added convert tests

JuliaPOMDP · Apr 28, 2021 · 467ab05 · 467ab05
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commit 467ab05
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Showing 4 changed files with 52 additions and 5 deletions.
diff --git a/Project.toml b/Project.toml
@@ -1,7 +1,7 @@
 name = "PointBasedValueIteration"
 uuid = "835c131e-675f-4498-8e2c-c054c75556e1"
-authors = ["Dominik Straub <straub@psychologie.tu-darmstadt.de>"]
-version = "0.1.0"
+authors = ["Dominik Straub <straub@psychologie.tu-darmstadt.de> and Tomáš Omasta <tomom@email.cz>"]
+version = "0.2.0"
 
 [deps]
 BeliefUpdaters = "8bb6e9a1-7d73-552c-a44a-e5dc5634aac4"
@@ -15,6 +15,7 @@ POMDPs = "a93abf59-7444-517b-a68a-c42f96afdd7d"
 
 [compat]
 BeliefUpdaters = "0.2"
+FiniteHorizonPOMDPs = "0.3"
 POMDPLinter = "0.1"
 POMDPModelTools = "0.3.2"
 POMDPPolicies = "0.3, 0.4"

diff --git a/src/PointBasedValueIteration.jl b/src/PointBasedValueIteration.jl
@@ -10,7 +10,7 @@ using Distributions
 using FiniteHorizonPOMDPs
 
 import POMDPs: Solver, solve
-import Base: ==, hash
+import Base: ==, hash, convert
 import FiniteHorizonPOMDPs: InStageDistribution, FixedHorizonPOMDPWrapper
 
 

diff --git a/src/pbvi.jl b/src/pbvi.jl
@@ -35,12 +35,19 @@ end
 ==(a::AlphaVec, b::AlphaVec) = (a.alpha,a.action) == (b.alpha, b.action)
 Base.hash(a::AlphaVec, h::UInt) = hash(a.alpha, hash(a.action, h))
 
-convert(::Type{Array{Float64, 1}}, d::BoolDistribution, pomdp) = [d.p, 1 - d.p]
+convert(::Type{Array{Float64, 1}}, d::BoolDistribution, pomdp) = [1 - d.p, d.p]
 convert(::Type{Array{Float64, 1}}, d::DiscreteUniform, pomdp) = [pdf(d, stateindex(pomdp, s)) for s in states(pomdp)]
 convert(::Type{Array{Float64, 1}}, d::SparseCat, pomdp) = d.probs
 
 convert(::Type{Array{Float64, 1}}, d::InStageDistribution{DiscreteUniform}, m::FixedHorizonPOMDPWrapper) = vec([pdf(d, s) for s in states(m)])
-convert(::Type{Array{Float64, 1}}, d::InStageDistribution{BoolDistribution}, m::FixedHorizonPOMDPWrapper) = [[d.d.p[1], 1 - d.d.p[1]]..., zeros(length(states(m)) - 2)...]
+
+function convert(::Type{Array{Float64, 1}}, d::InStageDistribution{BoolDistribution}, m::FixedHorizonPOMDPWrapper)
+    if stage(d) == 1
+        append!([1 - d.d.p[1], d.d.p[1]], zeros(length(states(m)) - 2))
+    else
+        append!(append!(zeros((stage(d) - 1) * length(stage_states(m, 1))), [1 - d.d.p[1], d.d.p[1]]), zeros((horizon(m) - stage(d) + 1) * length(stage_states(m, 1))))
+    end
+end
 
 
 function _argmax(f, X)

diff --git a/test/runtests.jl b/test/runtests.jl
@@ -5,9 +5,48 @@ using SARSOP
 using BeliefUpdaters
 using POMDPModelTools: Deterministic
 using POMDPSimulators: RolloutSimulator
+using FiniteHorizonPOMDPs
 
 using PointBasedValueIteration
 
+@testset "Convert test" begin
+    @testset "Infinite Horizon POMDP tests" begin
+        tigerPOMDP = TigerPOMDP()
+        babyPOMDP = BabyPOMDP()
+        minihallwayPOMDP = MiniHallway()
+
+        @test convert(Array{Float64, 1}, initialstate(tigerPOMDP), tigerPOMDP) == [0.5, 0.5]
+        @test convert(Array{Float64, 1}, initialstate(babyPOMDP), babyPOMDP) == [1., 0.]
+        @test convert(Array{Float64, 1}, initialstate(minihallwayPOMDP), minihallwayPOMDP) == append!(fill(1/12, 12), zeros(1))
+    end
+
+    @testset "Finite Horizon POMDP tests" begin
+        @testset "Finite Horizon POMDP initial state convert tests" begin
+            tigerPOMDP = fixhorizon(TigerPOMDP(), 1)
+            babyPOMDP = fixhorizon(BabyPOMDP(), 1)
+            minihallwayPOMDP = fixhorizon(MiniHallway(), 1)
+
+            @test convert(Array{Float64, 1}, initialstate(tigerPOMDP), tigerPOMDP) == [0.5, 0.5, 0., 0.]
+            @test convert(Array{Float64, 1}, initialstate(babyPOMDP), babyPOMDP) == [1., 0., 0., 0.]
+            @test convert(Array{Float64, 1}, initialstate(minihallwayPOMDP), minihallwayPOMDP) == append!(fill(1/12, 12), zeros(14))
+        end
+
+        @testset "Finite Horizon POMDP other than initial stage distribution tests" begin
+            tigerPOMDP = fixhorizon(TigerPOMDP(), 2)
+            babyPOMDP = fixhorizon(BabyPOMDP(), 2)
+            minihallwayPOMDP = fixhorizon(MiniHallway(), 2)
+
+            tigerbelief = FiniteHorizonPOMDPs.InStageDistribution(FiniteHorizonPOMDPs.distribution(initialstate(tigerPOMDP)), 2)
+            babybelief = FiniteHorizonPOMDPs.InStageDistribution(FiniteHorizonPOMDPs.distribution(initialstate(babyPOMDP)), 2)
+            minihallwaybelief = FiniteHorizonPOMDPs.InStageDistribution(FiniteHorizonPOMDPs.distribution(initialstate(minihallwayPOMDP)), 2)
+
+            @test convert(Array{Float64, 1}, tigerbelief, tigerPOMDP) == [0., 0., 0.5, 0.5, 0., 0.]
+            @test convert(Array{Float64, 1}, babybelief, babyPOMDP) == [0., 0., 1., 0., 0., 0.]
+            @test convert(Array{Float64, 1}, minihallwaybelief, minihallwayPOMDP) == append!(append!(zeros(13), fill(1/12, 12)), zeros(14))
+        end
+    end
+end
+
 @testset "Comparison with SARSOP" begin
     pomdps = [TigerPOMDP(), BabyPOMDP(), MiniHallway()]