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General Documentation Manual Tutorial Class Reference Master Thesis Examples Related Papers Downloads Links News mailto:webmaster Main Page     Class Hierarchy   Compound List   File List   Compound Members   File Members chierarchicbehaviours.h Go to the documentation of this file. // Copyright (C) 2003 // Gerhard Neumann (gneumann@gmx.net) // Stephan Neumann (sneumann@gmx.net) // // This file is part of RL Toolbox. // http://www.igi.tugraz.at/ril_toolbox // // All rights reserved. // // Redistribution and use in source and binary forms, with or without // modification, are permitted provided that the following conditions // are met: // 1. Redistributions of source code must retain the above copyright // notice, this list of conditions and the following disclaimer. // 2. Redistributions in binary form must reproduce the above copyright // notice, this list of conditions and the following disclaimer in the // documentation and/or other materials provided with the distribution. // 3. The name of the author may not be used to endorse or promote products // derived from this software without specific prior written permission. // // THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR // IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES // OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. // IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT // NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF // THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef C_HIERARCHICBEHAVIOUR__H #define C_HIERARCHICBEHAVIOUR__H #include "cagent.h" #include "crewardfunction.h" #include "caction.h" #include "cagentcontroller.h" class CRegion; class CStateProperties; class CStateCollection; class CState; class CSubGoalBehaviour : public CHierarchicalSemiMarkovDecisionProcess, public CStateReward { protected: std::map<CRegion *, std::pair<double, double> > *rewardFactors; std::list<CRegion *> *targetRegions; std::list<CRegion *> *failRegions; double standardReward; CRegion *availableRegion; CStateProperties *modelProperties; string subgoalName; public: CSubGoalBehaviour(CStateProperties *modelProperties, CRegion *avialableRegion, char *subgoalName = ""); virtual ~CSubGoalBehaviour(); virtual bool isFinished(CStateCollection *oldState, CStateCollection *newState); virtual bool isAvailable(CStateCollection *currentState); virtual bool isInGoalRegion(CState *state); virtual bool isInFailRegion(CState *state); virtual double getStateReward(CState *modelState); virtual void getInputDerivation(CState *modelState, ColumnVector *targetState); virtual void addTargetRegion(CRegion *target, double rewardFactor = 1.0, double rewardTau = 10); virtual void addFailRegion(CRegion *target, double rewardFactor = - 1.0, double rewardTau = 10); void setRewardFactor(CRegion *region, double rewardFactor); void setRewardTau(CRegion *region, double rewardTau); void setStandardReward(double l_standardReward) {this->standardReward = l_standardReward;}; virtual CRegion *getAvailAbleRegion() {return availableRegion;}; virtual void sendNextStep(CAction *action); string getSubGoalName() {return subgoalName;}; }; class CSubGoalController : public CAgentController { protected: public: CSubGoalController(CActionSet *hierarchicActions); virtual CAction *getNextAction(CStateCollection *state, CActionDataSet *data = NULL); }; class CSubGoalOutput : public CSemiMDPListener { protected: CSubGoalBehaviour *lastAction; CAgentController *policy; public: CSubGoalOutput(CAgentController *policy); virtual void nextStep(CStateCollection *oldState, CAction *action, CStateCollection *newState); virtual void newEpisode(); }; /* class CSubGoalTrainer : public CTransitionFunctionEnvironment { protected: CSubGoalBehaviour *subGoal; CRegion *sampleRegion; public: CSubGoalTrainer(CTransitionFunction *transitionFunction, CSubGoalBehaviour *subGoal); virtual void doNextState(CPrimitiveAction *action); virtual void doResetModel(); virtual void setSubGoal(CSubGoalBehaviour *subGoal); virtual void setSampleRegion(CRegion *l_sampleRegion); }; */ class CExtendedPrimitiveAction : public CExtendedAction { protected: CAction *primitiveAction; public: int extendedActionDuration; CExtendedPrimitiveAction(CAction *primitiveAction, int extendedActionDuration); virtual bool isFinished(CStateCollection *oldState, CStateCollection *newState); virtual CAction* getNextHierarchyLevel(CStateCollection *state, CActionDataSet *actionDataSet = NULL); }; class CPrimitiveActionStateChange : public CExtendedAction { protected: CStateProperties *stateToChange; CPrimitiveAction *primitiveAction; public: CPrimitiveActionStateChange(CPrimitiveAction *action, CStateProperties *stateToChange); virtual CAction* getNextHierarchyLevel(CStateCollection *state, CActionDataSet *actionDataSet = NULL); // Returns true if the 2 states are not equal virtual bool isFinished(CStateCollection *oldState, CStateCollection *newState); // Sets the state which has to change void setStateToChange(CStateProperties *stateToChange); }; #endif