TNode* ConstructTree(LNode** head){
if(!(*head)){
return NULL;
}
LNode* mid=GetMid(head);
if(mid){
TNode* root=(TNode*)malloc(sizeof(TNode));
LNode* tmpNode;
if(mid->next==NULL){
tmpNode=mid;
root->left=NULL;
root->right=NULL;
}else{
tmpNode=mid->next;
mid->next=NULL;
root->right=ConstructTree(&tmpNode->next);
tmpNode->next=NULL;
root->left=ConstructTree(head);
}
root->data=tmpNode->data;
return root;
}else{
return NULL;
}
}
ValuedAction DESPOT::Search() {
if (logging::level() >= logging::INFO) {
model_->PrintBelief(*belief_);
}
if (Globals::config.time_per_move <= 0) // Return a random action if no time is allocated for planning
return ValuedAction(Random::RANDOM.NextInt(model_->NumActions()),
Globals::NEG_INFTY);
double start = get_time_second();
vector<State*> particles = belief_->Sample(Globals::config.num_scenarios);
logi << "[DESPOT::Search] Time for sampling " << particles.size()
<< " particles: " << (get_time_second() - start) << "s" << endl;
statistics_ = SearchStatistics();
start = get_time_second();
static RandomStreams streams = RandomStreams(Globals::config.num_scenarios,
Globals::config.search_depth);
LookaheadUpperBound* ub = dynamic_cast<LookaheadUpperBound*>(upper_bound_);
if (ub != NULL) { // Avoid using new streams for LookaheadUpperBound
static bool initialized = false;
if (!initialized ) {
lower_bound_->Init(streams);
upper_bound_->Init(streams);
initialized = true;
}
} else {
streams = RandomStreams(Globals::config.num_scenarios,
Globals::config.search_depth);
lower_bound_->Init(streams);
upper_bound_->Init(streams);
}
root_ = ConstructTree(particles, streams, lower_bound_, upper_bound_,
model_, history_, Globals::config.time_per_move, &statistics_);
logi << "[DESPOT::Search] Time for tree construction: "
<< (get_time_second() - start) << "s" << endl;
start = get_time_second();
root_->Free(*model_);
logi << "[DESPOT::Search] Time for freeing particles in search tree: "
<< (get_time_second() - start) << "s" << endl;
ValuedAction astar = OptimalAction(root_);
start = get_time_second();
delete root_;
logi << "[DESPOT::Search] Time for deleting tree: "
<< (get_time_second() - start) << "s" << endl;
logi << "[DESPOT::Search] Search statistics:" << endl << statistics_
<< endl;
return astar;
}
void DESPOT::Compare() {
vector<State*> particles = belief_->Sample(Globals::config.num_scenarios);
SearchStatistics statistics;
RandomStreams streams = RandomStreams(Globals::config.num_scenarios,
Globals::config.search_depth);
VNode* root = ConstructTree(particles, streams, lower_bound_, upper_bound_,
model_, history_, Globals::config.time_per_move, &statistics);
CheckDESPOT(root, root->lower_bound());
CheckDESPOTSTAR(root, root->lower_bound());
delete root;
}