default actions

JuliaPOMDP · Sep 8, 2017 · 407475b · 407475b
1 parent 771c55b
commit 407475b
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Showing 2 changed files with 17 additions and 1 deletion.
diff --git a/src/planner2.jl b/src/planner2.jl
@@ -31,7 +31,13 @@ function action{P,NBU}(pomcp::POMCPOWPlanner{P,NBU}, b)
     B = belief_type(NBU,P)
     tree = POMCPOWTree{B,A,O,typeof(b)}(b, 2*pomcp.solver.tree_queries)
     pomcp.tree = tree
-    return search(pomcp, tree)
+    local a::A
+    try
+        a = search(pomcp, tree)
+    catch ex
+        a = convert(A, default_action(pomcp.solver.default_action, b, ex))
+    end
+    return a
 end
 
 function search(pomcp::POMCPOWPlanner, tree::POMCPOWTree)

diff --git a/test/runtests.jl b/test/runtests.jl
@@ -3,6 +3,7 @@ using Base.Test
 
 using POMDPModels
 using POMDPToolbox
+using ParticleFilters
 
 solver = POMCPOWSolver()
 
@@ -16,3 +17,12 @@ b = initial_state_distribution(pomdp)
 B = POMCPOW.belief_type(POMCPOW.POWNodeFilter, typeof(pomdp))
 tree = POMCPOWTree{B,Bool,Bool,typeof(b)}(b, 2*planner.solver.tree_queries)
 @inferred POMCPOW.simulate(planner, POMCPOW.POWTreeObsNode(tree, 1), true, 10)
+
+let
+    pomdp = LightDark1D()
+    solver = POMCPOWSolver(default_action=485)
+    planner = solve(solver, pomdp)
+
+    b = ParticleCollection([LightDark1DState(-1, 0)])
+    @test action(planner, b) == 485
+end