NondeterministicBeliefTracker.h

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#pragma once
#include "storm/models/sparse/Pomdp.h"
 
namespace storm {
namespace generator {
template<typename ValueType>
class BeliefStateManager {
   public:
    BeliefStateManager(storm::models::sparse::Pomdp<ValueType> const& pomdp);
    storm::models::sparse::Pomdp<ValueType> const& getPomdp() const;
    uint64_t getActionsForObservation(uint32_t observation) const;
    ValueType getRisk(uint64_t) const;
    void setRiskPerState(std::vector<ValueType> const& risk);
    uint64_t getFreshId();
    uint32_t getObservation(uint64_t state) const;
    uint64_t getObservationOffset(uint64_t state) const;
    uint64_t getState(uint32_t obs, uint64_t offset) const;
    uint64_t getNumberOfStates() const;
    uint64_t numberOfStatesPerObservation(uint32_t observation) const;
 
   private:
    storm::models::sparse::Pomdp<ValueType> const& pomdp;
    std::vector<ValueType> riskPerState;
    std::vector<uint64_t> numberActionsPerObservation;
    uint64_t beliefIdCounter = 0;
    std::vector<uint64_t> observationOffsetId;
    std::vector<std::vector<uint64_t>> statePerObservationAndOffset;
};
 
template<typename ValueType>
class SparseBeliefState;
template<typename ValueType>
bool operator==(SparseBeliefState<ValueType> const& lhs, SparseBeliefState<ValueType> const& rhs);
 
template<typename ValueType>
class SparseBeliefState {
   public:
    SparseBeliefState(std::shared_ptr<BeliefStateManager<ValueType>> const& manager, uint64_t state);
    void update(uint32_t newObservation, std::unordered_set<SparseBeliefState>& previousBeliefs) const;
    std::size_t hash() const noexcept;
    ValueType get(uint64_t state) const;
    ValueType getRisk() const;
 
    // Various getters
    std::string toString() const;
    bool isValid() const;
    uint64_t getSupportSize() const;
    void setSupport(storm::storage::BitVector&) const;
    std::map<uint64_t, ValueType> const& getBeliefMap() const;
 
    friend bool operator== <>(SparseBeliefState<ValueType> const& lhs, SparseBeliefState<ValueType> const& rhs);
 
   private:
    void updateHelper(std::vector<std::map<uint64_t, ValueType>> const& partialBeliefs, std::vector<ValueType> const& sums,
                      typename std::map<uint64_t, ValueType>::const_iterator nextStateIt, uint32_t newObservation,
                      std::unordered_set<SparseBeliefState<ValueType>>& previousBeliefs) const;
    SparseBeliefState(std::shared_ptr<BeliefStateManager<ValueType>> const& manager, std::map<uint64_t, ValueType> const& belief, std::size_t newHash,
                      ValueType const& risk, uint64_t prevId);
    std::shared_ptr<BeliefStateManager<ValueType>> manager;
 
    std::map<uint64_t, ValueType> belief;  // map is ordered for unique hashing.
    std::size_t prestoredhash = 0;
    ValueType risk;
    uint64_t id;
    uint64_t prevId;
};
 
template<typename ValueType>
class ObservationDenseBeliefState;
template<typename ValueType>
bool operator==(ObservationDenseBeliefState<ValueType> const& lhs, ObservationDenseBeliefState<ValueType> const& rhs);
 
template<typename ValueType>
class ObservationDenseBeliefState {
   public:
    ObservationDenseBeliefState(std::shared_ptr<BeliefStateManager<ValueType>> const& manager, uint64_t state);
    void update(uint32_t newObservation, std::unordered_set<ObservationDenseBeliefState>& previousBeliefs) const;
    std::size_t hash() const noexcept;
    ValueType get(uint64_t state) const;
    ValueType getRisk() const;
    std::string toString() const;
    uint64_t getSupportSize() const;
    void setSupport(storm::storage::BitVector&) const;
    friend bool operator== <>(ObservationDenseBeliefState<ValueType> const& lhs, ObservationDenseBeliefState<ValueType> const& rhs);
 
   private:
    void updateHelper(std::vector<std::map<uint64_t, ValueType>> const& partialBeliefs, std::vector<ValueType> const& sums, uint64_t currentEntry,
                      uint32_t newObservation, std::unordered_set<ObservationDenseBeliefState<ValueType>>& previousBeliefs) const;
    ObservationDenseBeliefState(std::shared_ptr<BeliefStateManager<ValueType>> const& manager, uint32_t observation, std::vector<ValueType> const& belief,
                                std::size_t newHash, ValueType const& risk, uint64_t prevId);
    std::shared_ptr<BeliefStateManager<ValueType>> manager;
 
    std::vector<ValueType> belief;
    uint64_t observation = 0;
    std::size_t prestoredhash = 0;
    ValueType risk;
    uint64_t id;
    uint64_t prevId;
};
 
template<typename ValueType, typename BeliefState>
class NondeterministicBeliefTracker {
   public:
    struct Options {
        uint64_t trackTimeOut = 0;
        uint64_t timeOut = 0;  // for reduction, in milliseconds, 0 is no timeout
        ValueType wiggle;      // tolerance, anything above 0 means that we are incomplete.
    };
    NondeterministicBeliefTracker(storm::models::sparse::Pomdp<ValueType> const& pomdp,
                                  typename NondeterministicBeliefTracker<ValueType, BeliefState>::Options options = Options());
    bool reset(uint32_t observation);
    bool track(uint64_t newObservation);
    std::unordered_set<BeliefState> const& getCurrentBeliefs() const;
    uint32_t getCurrentObservation() const;
    uint64_t getNumberOfBeliefs() const;
    ValueType getCurrentRisk(bool max = true);
    void setRisk(std::vector<ValueType> const& risk);
    uint64_t getCurrentDimension() const;
    uint64_t reduce();
    bool hasTimedOut() const;
 
   private:
    storm::models::sparse::Pomdp<ValueType> const& pomdp;
    std::shared_ptr<BeliefStateManager<ValueType>> manager;
    std::unordered_set<BeliefState> beliefs;
    bool reductionTimedOut = false;
    Options options;
    uint32_t lastObservation;
};
}  // namespace generator
}  // namespace storm
 
//
namespace std {
template<typename T>
struct hash<storm::generator::SparseBeliefState<T>> {
    std::size_t operator()(storm::generator::SparseBeliefState<T> const& s) const noexcept {
        return s.hash();
    }
};
template<typename T>
struct hash<storm::generator::ObservationDenseBeliefState<T>> {
    std::size_t operator()(storm::generator::ObservationDenseBeliefState<T> const& s) const noexcept {
        return s.hash();
    }
};
}  // namespace std