void
deallocateIntermediateMDP() {
/*
This routine is made available in case something goes wrong
before converting the matrices from the intermediate form
to the final form. Normally the conversion routine convertMatrices()
will deallocate the intermediate matrices, but it might be desirable
to get rid of them before converting (especially if something
has gone wrong) so that things can be started over.
*/
int a;
for( a = 0; a < gNumActions; a++ ) {
destroyIMatrix( IP[a] );
if( gProblemType == POMDP_problem_type ) {
destroyIMatrix( IR[a] );
}
}
XFREE( IP );
if( gProblemType == POMDP_problem_type ) {
XFREE( IR );
XFREE( gInitialBelief );
}
destroyIMatrix( IQ );
} /* deallocateIntermediateMDP */
void
convertMatrices() {
/*
This routine is called after the parsing has been succesfully done.
It will assume that the intermediate representations for the transition
and observation matrices have been allocated and had their values set.
It also assumes that the special immediate reward representation
has been set.
This routine will do two functions. It will convert the intermediate
sparse representations for the transitions and observations to the
actual true sparse representation. It will also compute the action-state
immeidate reward pairs as an expectation over next states and possibly
observations from the special immediate reward representation. This
will be the final step toward the use of the MDP/POMDP model in
computation.
*/
int a;
/* Allocate room for each action */
P = (Matrix *) XMALLOC( gNumActions * sizeof( *P ) );
R = (Matrix *) XMALLOC( gNumActions * sizeof( *R ) );
/* First convert the intermediate sparse matrices for trans. and obs. */
for( a = 0; a < gNumActions; a++ ) {
P[a] = transformIMatrix( IP[a] );
destroyIMatrix( IP[a] );
if( gProblemType == POMDP_problem_type ) {
R[a] = transformIMatrix( IR[a] );
destroyIMatrix( IR[a] );
}
}
XFREE( IP );
if( gProblemType == POMDP_problem_type )
XFREE( IR );
/* Calculate expected immediate rewards for action-state pairs, but
do it in the sparse matrix representation to eliminate zeroes */
computeRewards();
/* Then convert it into the real representation */
Q = transformIMatrix( IQ );
destroyIMatrix( IQ );
} /* convertMatrices */
void doneImmReward() {
if( gCurImmRewardNode == NULL )
return;
switch( gCurImmRewardNode->type ) {
case ir_value:
case ir_vector:
/* Do nothing for these cases */
break;
case ir_matrix:
gCurImmRewardNode->rep.matrix = transformIMatrix( gCurIMatrix );
destroyIMatrix( gCurIMatrix );
gCurIMatrix = NULL;
break;
default:
fprintf( stderr, "** ERR ** Unreckognized IR_Type in doneImmReward().\n");
exit( -1 );
break;
} /* switch */
#if USE_DECISION_TREE
irAddToDecisionTree(gCurImmRewardNode);
#endif
gImmRewardList = appendImmRewardList( gImmRewardList,
gCurImmRewardNode );
gCurImmRewardNode = NULL;
} /* doneImmReward */
void convertMatrices() {
/*
This routine is called after the parsing has been succesfully done.
It will assume that the intermediate representations for the transition
and observation matrices have been allocated and had their values set.
It also assumes that the special immediate reward representation
has been set.
This routine will do two functions. It will convert the intermediate
sparse representations for the transitions and observations to the
actual true sparse representation. It will also compute the action-state
immeidate reward pairs as an expectation over next states and possibly
observations from the special immediate reward representation. This
will be the final step toward the use of the MDP/POMDP model in
computation.
*/
int a;
struct timeval startTime, endTime;
/* Allocate room for each action */
P = (Matrix *) malloc( gNumActions * sizeof( *P ) );
R = (Matrix *) malloc( gNumActions * sizeof( *R ) );
/* First convert the intermediate sparse matrices for trans. and obs. */
for( a = 0; a < gNumActions; a++ ) {
if (zmdpDebugLevelG >= 1) {
printf("pomdp_spec: transforming transition matrix [a=%d]\n", a);
}
P[a] = transformIMatrix( IP[a] );
destroyIMatrix( IP[a] );
if (zmdpDebugLevelG >= 1) {
printf("pomdp_spec: transforming obs matrix [a=%d]\n", a);
}
if( gProblemType == POMDP_problem_type ) {
R[a] = transformIMatrix( IR[a] );
destroyIMatrix( IR[a] );
}
}
free( IP );
if( gProblemType == POMDP_problem_type )
free( IR );
/* Calculate expected immediate rewards for action-state pairs, but
do it in the sparse matrix representation to eliminate zeroes */
if (zmdpDebugLevelG >= 1) {
printf("pomdp_spec: computing rewards\n");
gettimeofday(&startTime, NULL);
}
computeRewards();
if (zmdpDebugLevelG >= 1) {
gettimeofday(&endTime, NULL);
printf(" (took %lf seconds)\n",
endTime.tv_sec - startTime.tv_sec + 1e-6 * (endTime.tv_usec - startTime.tv_usec));
printf("pomdp_spec: transforming reward matrix\n");
}
/* Then convert it into the real representation */
Q = transformIMatrix( IQ );
destroyIMatrix( IQ );
} /* convertMatrices */