learned_controller.h

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#ifndef __LEARNED_SPEED_H_
#define __LEARNED_SPEED_H_

#include "speed.h"
#include <ros/ros.h>


class LearnedSpeedControl: public SpeedControl
{
 public:

  LearnedSpeedControl();
  virtual ~LearnedSpeedControl();
  virtual void adjust(float speed, float error,
                      float *brake_req, float *throttle_req);
  virtual void configure(art_pilot::PilotConfig &newconfig);
  virtual void reset(void);
  int getAction(const std::vector<float> &s);

 private:

  std::vector<float> s;

  typedef const std::vector<float> *state_t;

  state_t canonicalize(const std::vector<float> &s);

  std::set<std::vector<float> > statespace;

  std::map<state_t, std::vector<float> > Q;

  void loadPolicy(const char* filename);

  const int numactions;

  bool LOADDEBUG;
  bool loaded;

};

#endif