double AEMS::AEMS2Likelihood(QNode* qnode) {
VNode* vnode = qnode->parent();
QNode* qstar = NULL;
for (int action = 0; action < vnode->children().size(); action++) {
QNode* child = vnode->Child(action);
if (qstar == NULL || child->upper_bound() > qstar->upper_bound())
qstar = child;
}
return qstar == qnode;
}
QNode* DESPOT::SelectBestUpperBoundNode(VNode* vnode) {
int astar = -1;
double upperstar = Globals::NEG_INFTY;
for (int action = 0; action < vnode->children().size(); action++) {
QNode* qnode = vnode->Child(action);
if (qnode->upper_bound() > upperstar) {
upperstar = qnode->upper_bound();
astar = action;
}
}
assert(astar >= 0);
return vnode->Child(astar);
}
void DESPOT::Update(VNode* vnode) {
if (vnode->IsLeaf()) {
return;
}
double lower = vnode->default_move().value;
double upper = vnode->default_move().value;
double utility_upper = Globals::NEG_INFTY;
for (int action = 0; action < vnode->children().size(); action++) {
QNode* qnode = vnode->Child(action);
lower = max(lower, qnode->lower_bound());
upper = max(upper, qnode->upper_bound());
utility_upper = max(utility_upper, qnode->utility_upper_bound);
}
if (lower > vnode->lower_bound()) {
vnode->lower_bound(lower);
}
if (upper < vnode->upper_bound()) {
vnode->upper_bound(upper);
}
if (utility_upper < vnode->utility_upper_bound) {
vnode->utility_upper_bound = utility_upper;
}
}
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);
}
}
}
}
void AEMS::Update(VNode* vnode) {
if (vnode->IsLeaf())
return;
double lower = Globals::NEG_INFTY;
double upper = Globals::NEG_INFTY;
for (int action = 0; action < vnode->children().size(); action++) {
QNode* qnode = vnode->Child(action);
lower = max(lower, qnode->lower_bound());
upper = max(upper, qnode->upper_bound());
}
if (lower > vnode->lower_bound())
vnode->lower_bound(lower);
if (upper < vnode->upper_bound())
vnode->upper_bound(upper);
}
void AEMS::Backup(VNode* vnode) {
int iter = 0;
logd << "- Backup " << vnode << " at depth " << vnode->depth() << endl;
while (true) {
logd << " Iter " << (iter++) << " " << vnode << endl;
Update(vnode);
logd << " Updated vnode " << vnode << endl;
QNode* parentq = vnode->parent();
if (parentq == NULL)
break;
Update(parentq);
logd << " Updated Q-node to (" << parentq->lower_bound() << ", "
<< parentq->upper_bound() << ")" << endl;
vnode = parentq->parent();
}
logd << "* Backup complete!" << endl;
}
