Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

added search time into action info #29

Open
wants to merge 1 commit into
base: master
Choose a base branch
from
Open

added search time into action info #29

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion src/planner.jl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@ function build_despot(p::DESPOTPlanner, b_0)
trial += 1
end

return D
return D, CPUtime_us()-start
end

function explore!(D::DESPOT, b::Int, p::DESPOTPlanner)
Expand Down
3 changes: 2 additions & 1 deletion src/pomdps_glue.jl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,11 +5,12 @@ function POMDPTools.action_info(p::DESPOTPlanner, b)
try
Random.seed!(p.rs, rand(p.rng, UInt32))

D = build_despot(p, b)
D, search_time = build_despot(p, b)

if p.sol.tree_in_info
info[:tree] = D
end
info[:search_time_us] = search_time

check_consistency(p.rs)

Expand Down
6 changes: 5 additions & 1 deletion test/runtests.jl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -93,7 +93,8 @@ solver = DESPOTSolver(epsilon_0=0.1,
p = solve(solver, pomdp)

b0 = initialstate(pomdp)
D = @inferred ARDESPOT.build_despot(p, b0)
D, search_time = @inferred ARDESPOT.build_despot(p, b0)
@test search_time !== NaN
@inferred ARDESPOT.explore!(D, 1, p)
@inferred ARDESPOT.expand!(D, length(D.children), p)
@inferred ARDESPOT.prune!(D, 1, p)
Expand Down Expand Up @@ -123,6 +124,9 @@ show(stdout, MIME("text/plain"), D)
a, info = action_info(p, initialstate(pomdp))
show(stdout, MIME("text/plain"), info[:tree])

# check if search_time exists in info
@test info[:search_time_us] !== NaN

# from README:
using POMDPs, POMDPModels, ARDESPOT
using POMDPTools
Expand Down