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Class sdm::HistoryTree

Class List > sdm > HistoryTree

History class that use a representation by tree. More...

  • #include <history_tree.hpp>

Inherits the following classes: sdm::HistoryInterface, sdm::Tree

Inherited by the following classes: sdm::JointHistoryTree

Public Types

Type Name
typedef typename Tree< std::shared_ptr< Observation > >::value_type value_type

Public Types inherited from sdm::Tree

See sdm::Tree

Type Name
typedef T value_type

Public Functions

Type Name
HistoryTree ()
Default constructor. This constructor builds a default and empty tree.
HistoryTree (number max_depth)
Construct a new truncated tree object.
HistoryTree (std::shared_ptr< HistoryTree > parent, const std::shared_ptr< Observation > & item)
Construct a history tree iteratively.
virtual std::shared_ptr< output > expand (const std::shared_ptr< Observation > & observation, bool backup=true)
Expands the history.
virtual std::shared_ptr< HistoryInterface > expand (const std::shared_ptr< Observation > & observation, bool backup=true)
Expands the history.
std::shared_ptr< HistoryTree > getChild (const std::shared_ptr< Observation > & child_item) const
std::vector< std::shared_ptr< HistoryTree > > getChildren () const
const std::shared_ptr< Observation > & getData () const
virtual number getHorizon () const
Get the horizon of the history.
virtual std::shared_ptr< Observation > getLastObservation ()
Get the last observation.
std::shared_ptr< HistoryTree > getOrigin ()
std::shared_ptr< HistoryTree > getParent () const
virtual std::shared_ptr< Item > getPointer ()
Get the shared_ptr on current (this) item.
virtual std::shared_ptr< HistoryInterface > getPreviousHistory ()
Get the previous history.
std::shared_ptr< HistoryTree > getptr ()
void serialize (Archive & archive, const unsigned int)
virtual std::string short_str () const
virtual std::string str () const
Get a string describing the current item.

Public Functions inherited from sdm::HistoryInterface

See sdm::HistoryInterface

Type Name
virtual std::shared_ptr< HistoryInterface > expand (const std::shared_ptr< Observation > & observation, bool backup=true) = 0
Expands the history.
virtual number getHorizon () const = 0
Get the horizon of the history.
virtual std::shared_ptr< Observation > getLastObservation () = 0
Get the last observation.
virtual std::shared_ptr< HistoryInterface > getPreviousHistory () = 0
Get the previous history.
virtual TypeState getTypeState () const
virtual std::string short_str () const = 0
virtual std::string str () const = 0
Get a string describing the current item.
std::shared_ptr< JointHistoryInterface > toJointHistory ()
Transform the HistoryInterface in aJointHistoryInterface .

Public Functions inherited from sdm::State

See sdm::State

Type Name
virtual TypeState getTypeState () const
virtual size_t hash () const
Get the hash of the state. The hash is used in tabular value functions in order to compare efficiently two states. This function must be reimplemented in inherited classes.
virtual bool operator== (const std::shared_ptr< State > & other) const
Check equality between two states. This function must be implemented in inherited classes.
virtual std::string str () const = 0
Get a string describing the current item.
virtual std::shared_ptr< BeliefInterface > toBelief ()
Cast the state into a belief.
virtual std::shared_ptr< HistoryInterface > toHistory ()
Cast the state into a history.
virtual std::shared_ptr< OccupancyStateInterface > toOccupancyState ()
Cast the state into an occupancy state.
virtual std::shared_ptr< BaseSerialInterface > toSerial ()
Cast the state into a serial interface.
virtual std::shared_ptr< SerialOccupancyInterface > toSerialOccupancyState ()
Cast the state into a serial occupancy state.
virtual ~State ()

Public Functions inherited from sdm::Observation

See sdm::Observation

Type Name
virtual std::string str () const = 0
Get a string describing the current item.
virtual ~Observation ()

Public Functions inherited from sdm::Item

See sdm::Item

Type Name
virtual std::shared_ptr< Item > getPointer ()
Get the shared_ptr on current (this) item.
virtual bool isBaseItem ()
virtual std::string str () const = 0
Get a string describing the current item.
std::shared_ptr< T > to ()
virtual std::shared_ptr< Action > toAction ()
Cast the item into a pointer on action.
virtual std::shared_ptr< Item > toItem ()
Cast the item into a pointer on item.
virtual std::shared_ptr< Observation > toObservation ()
Cast the item into a pointer on observation.
virtual std::shared_ptr< State > toState ()
Cast the item into a pointer on state.

Public Functions inherited from std::inheritable_enable_shared_from_this

See std::inheritable_enable_shared_from_this

Type Name
std::shared_ptr< Down > downcasted_shared_from_this ()
std::shared_ptr< T > shared_from_this ()

Public Functions inherited from std::MultipleInheritableEnableSharedFromThis

See std::MultipleInheritableEnableSharedFromThis

Type Name
virtual ~MultipleInheritableEnableSharedFromThis ()

Public Functions inherited from sdm::Tree

See sdm::Tree

Type Name
Tree ()
Default constructor object.
Tree (number max_depth)
Construct a new Tree object (the origin)
Tree (std::shared_ptr< Tree< T >> parent, const T & data)
Construct a new Tree object.
void addChild (const T & child_item)
void addChildren (const std::vector< T > & child_items)
std::shared_ptr< Tree< T > > getChild (const T & child_item) const
std::vector< std::shared_ptr< Tree< T > > > getChildren () const
const T & getData () const
number getDepth () const
number getMaxDepth () const
number getNumChildren () const
std::shared_ptr< Tree< T > > getOrigin ()
std::shared_ptr< Tree< T > > getParent () const
std::shared_ptr< Tree< T > > getptr ()
bool isOrigin () const
void serialize (Archive & archive, const unsigned int)
void setMaxDepth (number) const
std::string str () const
virtual ~Tree ()
Destructor of Tree (that's bad).

Public Functions inherited from std::inheritable_enable_shared_from_this

See std::inheritable_enable_shared_from_this

Type Name
std::shared_ptr< Down > downcasted_shared_from_this ()
std::shared_ptr< T > shared_from_this ()

Public Functions inherited from std::MultipleInheritableEnableSharedFromThis

See std::MultipleInheritableEnableSharedFromThis

Type Name
virtual ~MultipleInheritableEnableSharedFromThis ()

Protected Attributes inherited from sdm::Tree

See sdm::Tree

Type Name
std::map< T, std::shared_ptr< Tree< T > > > children_
mapping of items to successor trees
T data_
data of the current node
number depth_ = = 0
depth of the tree
bool is_origin = = false
number max_depth_ = = std::numeric_limits<number>::max()
maximum length of the tree
std::weak_ptr< Tree< T > > origin_
the root of the tree
std::weak_ptr< Tree< T > > parent_
the parent node

Protected Functions

Type Name
std::shared_ptr< output > truncatedExpand (const std::shared_ptr< Observation > & observation, bool backup)
Expands the tree using truncated expand method.

Detailed Description

Each node in the tree represent an action-observation pair. Let consider nodes above a given node as the list of actions and observations at previous timesteps.

Public Types Documentation

typedef value_type

using sdm::HistoryTree::value_type =  typename Tree<std::shared_ptr<Observation> >::value_type;

Public Functions Documentation

function HistoryTree [1/3]

sdm::HistoryTree::HistoryTree ()

function HistoryTree [2/3]

sdm::HistoryTree::HistoryTree (
    number max_depth
)

Parameters:

  • data the value of the origin

function HistoryTree [3/3]

sdm::HistoryTree::HistoryTree (
    std::shared_ptr< HistoryTree > parent,
    const std::shared_ptr< Observation > & item
)

Parameters:

  • parent the parent tree
  • item the item
  • backup wheter the node is marked or not

This constructor builds a tree with a given parent and item.

function expand [1/2]

template<typename output typename output>
inline virtual std::shared_ptr< output > sdm::HistoryTree::expand (
    const std::shared_ptr< Observation > & observation,
    bool backup=true
)

Parameters:

  • data the data of the expanded node

Returns:

the expanded history

If child leading from the item previously exists, the method return that child. Otherwise, it expands the tree by adding an item at the current leaf of the tree and creating if necessary a corresponding child. The constructed child is returned.

Implements sdm::HistoryInterface::expand

function expand [2/2]

virtual std::shared_ptr< HistoryInterface > sdm::HistoryTree::expand (
    const std::shared_ptr< Observation > & observation,
    bool backup=true
)

Parameters:

  • observation the observation of the expanded node

Returns:

the expanded history

Implements sdm::HistoryInterface::expand

function getChild

std::shared_ptr< HistoryTree > sdm::HistoryTree::getChild (
    const std::shared_ptr< Observation > & child_item
) const

function getChildren

std::vector< std::shared_ptr< HistoryTree > > sdm::HistoryTree::getChildren () const

function getData

const std::shared_ptr< Observation > & sdm::HistoryTree::getData () const

function getHorizon

virtual number sdm::HistoryTree::getHorizon () const

Returns:

number the history

Implements sdm::HistoryInterface::getHorizon

function getLastObservation

virtual std::shared_ptr< Observation > sdm::HistoryTree::getLastObservation ()

Returns:

the last observation

Implements sdm::HistoryInterface::getLastObservation

function getOrigin

std::shared_ptr< HistoryTree > sdm::HistoryTree::getOrigin ()

function getParent

std::shared_ptr< HistoryTree > sdm::HistoryTree::getParent () const

function getPointer

virtual std::shared_ptr< Item > sdm::HistoryTree::getPointer ()

Returns:

std::shared_ptr<Item>

Implements sdm::Item::getPointer

function getPreviousHistory

virtual std::shared_ptr< HistoryInterface > sdm::HistoryTree::getPreviousHistory ()

Returns:

the one step behind history.

Implements sdm::HistoryInterface::getPreviousHistory

function getptr

std::shared_ptr< HistoryTree > sdm::HistoryTree::getptr ()

function serialize

template<class Archive class Archive>
void sdm::HistoryTree::serialize (
    Archive & archive,
    const unsigned int
)

function short_str

virtual std::string sdm::HistoryTree::short_str () const

Implements sdm::HistoryInterface::short_str

function str

virtual std::string sdm::HistoryTree::str () const

Returns:

std::string the description of the item

Implements sdm::HistoryInterface::str

Protected Functions Documentation

function truncatedExpand

template<typename output typename output>
inline std::shared_ptr< output > sdm::HistoryTree::truncatedExpand (
    const std::shared_ptr< Observation > & observation,
    bool backup
)

Parameters:

  • data the data of the expanded node
  • backup wheter the node is marked or not

Returns:

the truncated expanded tree

    ## Friends Documentation

friend operator<<

inline friend std::ostream & sdm::HistoryTree::operator<< (
    std::ostream & os,
    HistoryTree & i_hist
)

The documentation for this class was generated from the following file src/sdm/core/state/history_tree.hpp