Merge pull request #8 from Omastto1/master

Replaced convert methods

Project.toml

@@ -1,7 +1,7 @@
 name = "PointBasedValueIteration"
 uuid = "835c131e-675f-4498-8e2c-c054c75556e1"
 authors = ["Dominik Straub <[email protected]> and Tomáš Omasta <[email protected]>"]
-version = "0.2.0"
+version = "0.2.1"
 
 [deps]
 BeliefUpdaters = "8bb6e9a1-7d73-552c-a44a-e5dc5634aac4"

src/pbvi.jl

@@ -35,21 +35,6 @@ end
 ==(a::AlphaVec, b::AlphaVec) = (a.alpha,a.action) == (b.alpha, b.action)
 Base.hash(a::AlphaVec, h::UInt) = hash(a.alpha, hash(a.action, h))
 
-convert(::Type{Array{Float64, 1}}, d::BoolDistribution, pomdp) = [1 - d.p, d.p]
-convert(::Type{Array{Float64, 1}}, d::DiscreteUniform, pomdp) = [pdf(d, stateindex(pomdp, s)) for s in states(pomdp)]
-convert(::Type{Array{Float64, 1}}, d::SparseCat, pomdp) = d.probs
-
-convert(::Type{Array{Float64, 1}}, d::InStageDistribution{DiscreteUniform}, m::FixedHorizonPOMDPWrapper) = vec([pdf(d, s) for s in states(m)])
-
-function convert(::Type{Array{Float64, 1}}, d::InStageDistribution{BoolDistribution}, m::FixedHorizonPOMDPWrapper)
-    if stage(d) == 1
-        append!([1 - d.d.p[1], d.d.p[1]], zeros(length(states(m)) - 2))
-    else
-        append!(append!(zeros((stage(d) - 1) * length(stage_states(m, 1))), [1 - d.d.p[1], d.d.p[1]]), zeros((horizon(m) - stage(d) + 1) * length(stage_states(m, 1))))
-    end
-end
-
-
 function _argmax(f, X)
     return X[argmax(map(f, X))]
 end
@@ -197,9 +182,9 @@ function solve(solver::PBVISolver, pomdp::POMDP)
     Γ = [fill(α_init, length(S)) for a in A]
 
     #init belief, if given distribution, convert to vector
-    init = convert(Array{Float64, 1}, initialstate(pomdp), pomdp)
-    B = [DiscreteBelief(pomdp, init)]
-    Bs = Set([init])
+    init = initialize_belief(DiscreteUpdater(pomdp), initialstate(pomdp))
+    B = [init]
+    Bs = Set([init.b])
 
     if solver.verbose println("Running PBVI solver on $(typeof(pomdp)) problem with following settings:\n    max_iterations = $(solver.max_iterations), ϵ = $(solver.ϵ), verbose = $(solver.verbose)\n+----------------------------------------------------------+") end
 

test/runtests.jl

@@ -3,50 +3,11 @@ using POMDPModels
 using POMDPs
 using SARSOP
 using BeliefUpdaters
-using POMDPModelTools: Deterministic
-using POMDPSimulators: RolloutSimulator
+using POMDPModelTools
+using POMDPSimulators
 using FiniteHorizonPOMDPs
-
 using PointBasedValueIteration
 
-@testset "Convert test" begin
-    @testset "Infinite Horizon POMDP tests" begin
-        tigerPOMDP = TigerPOMDP()
-        babyPOMDP = BabyPOMDP()
-        minihallwayPOMDP = MiniHallway()
-
-        @test convert(Array{Float64, 1}, initialstate(tigerPOMDP), tigerPOMDP) == [0.5, 0.5]
-        @test convert(Array{Float64, 1}, initialstate(babyPOMDP), babyPOMDP) == [1., 0.]
-        @test convert(Array{Float64, 1}, initialstate(minihallwayPOMDP), minihallwayPOMDP) == append!(fill(1/12, 12), zeros(1))
-    end
-
-    @testset "Finite Horizon POMDP tests" begin
-        @testset "Finite Horizon POMDP initial state convert tests" begin
-            tigerPOMDP = fixhorizon(TigerPOMDP(), 1)
-            babyPOMDP = fixhorizon(BabyPOMDP(), 1)
-            minihallwayPOMDP = fixhorizon(MiniHallway(), 1)
-
-            @test convert(Array{Float64, 1}, initialstate(tigerPOMDP), tigerPOMDP) == [0.5, 0.5, 0., 0.]
-            @test convert(Array{Float64, 1}, initialstate(babyPOMDP), babyPOMDP) == [1., 0., 0., 0.]
-            @test convert(Array{Float64, 1}, initialstate(minihallwayPOMDP), minihallwayPOMDP) == append!(fill(1/12, 12), zeros(14))
-        end
-
-        @testset "Finite Horizon POMDP other than initial stage distribution tests" begin
-            tigerPOMDP = fixhorizon(TigerPOMDP(), 2)
-            babyPOMDP = fixhorizon(BabyPOMDP(), 2)
-            minihallwayPOMDP = fixhorizon(MiniHallway(), 2)
-
-            tigerbelief = FiniteHorizonPOMDPs.InStageDistribution(FiniteHorizonPOMDPs.distribution(initialstate(tigerPOMDP)), 2)
-            babybelief = FiniteHorizonPOMDPs.InStageDistribution(FiniteHorizonPOMDPs.distribution(initialstate(babyPOMDP)), 2)
-            minihallwaybelief = FiniteHorizonPOMDPs.InStageDistribution(FiniteHorizonPOMDPs.distribution(initialstate(minihallwayPOMDP)), 2)
-
-            @test convert(Array{Float64, 1}, tigerbelief, tigerPOMDP) == [0., 0., 0.5, 0.5, 0., 0.]
-            @test convert(Array{Float64, 1}, babybelief, babyPOMDP) == [0., 0., 1., 0., 0., 0.]
-            @test convert(Array{Float64, 1}, minihallwaybelief, minihallwayPOMDP) == append!(append!(zeros(13), fill(1/12, 12)), zeros(14))
-        end
-    end
-end
-
 @testset "Comparison with SARSOP" begin
     pomdps = [TigerPOMDP(), BabyPOMDP(), MiniHallway()]