void VNode::PrintPolicyTree(int depth, ostream& os) {
if (depth != -1 && this->depth() > depth)
return;
vector<QNode*>& qnodes = children();
if (qnodes.size() == 0) {
int astar = this->default_move().action;
os << this << "-a=" << astar << endl;
} else {
QNode* qstar = NULL;
for (int a = 0; a < qnodes.size(); a++) {
QNode* qnode = qnodes[a];
if (qstar == NULL || qnode->lower_bound() > qstar->lower_bound()) {
qstar = qnode;
}
}
os << this << "-a=" << qstar->edge() << endl;
vector<OBS_TYPE> labels;
map<OBS_TYPE, VNode*>& vnodes = qstar->children();
for (map<OBS_TYPE, VNode*>::iterator it = vnodes.begin();
it != vnodes.end(); it++) {
labels.push_back(it->first);
}
for (int i = 0; i < labels.size(); i++) {
if (depth == -1 || this->depth() + 1 <= depth) {
os << repeat("| ", this->depth()) << "| o=" << labels[i]
<< ": ";
qstar->Child(labels[i])->PrintPolicyTree(depth, os);
}
}
}
}
VNode* DESPOT::Trial(VNode* root, RandomStreams& streams,
ScenarioLowerBound* lower_bound, ScenarioUpperBound* upper_bound,
const DSPOMDP* model, History& history, SearchStatistics* statistics) {
VNode* cur = root;
int hist_size = history.Size();
do {
if (statistics != NULL
&& cur->depth() > statistics->longest_trial_length) {
statistics->longest_trial_length = cur->depth();
}
ExploitBlockers(cur);
if (Gap(cur) == 0) {
break;
}
if (cur->IsLeaf()) {
double start = clock();
Expand(cur, lower_bound, upper_bound, model, streams, history);
if (statistics != NULL) {
statistics->time_node_expansion += (double) (clock() - start)
/ CLOCKS_PER_SEC;
statistics->num_expanded_nodes++;
statistics->num_tree_particles += cur->particles().size();
}
}
double start = clock();
QNode* qstar = SelectBestUpperBoundNode(cur);
VNode* next = SelectBestWEUNode(qstar);
if (statistics != NULL) {
statistics->time_path += (clock() - start) / CLOCKS_PER_SEC;
}
if (next == NULL) {
break;
}
cur = next;
history.Add(qstar->edge(), cur->edge());
} while (cur->depth() < Globals::config.search_depth && WEU(cur) > 0);
history.Truncate(hist_size);
return cur;
}
VNode* DESPOT::Prune(VNode* vnode, int& pruned_action, double& pruned_value) {
vector<State*> empty;
VNode* pruned_v = new VNode(empty, vnode->depth(), NULL,
vnode->edge());
vector<QNode*>& children = vnode->children();
int astar = -1;
double nustar = Globals::NEG_INFTY;
QNode* qstar = NULL;
for (int i = 0; i < children.size(); i++) {
QNode* qnode = children[i];
double nu;
QNode* pruned_q = Prune(qnode, nu);
if (nu > nustar) {
nustar = nu;
astar = qnode->edge();
if (qstar != NULL) {
delete qstar;
}
qstar = pruned_q;
} else {
delete pruned_q;
}
}
if (nustar < vnode->default_move().value) {
nustar = vnode->default_move().value;
astar = vnode->default_move().action;
delete qstar;
} else {
pruned_v->children().push_back(qstar);
qstar->parent(pruned_v);
}
pruned_v->lower_bound(vnode->lower_bound()); // for debugging
pruned_v->upper_bound(vnode->upper_bound());
pruned_action = astar;
pruned_value = nustar;
return pruned_v;
}
void VNode::PrintTree(int depth, ostream& os) {
if (depth != -1 && this->depth() > depth)
return;
if (this->depth() == 0) {
os << "d - default value" << endl
<< "l - lower bound" << endl
<< "u - upper bound" << endl
<< "r - totol weighted one step reward" << endl
<< "w - total particle weight" << endl;
}
os << "(" << "d:" << this->default_move().value <<
" l:" << this->lower_bound() << ", u:" << this->upper_bound()
<< ", w:" << this->Weight() << ", weu:" << DESPOT::WEU(this)
<< ")"
<< endl;
vector<QNode*>& qnodes = children();
for (int a = 0; a < qnodes.size(); a++) {
QNode* qnode = qnodes[a];
vector<OBS_TYPE> labels;
map<OBS_TYPE, VNode*>& vnodes = qnode->children();
for (map<OBS_TYPE, VNode*>::iterator it = vnodes.begin();
it != vnodes.end(); it++) {
labels.push_back(it->first);
}
os << repeat("| ", this->depth()) << "a="
<< qnode->edge() << ": "
<< "(d:" << qnode->default_value << ", l:" << qnode->lower_bound()
<< ", u:" << qnode->upper_bound()
<< ", r:" << qnode->step_reward << ")" << endl;
for (int i = 0; i < labels.size(); i++) {
if (depth == -1 || this->depth() + 1 <= depth) {
os << repeat("| ", this->depth()) << "| o=" << labels[i]
<< ": ";
qnode->Child(labels[i])->PrintTree(depth, os);
}
}
}
}
