本文整理汇总了C++中History::Add方法的典型用法代码示例。如果您正苦于以下问题：C++ History::Add方法的具体用法？C++ History::Add怎么用？C++ History::Add使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类History的用法示例。
在下文中一共展示了History::Add方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: Expand
void DESPOT::Expand(QNode* qnode, ScenarioLowerBound* lb,
ScenarioUpperBound* ub, const DSPOMDP* model,
RandomStreams& streams,
History& history) {
VNode* parent = qnode->parent();
streams.position(parent->depth());
map<OBS_TYPE, VNode*>& children = qnode->children();
const vector<State*>& particles = parent->particles();
double step_reward = 0;
// Partition particles by observation
map<OBS_TYPE, vector<State*> > partitions;
OBS_TYPE obs;
double reward;
for (int i = 0; i < particles.size(); i++) {
State* particle = particles[i];
logd << " Original: " << *particle << endl;
State* copy = model->Copy(particle);
logd << " Before step: " << *copy << endl;
bool terminal = model->Step(*copy, streams.Entry(copy->scenario_id),
qnode->edge(), reward, obs);
step_reward += reward * copy->weight;
logd << " After step: " << *copy << " " << (reward * copy->weight)
<< " " << reward << " " << copy->weight << endl;
if (!terminal) {
partitions[obs].push_back(copy);
} else {
model->Free(copy);
}
}
step_reward = Discount(parent->depth()) * step_reward
- Globals::config.pruning_constant;//pruning_constant is used for regularization
double lower_bound = step_reward;
double upper_bound = step_reward;
// Create new belief nodes
for (map<OBS_TYPE, vector<State*> >::iterator it = partitions.begin();
it != partitions.end(); it++) {
OBS_TYPE obs = it->first;
logd << " Creating node for obs " << obs << endl;
VNode* vnode = new VNode(partitions[obs], parent->depth() + 1,
qnode, obs);
logd << " New node created!" << endl;
children[obs] = vnode;
history.Add(qnode->edge(), obs);
InitBounds(vnode, lb, ub, streams, history);
history.RemoveLast();
logd << " New node's bounds: (" << vnode->lower_bound() << ", "
<< vnode->upper_bound() << ")" << endl;
lower_bound += vnode->lower_bound();
upper_bound += vnode->upper_bound();
}
qnode->step_reward = step_reward;
qnode->lower_bound(lower_bound);
qnode->upper_bound(upper_bound);
qnode->utility_upper_bound = upper_bound + Globals::config.pruning_constant;
qnode->default_value = lower_bound; // for debugging
}