ppcpplanner.h
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00001 /*
00002  * Copyright (c) 2009, Maxim Likhachev
00003  * All rights reserved.
00004  * 
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  * 
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the University of Pennsylvania nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  * 
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 #ifndef __PPCPPLANNER_H_
00030 #define __PPCPPLANNER_H_
00031 
00032 
00033 
00036 typedef class PPCPPLANNERSTATEDATA : public AbstractSearchState
00037 {
00038 public:
00039 
00042         CMDPSTATE* MDPstate; 
00045         int v;
00048         unsigned int iteration;
00049 
00052         CMDPACTION *bestnextaction; 
00053 
00054 private:
00055         //probability of reaching this state (intermediate variable used by the algorithm)
00056         float Pc; 
00057 
00058         
00059 public:
00060         PPCPPLANNERSTATEDATA() {};      
00061         ~PPCPPLANNERSTATEDATA() {};
00062 } PPCPState;
00063 
00064 
00065 
00066 
00067 
00068 
00069 
00072 typedef struct PPCPSTATESPACE
00073 {
00076         CMDP MDP;
00079         CMDPSTATE* StartState;
00082         CMDPSTATE* GoalState;
00083 
00084         int iteration;
00085         int searchiteration;
00086 
00087     //TODO - vector<PolicyFullState_t*> CurrentPolicy; //current policy
00088     double currentpolicyconfidence;
00089 
00092         bool bReinitializeSearchStateSpace;
00093 
00094 }PPCPStateSpace_t;
00095 
00096 
00097 
00098 
00099 
00100 
00101 
00102 
00103 
00108 class PPCPPlanner : public SBPLPlanner
00109 {
00110 
00111 public:
00112 
00117         int replan(double allocated_time_secs, vector<sbpl_PolicyStatewithBinaryh_t>* SolutionPolicy, float* ExpectedCost, float* ProbofReachGoal);
00118 
00121         PPCPPlanner(DiscreteSpaceInformation* environment, int sizeofS, int sizeofH); 
00124     ~PPCPPlanner();
00125 
00128     int set_goal(int goal_stateID);
00131     int set_start(int start_stateID);
00132 
00135         int replan(double allocated_time_sec, vector<int>* solution_stateIDs_V){
00136                 SBPL_ERROR("ERROR: this version of replan not supported in PPCP planner\n");
00137                 throw new SBPL_Exception();
00138         };
00139 
00142         int replan(double allocated_time_sec, vector<int>* solution_stateIDs_V, int* solcost){
00143                 SBPL_ERROR("ERROR: this version of replan not supported in PPCP planner\n");
00144                 throw new SBPL_Exception();
00145         };
00146 
00149     int force_planning_from_scratch(); 
00150 
00151         
00154         int set_search_mode(bool bSearchUntilFirstSolution){
00155                 SBPL_ERROR("ERROR: set_search_mode not supported in PPCP planner\n");
00156                 throw new SBPL_Exception();
00157         };
00158 
00159 
00163         void costs_changed(StateChangeQuery const & stateChange);
00166     void costs_changed();
00167 
00168 
00169 private:
00170         
00171         //member variables
00172         PPCPStateSpace_t* pStateSpace;
00173         FILE* fDeb;
00174 
00175 
00176         //deallocates memory used by SearchStateSpace
00177         void DeleteStateSpace(PPCPStateSpace_t* pStateSpace);
00178         int  CreateSearchStateSpace(PPCPStateSpace_t* pStateSpace);
00179 
00180 
00181 
00182 };
00183 
00184 
00185 
00186 
00187 #endif
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sbpl
Author(s): Maxim Likhachev/maximl@seas.upenn.edu
autogenerated on Fri Jan 18 2013 13:41:53