Merge pull request #21 from JuliaPOMDP/fast_distrib

got rid of GridWorldDistribution

src/GridWorlds.jl

@@ -60,17 +60,19 @@ mutable struct GridWorld <: MDP{GridWorldState, Symbol}
     discount_factor::Float64 # disocunt factor
 end
 # we use key worded arguments so we can change any of the values we pass in
-function GridWorld(;sx::Int64=10, # size_x
-                    sy::Int64=10, # size_y
-                    rs::Vector{GridWorldState}=[GridWorldState(4,3), GridWorldState(4,6), GridWorldState(9,3), GridWorldState(8,8)],
-                    rv::Vector{Float64}=[-10.,-5,10,3],
-                    penalty::Float64=0.0, # penalty for trying to go out of bounds  (will be added to reward)
-                    tp::Float64=0.7, # tprob
-                    discount_factor::Float64=0.95,
-                    terminals=Set{GridWorldState}([rs[i] for i in filter(i->rv[i]>0.0, 1:length(rs))]))
+function GridWorld(sx::Int64, # size_x
+                   sy::Int64; # size_y
+                   rs::Vector{GridWorldState}=[GridWorldState(4,3), GridWorldState(4,6), GridWorldState(9,3), GridWorldState(8,8)],
+                   rv::Vector{Float64}=[-10.,-5,10,3],
+                   penalty::Float64=0.0, # penalty for trying to go out of bounds  (will be added to reward)
+                   tp::Float64=0.7, # tprob
+                   discount_factor::Float64=0.95,
+                   terminals=Set{GridWorldState}([rs[i] for i in filter(i->rv[i]>0.0, 1:length(rs))]))
     return GridWorld(sx, sy, rs, rv, penalty, tp, Set{GridWorldState}(terminals), discount_factor)
 end
 
+GridWorld(;sx::Int64=10, sy::Int64=10, kwargs...) = GridWorld(sx, sy; kwargs...)
+
 # convenience function
 function term_from_rs(rs, rv)
     terminals = Set{GridWorldState}()
@@ -101,44 +103,6 @@ end
 # returns the action space
 actions(mdp::GridWorld, s=nothing) = [:up, :down, :left, :right]
 
-#################################################################
-# Distributions
-#################################################################
-
-struct GridWorldDistribution
-    neighbors::SVector{5, GridWorldState}
-    probs::SVector{5, Float64}
-end
-
-
-# returns an iterator over the distirubtion
-function POMDPs.iterator(d::GridWorldDistribution)
-    return d.neighbors
-end
-
-function pdf(d::GridWorldDistribution, s::GridWorldState)
-    for (i, sp) in enumerate(d.neighbors)
-        if s == sp
-            return d.probs[i]
-        end
-    end
-    return 0.0
-end
-
-function rand(rng::AbstractRNG, d::GridWorldDistribution)
-    # assume the sum of d.probs is one
-    t = rand(rng)
-    n = length(d.neighbors)
-    i = 1
-    c = d.probs[1]
-    while c < t && i < n
-        i += 1
-        @inbounds c += d.probs[i]
-    end
-    new = d.neighbors[i]
-    return GridWorldState(new.x, new.y, new.done)
-end
-
 n_states(mdp::GridWorld) = mdp.size_x*mdp.size_y+1
 n_actions(mdp::GridWorld) = 4
 
@@ -238,7 +202,7 @@ function transition(mdp::GridWorld, state::GridWorldState, action::Symbol)
     if state.done
         fill_probability!(probability, 1.0, 5)
         neighbors[5] = GridWorldState(x, y, true)
-        return GridWorldDistribution(neighbors, probability)
+        return SparseCat(neighbors, probability)
     end
 
     reward_states = mdp.reward_states
@@ -247,7 +211,7 @@ function transition(mdp::GridWorld, state::GridWorldState, action::Symbol)
     if state in mdp.terminals
 		fill_probability!(probability, 1.0, 5)
         neighbors[5] = GridWorldState(x, y, true)
-        return GridWorldDistribution(neighbors, probability)
+        return SparseCat(neighbors, probability)
     end
 
     # The following match the definition of neighbors
@@ -289,7 +253,7 @@ function transition(mdp::GridWorld, state::GridWorldState, action::Symbol)
         end
 	end
 
-    return GridWorldDistribution(neighbors, probability)
+    return SparseCat(neighbors, probability)
 end