ppcpplanner.h

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/*
 * Copyright (c) 2009, Maxim Likhachev
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the University of Pennsylvania nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
#ifndef __PPCPPLANNER_H_
#define __PPCPPLANNER_H_



typedef class PPCPPLANNERSTATEDATA : public AbstractSearchState
{
public:

        CMDPSTATE* MDPstate; 
        int v;
        unsigned int iteration;

        CMDPACTION *bestnextaction; 

private:
        //probability of reaching this state (intermediate variable used by the algorithm)
        float Pc; 

        
public:
        PPCPPLANNERSTATEDATA() {};      
        ~PPCPPLANNERSTATEDATA() {};
} PPCPState;







typedef struct PPCPSTATESPACE
{
        CMDP MDP;
        CMDPSTATE* StartState;
        CMDPSTATE* GoalState;

        int iteration;
        int searchiteration;

    //TODO - vector<PolicyFullState_t*> CurrentPolicy; //current policy
    double currentpolicyconfidence;

        bool bReinitializeSearchStateSpace;

}PPCPStateSpace_t;









class PPCPPlanner : public SBPLPlanner
{

public:

        int replan(double allocated_time_secs, vector<sbpl_PolicyStatewithBinaryh_t>* SolutionPolicy, float* ExpectedCost, float* ProbofReachGoal);

        PPCPPlanner(DiscreteSpaceInformation* environment, int sizeofS, int sizeofH); 
    ~PPCPPlanner();

    int set_goal(int goal_stateID);
    int set_start(int start_stateID);

        int replan(double allocated_time_sec, vector<int>* solution_stateIDs_V){
                SBPL_ERROR("ERROR: this version of replan not supported in PPCP planner\n");
                throw new SBPL_Exception();
        };

        int replan(double allocated_time_sec, vector<int>* solution_stateIDs_V, int* solcost){
                SBPL_ERROR("ERROR: this version of replan not supported in PPCP planner\n");
                throw new SBPL_Exception();
        };

    int force_planning_from_scratch(); 

        
        int set_search_mode(bool bSearchUntilFirstSolution){
                SBPL_ERROR("ERROR: set_search_mode not supported in PPCP planner\n");
                throw new SBPL_Exception();
        };


        void costs_changed(StateChangeQuery const & stateChange);
    void costs_changed();


private:
        
        //member variables
        PPCPStateSpace_t* pStateSpace;
        FILE* fDeb;


        //deallocates memory used by SearchStateSpace
        void DeleteStateSpace(PPCPStateSpace_t* pStateSpace);
        int  CreateSearchStateSpace(PPCPStateSpace_t* pStateSpace);



};




#endif