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;
}
