C++ QNode::children方法代码示例

void VNode::PrintPolicyTree(int depth, ostream& os) {
	if (depth != -1 && this->depth() > depth)
		return;

	vector<QNode*>& qnodes = children();
	if (qnodes.size() == 0) {
		int astar = this->default_move().action;
		os << this << "-a=" << astar << endl;
	} else {
		QNode* qstar = NULL;
		for (int a = 0; a < qnodes.size(); a++) {
			QNode* qnode = qnodes[a];
			if (qstar == NULL || qnode->lower_bound() > qstar->lower_bound()) {
				qstar = qnode;
			}
		}

		os << this << "-a=" << qstar->edge() << endl;

		vector<OBS_TYPE> labels;
		map<OBS_TYPE, VNode*>& vnodes = qstar->children();
		for (map<OBS_TYPE, VNode*>::iterator it = vnodes.begin();
			it != vnodes.end(); it++) {
			labels.push_back(it->first);
		}

		for (int i = 0; i < labels.size(); i++) {
			if (depth == -1 || this->depth() + 1 <= depth) {
				os << repeat("|   ", this->depth()) << "| o=" << labels[i]
					<< ": ";
				qstar->Child(labels[i])->PrintPolicyTree(depth, os);
			}
		}
	}
}

ValuedAction DESPOT::Evaluate(VNode* root, vector<State*>& particles,
	RandomStreams& streams, POMCPPrior* prior, const DSPOMDP* model) {
	double value = 0;

	for (int i = 0; i < particles.size(); i++) {
		particles[i]->scenario_id = i;
	}

	for (int i = 0; i < particles.size(); i++) {
		State* particle = particles[i];
		VNode* cur = root;
		State* copy = model->Copy(particle);
		double discount = 1.0;
		double val = 0;
		int steps = 0;

		while (!streams.Exhausted()) {
			int action =
				(cur != NULL) ?
					OptimalAction(cur).action : prior->GetAction(*copy);

			assert(action != -1);

			double reward;
			OBS_TYPE obs;
			bool terminal = model->Step(*copy, streams.Entry(copy->scenario_id),
				action, reward, obs);

			val += discount * reward;
			discount *= Discount();

			if (!terminal) {
				prior->Add(action, obs);
				streams.Advance();
				steps++;

				if (cur != NULL && !cur->IsLeaf()) {
					QNode* qnode = cur->Child(action);
					map<OBS_TYPE, VNode*>& vnodes = qnode->children();
					cur = vnodes.find(obs) != vnodes.end() ? vnodes[obs] : NULL;
				}
			} else {
				break;
			}
		}

		for (int i = 0; i < steps; i++) {
			streams.Back();
			prior->PopLast();
		}

		model->Free(copy);

		value += val;
	}

	return ValuedAction(OptimalAction(root).action, value / particles.size());
}

void VNode::Free(const DSPOMDP& model) {
	for (int i = 0; i < particles_.size(); i++) {
		model.Free(particles_[i]);
	}

	for (int a = 0; a < children().size(); a++) {
		QNode* qnode = Child(a);
		map<OBS_TYPE, VNode*>& children = qnode->children();
		for (map<OBS_TYPE, VNode*>::iterator it = children.begin();
			it != children.end(); it++) {
			it->second->Free(model);
		}
	}
}

void VNode::PrintTree(int depth, ostream& os) {
	if (depth != -1 && this->depth() > depth)
		return;

	if (this->depth() == 0) {
		os << "d - default value" << endl
			<< "l - lower bound" << endl
			<< "u - upper bound" << endl
			<< "r - totol weighted one step reward" << endl
			<< "w - total particle weight" << endl;
	}

	os << "(" << "d:" << this->default_move().value <<
		" l:" << this->lower_bound() << ", u:" << this->upper_bound()
		<< ", w:" << this->Weight() << ", weu:" << DESPOT::WEU(this)
		<< ")"
		<< endl;


	vector<QNode*>& qnodes = children();
	for (int a = 0; a < qnodes.size(); a++) {
		QNode* qnode = qnodes[a];

		vector<OBS_TYPE> labels;
		map<OBS_TYPE, VNode*>& vnodes = qnode->children();
		for (map<OBS_TYPE, VNode*>::iterator it = vnodes.begin();
			it != vnodes.end(); it++) {
			labels.push_back(it->first);
		}

		os << repeat("|   ", this->depth()) << "a="
			<< qnode->edge() << ": "
			<< "(d:" << qnode->default_value << ", l:" << qnode->lower_bound()
			<< ", u:" << qnode->upper_bound()
			<< ", r:" << qnode->step_reward << ")" << endl;

		for (int i = 0; i < labels.size(); i++) {
			if (depth == -1 || this->depth() + 1 <= depth) {
				os << repeat("|   ", this->depth()) << "| o=" << labels[i]
					<< ": ";
				qnode->Child(labels[i])->PrintTree(depth, os);
			}
		}
	}
}