is at least epsilon smaller than
                        // upperBound(b) (smaller is better because it means the upper
                        // bound is tighter)
                        if (try_pair->v <= bvPairPool->getValue((try_pair->b)) - ZMDP_BOUNDS_PRUNE_EPS) 
                        {
                                try_pair->disabled = false;
                        } 
                        else
                        {
                                erase_ptrs.push_back(ptp);
                        }
                }

                LISTFOREACH(list<SharedPointer<BeliefValuePair> >::iterator, erase_ptr,  erase_ptrs) 
                {
                        list<SharedPointer<BeliefValuePair> >::iterator  x, xp1;
                        x = xp1 = (*erase_ptr);
                        xp1++;
                        bvPairPool->points.erase( x, xp1 );
                }

#if USE_DEBUG_PRINT
                cout << "... pruned # points from " << oldNum << " down to " << points.size() << endl;
#endif
                lastPruneNumPts = bvPairPool->points.size();
        }





};