C++ QNode::upper_bound方法代码示例

double AEMS::AEMS2Likelihood(QNode* qnode) {
	VNode* vnode = qnode->parent();
	QNode* qstar = NULL;
	for (int action = 0; action < vnode->children().size(); action++) {
		QNode* child = vnode->Child(action);

		if (qstar == NULL || child->upper_bound() > qstar->upper_bound())
			qstar = child;
	}

	return qstar == qnode;
}

QNode* DESPOT::SelectBestUpperBoundNode(VNode* vnode) {
	int astar = -1;
	double upperstar = Globals::NEG_INFTY;
	for (int action = 0; action < vnode->children().size(); action++) {
		QNode* qnode = vnode->Child(action);

		if (qnode->upper_bound() > upperstar) {
			upperstar = qnode->upper_bound();
			astar = action;
		}
	}
	assert(astar >= 0);
	return vnode->Child(astar);
}

void DESPOT::Update(VNode* vnode) {
	if (vnode->IsLeaf()) {
		return;
	}

	double lower = vnode->default_move().value;
	double upper = vnode->default_move().value;
	double utility_upper = Globals::NEG_INFTY;

	for (int action = 0; action < vnode->children().size(); action++) {
		QNode* qnode = vnode->Child(action);

		lower = max(lower, qnode->lower_bound());
		upper = max(upper, qnode->upper_bound());
		utility_upper = max(utility_upper, qnode->utility_upper_bound);
	}

	if (lower > vnode->lower_bound()) {
		vnode->lower_bound(lower);
	}
	if (upper < vnode->upper_bound()) {
		vnode->upper_bound(upper);
	}
	if (utility_upper < vnode->utility_upper_bound) {
		vnode->utility_upper_bound = utility_upper;
	}
}

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);
			}
		}
	}
}

void AEMS::Update(VNode* vnode) {
	if (vnode->IsLeaf())
		return;

	double lower = Globals::NEG_INFTY;
	double upper = Globals::NEG_INFTY;

	for (int action = 0; action < vnode->children().size(); action++) {
		QNode* qnode = vnode->Child(action);

		lower = max(lower, qnode->lower_bound());
		upper = max(upper, qnode->upper_bound());
	}

	if (lower > vnode->lower_bound())
		vnode->lower_bound(lower);
	if (upper < vnode->upper_bound())
		vnode->upper_bound(upper);
}

void AEMS::Backup(VNode* vnode) {
	int iter = 0;
	logd << "- Backup " << vnode << " at depth " << vnode->depth() << endl;
	while (true) {
		logd << " Iter " << (iter++) << " " << vnode << endl;

		Update(vnode);
		logd << " Updated vnode " << vnode << endl;

		QNode* parentq = vnode->parent();
		if (parentq == NULL)
			break;

		Update(parentq);
		logd << " Updated Q-node to (" << parentq->lower_bound() << ", "
			<< parentq->upper_bound() << ")" << endl;

		vnode = parentq->parent();
	}
	logd << "* Backup complete!" << endl;
}