QMDP.hpp

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#ifndef AI_TOOLBOX_POMDP_QMDP_HEADER_FILE
#define AI_TOOLBOX_POMDP_QMDP_HEADER_FILE
 
#include <AIToolbox/POMDP/Types.hpp>
#include <AIToolbox/POMDP/TypeTraits.hpp>
#include <AIToolbox/POMDP/Utils.hpp>
 
#include <AIToolbox/MDP/Algorithms/ValueIteration.hpp>
 
namespace AIToolbox::POMDP {
    class QMDP {
        public:
            QMDP(unsigned horizon, double tolerance = 0.001);
 
            template <IsModel M>
            std::tuple<double, ValueFunction, MDP::QFunction> operator()(const M & m);
 
            static VList fromQFunction(size_t O, const MDP::QFunction & qfun);
 
            void setTolerance(double t);
 
            void setHorizon(unsigned h);
 
            double getTolerance() const;
 
            unsigned getHorizon() const;
 
        private:
            MDP::ValueIteration solver_;
    };
 
    template <IsModel M>
    std::tuple<double, ValueFunction, MDP::QFunction> QMDP::operator()(const M & m) {
        auto solution = solver_(m);
 
        const size_t S = m.getS();
 
        auto v = makeValueFunction(S);
        v.emplace_back(fromQFunction(m.getO(), std::get<2>(solution)));
 
        return std::make_tuple(std::get<0>(solution), v, std::move(std::get<2>(solution)));
    }
}
 
#endif