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Add convert_s function #18

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Add convert_s function #18

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2b8c7d4
Update LaserTag.jl
yangyou95 Dec 13, 2022
c18fa55
Update LaserTag.jl
yangyou95 Dec 20, 2022
da28f02
update LaserTag convert_s and test functions
yangyou95 Jan 17, 2023
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51 changes: 28 additions & 23 deletions src/LaserTag.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -20,29 +20,23 @@ export
LTState,
CMeas,
DMeas,
LaserTagVis,

MoveTowards,
LaserTagVis, MoveTowards,
MoveTowardsSampled,
OptimalMLSolver,
OptimalML,
BestExpectedSolver,
BestExpected,

DESPOTEmu,

gen_lasertag,
BestExpected, DESPOTEmu, gen_lasertag,
cpp_emu_lasertag,
tikz_pic,
n_clear_cells


const Coord = SVector{2, Int}
const CMeas = MVector{8, Float64}
const DMeas = MVector{8, Int}
const Coord = SVector{2,Int}
const CMeas = MVector{8,Float64}
const DMeas = MVector{8,Int}

const C_SAME_LOC = fill!(MVector{8, Float64}(undef), -1.0)
const D_SAME_LOC = fill!(MVector{8, Int64}(undef), -1)
const C_SAME_LOC = fill!(MVector{8,Float64}(undef), -1.0)
const D_SAME_LOC = fill!(MVector{8,Int64}(undef), -1)

@auto_hash_equals struct LTState # XXX auto_hash_equals isn't correct for terminal
robot::Coord
Expand Down Expand Up @@ -72,16 +66,16 @@ obs_type(om::ObsModel) = obs_type(typeof(om))

include("distance_cache.jl")

@with_kw struct LaserTagPOMDP{M<:ObsModel, O<:Union{CMeas, DMeas}} <: POMDP{LTState, Int, O}
tag_reward::Float64 = 10.0
step_cost::Float64 = 1.0
discount::Float64 = 0.95
floor::Floor = Floor(7, 11)
obstacles::Set{Coord} = Set{Coord}()
robot_init::Union{Coord, Nothing} = nothing
diag_actions::Bool = false
dcache::LTDistanceCache = LTDistanceCache(floor, obstacles)
obs_model::M = DESPOTEmu(floor, 2.5)
@with_kw struct LaserTagPOMDP{M<:ObsModel,O<:Union{CMeas,DMeas}} <: POMDP{LTState,Int,O}
tag_reward::Float64 = 10.0
step_cost::Float64 = 1.0
discount::Float64 = 0.95
floor::Floor = Floor(7, 11)
obstacles::Set{Coord} = Set{Coord}()
robot_init::Union{Coord,Nothing} = nothing
diag_actions::Bool = false
dcache::LTDistanceCache = LTDistanceCache(floor, obstacles)
obs_model::M = DESPOTEmu(floor, 2.5)
end

ltfloor(m::LaserTagPOMDP) = m.floor
Expand Down Expand Up @@ -143,6 +137,17 @@ function POMDPs.reward(p::LaserTagPOMDP, s::LTState, a::Int, sp::LTState)
end
end


# add a function to transform a LTState to a vector
function POMDPs.convert_s(T::Type{<:AbstractArray}, s::LTState, p::LaserTagPOMDP)
return convert(T, vcat(s.robot, s.opponent, s.terminal))
end

# transform a vector to a LTState
function POMDPs.convert_s(T::Type{LTState}, v::AbstractArray{Float64}, p::LaserTagPOMDP)
return LTState(Coord(v[1], v[2]), Coord(v[3], v[4]), v[5])
end

POMDPs.isterminal(p::LaserTagPOMDP, s::LTState) = s.terminal
POMDPs.discount(p::LaserTagPOMDP) = p.discount

Expand Down
8 changes: 8 additions & 0 deletions test/runtests.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,14 @@ tikz_pic(LaserTagVis(p))
# discrete
p = gen_lasertag()

# check convert_s function
b0 = initialstate(p)
s_test = rand(b0)
v_s_test = convert_s(Vector{Float64}, s_test, p)
s_back = convert_s(LTState, v_s_test, p)
@test s_back == s_test


# check observation model consistency
rng = MersenneTwister(12)
N = 1_000_000
Expand Down