sp
/
tempest
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

BeliefManager: Made several methods private to hide the actual BeliefType.

tempestpy_adaptions
Tim Quatmann 5 years ago
parent
5cd4281133
commit
26864067cf
1 changed files with 86 additions and 78 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 164
      src/storm-pomdp/storage/BeliefManager.h

164
src/storm-pomdp/storage/BeliefManager.h
View File

@ -44,6 +44,92 @@ namespace storm {
} }
}; };
BeliefId noId() const {
return std::numeric_limits<BeliefId>::max();
}
bool isEqual(BeliefId const& first, BeliefId const& second) const {
return isEqual(getBelief(first), getBelief(second));
}
std::string toString(BeliefId const& beliefId) const {
return toString(getBelief(beliefId));
}
std::string toString(Triangulation const& t) const {
std::stringstream str;
str << "(\n";
for (uint64_t i = 0; i < t.size(); ++i) {
str << "\t" << t.weights[i] << " * \t" << toString(getBelief(t.gridPoints[i])) << "\n";
}
str <<")\n";
return str.str();
}
template <typename SummandsType>
ValueType getWeightedSum(BeliefId const& beliefId, SummandsType const& summands) {
ValueType result = storm::utility::zero<ValueType>();
for (auto const& entry : getBelief(beliefId)) {
result += storm::utility::convertNumber<ValueType>(entry.second) * storm::utility::convertNumber<ValueType>(summands.at(entry.first));
}
return result;
}
BeliefId const& getInitialBelief() const {
return initialBeliefId;
}
ValueType getBeliefActionReward(BeliefId const& beliefId, uint64_t const& localActionIndex) const {
auto const& belief = getBelief(beliefId);
STORM_LOG_ASSERT(!pomdpActionRewardVector.empty(), "Requested a reward although no reward model was specified.");
auto result = storm::utility::zero<ValueType>();
auto const& choiceIndices = pomdp.getTransitionMatrix().getRowGroupIndices();
for (auto const &entry : belief) {
uint64_t choiceIndex = choiceIndices[entry.first] + localActionIndex;
STORM_LOG_ASSERT(choiceIndex < choiceIndices[entry.first + 1], "Invalid local action index.");
STORM_LOG_ASSERT(choiceIndex < pomdpActionRewardVector.size(), "Invalid choice index.");
result += entry.second * pomdpActionRewardVector[choiceIndex];
}
return result;
}
uint32_t getBeliefObservation(BeliefId beliefId) {
return getBeliefObservation(getBelief(beliefId));
}
uint64_t getBeliefNumberOfChoices(BeliefId beliefId) {
auto belief = getBelief(beliefId);
return pomdp.getNumberOfChoices(belief.begin()->first);
}
Triangulation triangulateBelief(BeliefId beliefId, uint64_t resolution) {
return triangulateBelief(getBelief(beliefId), resolution);
}
template<typename DistributionType>
void addToDistribution(DistributionType& distr, StateType const& state, BeliefValueType const& value) {
auto insertionRes = distr.emplace(state, value);
if (!insertionRes.second) {
insertionRes.first->second += value;
}
}
BeliefId getNumberOfBeliefIds() const {
return beliefs.size();
}
std::map<BeliefId, ValueType> expandAndTriangulate(BeliefId const& beliefId, uint64_t actionIndex, std::vector<uint64_t> const& observationResolutions) {
return expandInternal(beliefId, actionIndex, observationResolutions);
}
std::map<BeliefId, ValueType> expand(BeliefId const& beliefId, uint64_t actionIndex) {
return expandInternal(beliefId, actionIndex);
}
private:
BeliefType const& getBelief(BeliefId const& id) const { BeliefType const& getBelief(BeliefId const& id) const {
STORM_LOG_ASSERT(id != noId(), "Tried to get a non-existend belief."); STORM_LOG_ASSERT(id != noId(), "Tried to get a non-existend belief.");
STORM_LOG_ASSERT(id < getNumberOfBeliefIds(), "Belief index " << id << " is out of range."); STORM_LOG_ASSERT(id < getNumberOfBeliefIds(), "Belief index " << id << " is out of range.");
@ -56,10 +142,6 @@ namespace storm {
return idIt->second; return idIt->second;
} }
BeliefId noId() const {
return std::numeric_limits<BeliefId>::max();
}
std::string toString(BeliefType const& belief) const { std::string toString(BeliefType const& belief) const {
std::stringstream str; std::stringstream str;
str << "{ "; str << "{ ";
@ -76,16 +158,6 @@ namespace storm {
return str.str(); return str.str();
} }
std::string toString(Triangulation const& t) const {
std::stringstream str;
str << "(\n";
for (uint64_t i = 0; i < t.size(); ++i) {
str << "\t" << t.weights[i] << " * \t" << toString(getBelief(t.gridPoints[i])) << "\n";
}
str <<")\n";
return str.str();
}
bool isEqual(BeliefType const& first, BeliefType const& second) const { bool isEqual(BeliefType const& first, BeliefType const& second) const {
if (first.size() != second.size()) { if (first.size() != second.size()) {
return false; return false;
@ -186,49 +258,11 @@ namespace storm {
return true; return true;
} }
template <typename SummandsType>
ValueType getWeightedSum(BeliefId const& beliefId, SummandsType const& summands) {
ValueType result = storm::utility::zero<ValueType>();
for (auto const& entry : getBelief(beliefId)) {
result += storm::utility::convertNumber<ValueType>(entry.second) * storm::utility::convertNumber<ValueType>(summands.at(entry.first));
}
return result;
}
BeliefId const& getInitialBelief() const {
return initialBeliefId;
}
ValueType getBeliefActionReward(BeliefId const& beliefId, uint64_t const& localActionIndex) const {
auto const& belief = getBelief(beliefId);
STORM_LOG_ASSERT(!pomdpActionRewardVector.empty(), "Requested a reward although no reward model was specified.");
auto result = storm::utility::zero<ValueType>();
auto const& choiceIndices = pomdp.getTransitionMatrix().getRowGroupIndices();
for (auto const &entry : belief) {
uint64_t choiceIndex = choiceIndices[entry.first] + localActionIndex;
STORM_LOG_ASSERT(choiceIndex < choiceIndices[entry.first + 1], "Invalid local action index.");
STORM_LOG_ASSERT(choiceIndex < pomdpActionRewardVector.size(), "Invalid choice index.");
result += entry.second * pomdpActionRewardVector[choiceIndex];
}
return result;
}
uint32_t getBeliefObservation(BeliefType belief) { uint32_t getBeliefObservation(BeliefType belief) {
STORM_LOG_ASSERT(assertBelief(belief), "Invalid belief."); STORM_LOG_ASSERT(assertBelief(belief), "Invalid belief.");
return pomdp.getObservation(belief.begin()->first); return pomdp.getObservation(belief.begin()->first);
} }
uint32_t getBeliefObservation(BeliefId beliefId) {
return getBeliefObservation(getBelief(beliefId));
}
uint64_t getBeliefNumberOfChoices(BeliefId beliefId) {
auto belief = getBelief(beliefId);
return pomdp.getNumberOfChoices(belief.begin()->first);
}
Triangulation triangulateBelief(BeliefType belief, uint64_t resolution) { Triangulation triangulateBelief(BeliefType belief, uint64_t resolution) {
//TODO this can also be simplified using the sparse vector interpretation //TODO this can also be simplified using the sparse vector interpretation
//TODO Enable chaching for this method? //TODO Enable chaching for this method?
@ -307,22 +341,6 @@ namespace storm {
return result; return result;
} }
Triangulation triangulateBelief(BeliefId beliefId, uint64_t resolution) {
return triangulateBelief(getBelief(beliefId), resolution);
}
template<typename DistributionType>
void addToDistribution(DistributionType& distr, StateType const& state, BeliefValueType const& value) {
auto insertionRes = distr.emplace(state, value);
if (!insertionRes.second) {
insertionRes.first->second += value;
}
}
BeliefId getNumberOfBeliefIds() const {
return beliefs.size();
}
std::map<BeliefId, ValueType> expandInternal(BeliefId const& beliefId, uint64_t actionIndex, boost::optional<std::vector<uint64_t>> const& observationTriangulationResolutions = boost::none) { std::map<BeliefId, ValueType> expandInternal(BeliefId const& beliefId, uint64_t actionIndex, boost::optional<std::vector<uint64_t>> const& observationTriangulationResolutions = boost::none) {
std::map<BeliefId, ValueType> destinations; std::map<BeliefId, ValueType> destinations;
// TODO: Output as vector? // TODO: Output as vector?
@ -369,16 +387,6 @@ namespace storm {
} }
std::map<BeliefId, ValueType> expandAndTriangulate(BeliefId const& beliefId, uint64_t actionIndex, std::vector<uint64_t> const& observationResolutions) {
return expandInternal(beliefId, actionIndex, observationResolutions);
}
std::map<BeliefId, ValueType> expand(BeliefId const& beliefId, uint64_t actionIndex) {
return expandInternal(beliefId, actionIndex);
}
private:
BeliefId computeInitialBelief() { BeliefId computeInitialBelief() {
STORM_LOG_ASSERT(pomdp.getInitialStates().getNumberOfSetBits() < 2, STORM_LOG_ASSERT(pomdp.getInitialStates().getNumberOfSetBits() < 2,
"POMDP contains more than one initial state"); "POMDP contains more than one initial state");

Write Preview
Loading…
Cancel
Save