void testOnce(void)
{
double result;
/* set up table */
dtInit(5, 5, 5);
dtAdd(0, 1, 2, 3, 0.5);
dtAdd(0, 1, 2, 3, 0.7);
dtAdd(0, 1, 3, -1, -10.1);
dtAdd(0, 1, 3, -1, -10.3);
dtAdd(1, 0, 0, -1, 6.0);
dtAdd(1, 0, -1, -1, 7.0);
dtAdd(-1, 2, -1, -1, 2.7);
/* do a few queries */
result = dtGet(0, 1, 2, 3);
printf("expecting: result=%lf\n", 0.7);
printf("got: result=%lf\n", result);
result = dtGet(0, 1, 3, 1);
printf("expecting: result=%lf\n", -10.3);
printf("got: result=%lf\n", result);
result = dtGet(1, 0, 0, 0);
printf("expecting: result=%lf\n", 7.0);
printf("got: result=%lf\n", result);
result = dtGet(3, 2, 0, 0);
printf("expecting: result=%lf\n", 2.7);
printf("got: result=%lf\n", result);
/* clean up */
dtDeallocate();
}
REAL_VALUE getImmediateReward( int action, int cur_state, int next_state,
int obs ) {
#if USE_DECISION_TREE
return dtGet(action, cur_state, next_state, obs);
#else
Imm_Reward_List temp = gImmRewardList;
REAL_VALUE return_value = 0.0;
assert(( action >= 0) && (action < gNumActions)
&& (cur_state >= 0) && (cur_state < gNumStates)
&& (next_state >= 0) && (next_state < gNumStates));
while( temp != NULL ) {
if((( temp->action == WILDCARD_SPEC )
|| ( temp->action == action ))) {
switch( temp->type ) {
case ir_value:
if( gProblemType == POMDP_problem_type ) {
if((( temp->next_state == WILDCARD_SPEC )
|| ( temp->next_state == next_state))
&& ((temp->obs == WILDCARD_SPEC)
|| (temp->obs == obs ))
&& ((temp->cur_state == WILDCARD_SPEC)
|| (temp->cur_state == cur_state ))) {
return_value = temp->rep.value;
} /* if we have a match */
} /* if POMDP */
else { /* then it is an MDP */
if((( temp->cur_state == WILDCARD_SPEC )
|| ( temp->cur_state == cur_state))
&& ((temp->next_state == WILDCARD_SPEC)
|| (temp->next_state == next_state ))) {
return_value = temp->rep.value;
} /* if we have a match */
}
break;
case ir_vector:
if( gProblemType == POMDP_problem_type ) {
if((( temp->next_state == WILDCARD_SPEC )
|| ( temp->next_state == next_state))
&& ((temp->cur_state == WILDCARD_SPEC)
|| (temp->cur_state == cur_state ))) {
return_value = temp->rep.vector[obs];
}
} /* if POMDP */
else { /* it is an MDP */
if(( temp->cur_state == WILDCARD_SPEC )
|| ( temp->cur_state == cur_state)) {
return_value = temp->rep.vector[next_state];
}
}
break;
case ir_matrix:
if( gProblemType == POMDP_problem_type ) {
if(( temp->cur_state == WILDCARD_SPEC )
|| (temp->cur_state == cur_state ))
return_value = getEntryMatrix( temp->rep.matrix, next_state,
obs );
}
else
return_value = getEntryMatrix( temp->rep.matrix, cur_state,
next_state );
break;
default:
fprintf( stderr,
"** ERR ** Unreckognized IR_Type in getImmediateReward().\n");
exit( -1 );
break;
} /* switch */
} /* If we have a partially matching node */
temp = temp->next;
} /* while */
return( return_value );
#endif /* if USE_DECISION_TREE / else */
} /* getImmediateReward */
double
getImmediateReward( int action, int cur_state, int next_state,
int obs ) {
#if USE_DECISION_TREE
double dt_return_value;
#endif
#if !USE_DECISION_TREE || CHECK_DECISION_TREE
Imm_Reward_List temp = gImmRewardList;
double return_value = 0.0;
assert(( action >= 0) && (action < gNumActions)
&& (cur_state >= 0) && (cur_state < gNumStates)
&& (next_state >= 0) && (next_state < gNumStates));
while( temp != NULL ) {
if((( temp->action == WILDCARD_SPEC )
|| ( temp->action == action ))) {
switch( temp->type ) {
case ir_value:
if( gProblemType == POMDP_problem_type ) {
if((( temp->next_state == WILDCARD_SPEC )
|| ( temp->next_state == next_state))
&& ((temp->obs == WILDCARD_SPEC)
|| (temp->obs == obs ))
&& ((temp->cur_state == WILDCARD_SPEC)
|| (temp->cur_state == cur_state ))) {
return_value = temp->rep.value;
} /* if we have a match */
} /* if POMDP */
else { /* then it is an MDP */
if((( temp->cur_state == WILDCARD_SPEC )
|| ( temp->cur_state == cur_state))
&& ((temp->next_state == WILDCARD_SPEC)
|| (temp->next_state == next_state ))) {
return_value = temp->rep.value;
} /* if we have a match */
}
break;
case ir_vector:
if( gProblemType == POMDP_problem_type ) {
if((( temp->next_state == WILDCARD_SPEC )
|| ( temp->next_state == next_state))
&& ((temp->cur_state == WILDCARD_SPEC)
|| (temp->cur_state == cur_state ))) {
return_value = temp->rep.vector[obs];
}
} /* if POMDP */
else { /* it is an MDP */
if(( temp->cur_state == WILDCARD_SPEC )
|| ( temp->cur_state == cur_state)) {
return_value = temp->rep.vector[next_state];
}
}
break;
case ir_matrix:
if( gProblemType == POMDP_problem_type ) {
if(( temp->cur_state == WILDCARD_SPEC )
|| (temp->cur_state == cur_state ))
return_value = getEntryMatrix( temp->rep.matrix, next_state,
obs );
}
else
return_value = getEntryMatrix( temp->rep.matrix, cur_state,
next_state );
break;
default:
fprintf( stderr,
"** ERR ** Unreckognized IR_Type in getImmediateReward().\n");
exit( -1 );
break;
} /* switch */
} /* If we have a partially matching node */
temp = temp->next;
} /* while */
#endif /* if !USE_DECISION_TREE || CHECK_DECISION_TREE */
#if USE_DECISION_TREE
dt_return_value = dtGet(action, cur_state, next_state, obs);
#if CHECK_DECISION_TREE
if (return_value != dt_return_value) {
fprintf(stderr,
"ERROR: getImmediateReward: decision-tree value and pattern match values disagree\n"
" action=%d cur_state=%d next_state=%d obs=%d)\n"
" decision-tree value=%g pattern match value=%g difference=%g\n",
action, cur_state, next_state, obs,
dt_return_value, return_value, fabs(dt_return_value - return_value));
exit(EXIT_FAILURE);
}
#endif
return dt_return_value;
#else /* if USE_DECISION_TREE / else */
return( return_value );
#endif /* if USE_DECISION_TREE / else */
} /* getImmediateReward */
