void TwoStageDynamicBayesianNetwork::
ScopeBackup( const Scope & stateScope,
const Scope & agentScope,
Scope & X,
Scope & A) const
{
//first we compute the 'closure' of the NS state factors Y and
//observations O. I.e., within stage connections can grow the set
//of Y and O that need to be considered:
Scope Y = stateScope;
Scope O = agentScope;
ComputeWithinNextStageClosure(Y,O);
X.clear();
A.clear();
//Next we do the backup of the Ys and Os
for( Scope::iterator y_it = Y.begin(); y_it != Y.end(); y_it++)
{
Index yI = *y_it;
X.Insert( _m_XSoI_Y.at(yI) );
A.Insert( _m_ASoI_Y.at(yI) );
}
for( Scope::iterator o_it = O.begin(); o_it != O.end(); o_it++)
{
X.Insert( _m_XSoI_O.at(*o_it) );
A.Insert( _m_ASoI_O.at(*o_it) );
}
X.Sort();
A.Sort();
return;
}
void FactoredDecPOMDPDiscrete::SetScopeForLRF(Index LRF,
const Scope& X, //the X scope
const Scope& A, //the A scope
const Scope& Y,
const Scope& O
)
{
Scope Xbackedup = StateScopeBackup( Y, O);
Scope Abackedup = AgentScopeBackup( Y, O);
// X'' = X' + X
Xbackedup.Insert(X);
Xbackedup.Sort();
// A'' = A' + A
Abackedup.Insert(A);
Abackedup.Sort();
SetScopeForLRF(LRF, Xbackedup, Abackedup);
}