C++ (Cpp) VNode::IsLeaf Examples

Example #1

File: despot.cpp Project: karkuspeter/CS6244

ValuedAction DESPOT::Evaluate(VNode* root, vector<State*>& particles,
	RandomStreams& streams, POMCPPrior* prior, const DSPOMDP* model) {
	double value = 0;

	for (int i = 0; i < particles.size(); i++) {
		particles[i]->scenario_id = i;
	}

	for (int i = 0; i < particles.size(); i++) {
		State* particle = particles[i];
		VNode* cur = root;
		State* copy = model->Copy(particle);
		double discount = 1.0;
		double val = 0;
		int steps = 0;

		while (!streams.Exhausted()) {
			int action =
				(cur != NULL) ?
					OptimalAction(cur).action : prior->GetAction(*copy);

			assert(action != -1);

			double reward;
			OBS_TYPE obs;
			bool terminal = model->Step(*copy, streams.Entry(copy->scenario_id),
				action, reward, obs);

			val += discount * reward;
			discount *= Discount();

			if (!terminal) {
				prior->Add(action, obs);
				streams.Advance();
				steps++;

				if (cur != NULL && !cur->IsLeaf()) {
					QNode* qnode = cur->Child(action);
					map<OBS_TYPE, VNode*>& vnodes = qnode->children();
					cur = vnodes.find(obs) != vnodes.end() ? vnodes[obs] : NULL;
				}
			} else {
				break;
			}
		}

		for (int i = 0; i < steps; i++) {
			streams.Back();
			prior->PopLast();
		}

		model->Free(copy);

		value += val;
	}

	return ValuedAction(OptimalAction(root).action, value / particles.size());
}

Example #2

File: despot.cpp Project: karkuspeter/CS6244

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;
}