BeliefManager.h

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#pragma once
 
#include <boost/container/flat_map.hpp>
#include <boost/container/flat_set.hpp>
#include <optional>
#include <unordered_map>
#include <vector>
 
#include "storm/solver/LpSolver.h"
#include "storm/storage/BitVector.h"
#include "storm/utility/ConstantsComparator.h"
#include "storm/utility/constants.h"
#include "storm/utility/solver.h"
 
namespace storm {
namespace storage {
// Forward declaration
template<typename ValueType>
class SparseMatrix;
 
template<typename PomdpType, typename BeliefValueType = typename PomdpType::ValueType, typename StateType = uint64_t>
class BeliefManager {
   public:
    typedef typename PomdpType::ValueType ValueType;
    typedef boost::container::flat_map<StateType, BeliefValueType> BeliefType;  // iterating over this shall be ordered (for correct hash computation)
    typedef boost::container::flat_set<StateType> BeliefSupportType;
    typedef uint64_t BeliefId;
 
    enum class TriangulationMode { Static, Dynamic };
 
    BeliefManager(PomdpType const &pomdp, BeliefValueType const &precision, TriangulationMode const &triangulationMode);
 
    void setRewardModel(std::optional<std::string> rewardModelName = std::nullopt);
 
    void unsetRewardModel();
 
    struct Triangulation {
        std::vector<BeliefId> gridPoints;
        std::vector<BeliefValueType> weights;
        uint64_t size() const;
    };
 
    struct BeliefClipping {
        bool isClippable;
        BeliefId startingBelief;
        BeliefId targetBelief;
        BeliefValueType delta;
        BeliefType deltaValues;
        bool onGrid = false;
    };
 
    BeliefId noId() const;
 
    bool isEqual(BeliefId const &first, BeliefId const &second) const;
 
    std::string toString(BeliefId const &beliefId) const;
 
    std::string toString(Triangulation const &t) const;
 
    ValueType getWeightedSum(BeliefId const &beliefId, std::vector<ValueType> const &summands);
 
    std::pair<bool, ValueType> getWeightedSum(BeliefId const &beliefId, std::unordered_map<StateType, ValueType> const &summands);
 
    BeliefId const &getInitialBelief() const;
 
    ValueType getBeliefActionReward(BeliefId const &beliefId, uint64_t const &localActionIndex) const;
 
    uint32_t getBeliefObservation(BeliefId beliefId);
 
    uint64_t getBeliefNumberOfChoices(BeliefId beliefId);
 
    uint64_t getRepresentativeState(BeliefId const &beliefId);
 
    Triangulation triangulateBelief(BeliefId beliefId, BeliefValueType resolution);
 
    template<typename DistributionType>
    void addToDistribution(DistributionType &distr, StateType const &state, BeliefValueType const &value);
 
    void joinSupport(BeliefId const &beliefId, BeliefSupportType &support);
 
    BeliefId getNumberOfBeliefIds() const;
 
    std::vector<std::pair<BeliefId, ValueType>> expandAndTriangulate(BeliefId const &beliefId, uint64_t actionIndex,
                                                                     std::vector<BeliefValueType> const &observationResolutions);
 
    std::vector<std::pair<BeliefId, ValueType>> expandAndClip(BeliefId const &beliefId, uint64_t actionIndex,
                                                              std::vector<uint64_t> const &observationResolutions);
 
    std::vector<std::pair<BeliefId, ValueType>> expand(BeliefId const &beliefId, uint64_t actionIndex);
 
    BeliefClipping clipBeliefToGrid(BeliefId const &beliefId, uint64_t resolution, storm::storage::BitVector isInfinite = storm::storage::BitVector());
 
    std::string getObservationLabel(BeliefId const &beliefId);
 
    std::vector<BeliefValueType> computeMatrixBeliefProduct(BeliefId const &beliefId, storm::storage::SparseMatrix<BeliefValueType> &matrix);
 
   private:
    std::vector<BeliefValueType> getBeliefAsVector(BeliefId const &beliefId);
 
    std::vector<BeliefValueType> getBeliefAsVector(const BeliefType &belief);
 
    BeliefClipping clipBeliefToGrid(BeliefType const &belief, uint64_t resolution, const storm::storage::BitVector &isInfinite);
 
    template<typename DistributionType>
    void adjustDistribution(DistributionType &distr);
 
    struct BeliefHash {
        std::size_t operator()(const BeliefType &belief) const;
    };
 
    struct Belief_equal_to {
        bool operator()(const BeliefType &lhBelief, const BeliefType &rhBelief) const;
    };
 
    struct FreudenthalDiff {
        FreudenthalDiff(StateType const &dimension, BeliefValueType diff);
 
        StateType dimension;   // i
        BeliefValueType diff;  // d[i]
        bool operator>(FreudenthalDiff const &other) const;
    };
 
    BeliefType const &getBelief(BeliefId const &id) const;
 
    BeliefId getId(BeliefType const &belief) const;
 
    std::string toString(BeliefType const &belief) const;
 
    bool isEqual(BeliefType const &first, BeliefType const &second) const;
 
    bool assertBelief(BeliefType const &belief) const;
 
    bool assertTriangulation(BeliefType const &belief, Triangulation const &triangulation) const;
 
    uint32_t getBeliefObservation(BeliefType belief) const;
 
    void triangulateBeliefFreudenthal(BeliefType const &belief, BeliefValueType const &resolution, Triangulation &result);
 
    void triangulateBeliefDynamic(BeliefType const &belief, BeliefValueType const &resolution, Triangulation &result);
 
    Triangulation triangulateBelief(BeliefType const &belief, BeliefValueType const &resolution);
 
    std::vector<std::pair<BeliefId, ValueType>> expandInternal(
        BeliefId const &beliefId, uint64_t actionIndex, std::optional<std::vector<BeliefValueType>> const &observationTriangulationResolutions = std::nullopt,
        std::optional<std::vector<uint64_t>> const &observationGridClippingResolutions = std::nullopt);
 
    BeliefId computeInitialBelief();
 
    BeliefId getOrAddBeliefId(BeliefType const &belief);
 
    PomdpType const &pomdp;
    std::vector<ValueType> pomdpActionRewardVector;
 
    std::vector<BeliefType> beliefs;
    std::vector<std::unordered_map<BeliefType, BeliefId, BeliefHash, Belief_equal_to>> beliefToIdMap;
    BeliefId initialBeliefId;
 
    storm::utility::ConstantsComparator<BeliefValueType> cc;
 
    std::shared_ptr<storm::solver::LpSolver<BeliefValueType>> lpSolver;
 
    TriangulationMode triangulationMode;
};
}  // namespace storage
}  // namespace storm