removed MOMDP deps

JuliaPOMDP · May 20, 2016 · 4484468 · 4484468
1 parent 2119a8a
commit 4484468
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Showing 2 changed files with 5 additions and 236 deletions.
diff --git a/src/policy.jl b/src/policy.jl
diff --git a/src/solver.jl b/src/solver.jl
@@ -89,32 +89,6 @@ type POMDPPolicy <: SARSOPPolicy
     end
 end
 
-#=
-"""
-    MOMDPPolicy
-
-Policy type for MOMDPs that contains a reference to the .policy file generated by pomdpsol.
-Contains the alpha vectors and the action mapping required to execute a policy.
-"""
-type MOMDPPolicy <: SARSOPPolicy
-    filename::AbstractString
-    alphas::Alphas
-    pomdp::POMDP
-    action_map::Vector{Any}
-    MOMDPPolicy(filename::AbstractString, alphas::Alphas, pomdp) = new(filename, alphas, pomdp, Any[])
-    function MOMDPPolicy(filename="out.policy")
-        self = new()
-        self.filename = filename
-        if isfile(filename)
-            self.alphas = MOMDPAlphas(filename)
-        else
-            self.alphas = MOMDPAlphas()
-        end
-        return self
-    end
-end
-=#
-
 
 """
     solve(solver, pomdp, policy)
@@ -145,19 +119,6 @@ function solve(solver::SARSOPSolver, pomdp::POMDP, policy::POMDPPolicy=create_po
     return policy
 end
 
-#=
-# generates a momdp policy file
-function solve(solver::SARSOPSolver, pomdp::SARSOPFile, policy::MOMDPPolicy)
-    if isempty(solver.options)
-        run(`$EXEC_POMDP_SOL $(pomdp.filename) --output $(policy.filename)`)
-    else
-        options_list = _get_options_list(solver.options)
-        run(`$EXEC_POMDP_SOL $(pomdp.filename) --output $(policy.filename) $options_list`)
-    end
-    policy.alphas = MOMDPAlphas(policy.filename)
-end
-=#
-
 
 function load_policy(pomdp::POMDP, file_name::AbstractString)
     alphas = nothing
@@ -201,64 +162,28 @@ end
 Returns the action index for a blief 'b' according to 'policy' for a POMDP.
 """
 function action(policy::POMDPPolicy, b::DiscreteBelief)
-    vectors = policy.alphas.alpha_vectors
-    actions = policy.alphas.alpha_actions
+    vectors = alphas(policy)
+    actions = action_idxs(policy)
     utilities = prod(vectors, b) 
     a = actions[indmax(utilities)] + 1
     return a
 end
 
 
 function value(policy::POMDPAlphas, b::DiscreteBelief)
-    vectors = policy.alphas.alpha_vectors
-    actions = policy.alphas.alpha_actions
+    vectors = alphas(policy)
+    actions = action_idxs(policy)
     utilities = prod(vectors, b) 
     v =  maximum(utilities)
     return v
 end
 
 
-#=
-"""
-    action(policy, b, x)
-
-Returns the action index for a blief 'b' according to 'policy' given the fully observable variable index 'x'.
-Used for MOMDPs
-"""
-function action(policy::MOMDPPolicy, b::DiscreteBelief, x::Int64)
-    # for MOMDP
-    vectors = policy.alphas.alpha_vectors
-    actions = policy.alphas.alpha_actions
-    states = policy.alphas.observable_states
-    o = x - 1 # julia obs: 1-100, sarsop obs: 0-99
-    utilities = prod(vectors, b) 
-    chunk = actions[find(s -> s == o, states)]
-    a = chunk[indmax(utilities[find(s -> s == o, states)])] + 1
-    return a
-end
-=#
-
-
-function prod(alphas::Matrix{Float64}, b::DiscreteBelief)
-    @assert size(alphas, 1) == length(b) "Alpha and belief sizes not equal"
-    n = size(alphas, 2)
-    util = zeros(n)
-    for i = 1:n
-        s = 0.0
-        for j = 1:length(b)
-            s += alphas[j,i]*b[j]
-        end
-        util[i] = s
-    end
-    return util
-end
-
-
-
 """
     alphas(policy)
 
 Returns the alpha vector matrix `vector length x number vectors`
 """
 alphas(policy::SARSOPPolicy) = policy.alphas.alpha_vectors
 
+action_idxs(policy::SARSOPPolicy) = policy.alphas.alpha_actions