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mdp.cpp
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mdp.cpp
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#include "mdp.h"
Vertex::Vertex(State& st)
{
s = st;
}
Vertex::~Vertex()
{
for(vector<State *>::iterator i= state_obs.begin(); i != state_obs.end(); i++)
delete (*i);
//controls vector is built from pointers, which are cleared by the class system
controls.clear();
state_obs.clear();
controls.clear();
controls_iter.clear();
edges_in.clear();
edges_out.clear();
};
Edge::Edge(Vertex *f, Vertex *t, double prob, double trans_time){
from = f;
to = t;
transition_prob = prob;
transition_time = trans_time;
}
MDP::MDP(Graph& in_graph)
{
graph = &in_graph;
obs_curr_index = 0;
max_obs_time = 1.0;
};
MDP::~MDP()
{
control.clear();
truth.clear();
obs.clear();
obs_times.clear();
}
void MDP::draw_lcm_grid()
{
/*
bot_lcmgl_color4f(lcmgl, 0, 0, 0, 0.5);
bot_lcmgl_begin(lcmgl, GL_LINES);
for(double x = -10; x < 10; x += 0.01)
{
bot_lcmgl_vertex3f(lcmgl, x, 0, 0);
bot_lcmgl_vertex3f(lcmgl, x+0.01, 0, 0);
}
bot_lcmgl_end(lcmgl);
bot_lcmgl_begin(lcmgl, GL_LINES);
for(double y = -10; y < 10; y += 0.01)
{
bot_lcmgl_vertex3f(lcmgl, 0, y, 0);
bot_lcmgl_vertex3f(lcmgl, 0, y+0.01, 0);
}
bot_lcmgl_end(lcmgl);
#if 0
bot_lcmgl_begin(lcmgl, GL_LINES);
for(double z = -10; z < 10; z += 0.01)
{
bot_lcmgl_vertex3f(lcmgl, 0, 0, z);
bot_lcmgl_vertex3f(lcmgl, 0, 0, z+0.01);
}
bot_lcmgl_end(lcmgl);
#endif
*/
};
void MDP::write_pomdp_file_singleint()
{
System *sys = graph->system;
ofstream sindex("sarsop/state_index.dat");
sindex<< graph->vlist[0]->holding_times[0]<<endl;
for(int i=0; i< graph->num_vert; i++)
{
sindex<<i<<"\t";
graph->vlist[i]->s.print(sindex);
}
sindex.close();
ofstream cindex("sarsop/control_index.dat");
for(unsigned int i=0; i< sys->sampled_controls.size(); i++)
{
cindex<<i<<"\t";
sys->sampled_controls[i].print(cindex);
}
cindex.close();
ofstream pout("sarsop/problem.pomdp");
pout <<"#This is an auto-generated pomdp file from the MDP\n" << endl;
pout <<"discount: 0.99" << endl;
pout <<"values: reward" << endl;
pout <<"states: "<< graph->num_vert<< endl;
pout <<"actions: "<< graph->num_sampled_controls<< endl;
pout <<"observations: "<< sys->sampled_observations.size()<< endl;
pout << endl;
pout <<"start: ";
vector<double> tmp;
double totprob = 0;
#if 1
for(int i=0; i< graph->num_vert; i++)
{
double prior = normal_val(sys->init_state.x, sys->init_var, graph->vlist[i]->s.x, NUM_DIM);
totprob += prior;
tmp.push_back(prior);
}
for(int i=0; i< graph->num_vert; i++)
{
pout<< tmp[i]/totprob<<" ";
}
#else
pout <<"uniform" << endl;
#endif
pout<<endl << endl;
pout<<"#Transition probabilities"<<endl;
for(int i=0; i<graph->num_vert; i++)
{
Vertex *vtmp = graph->vlist[i];
if(!sys->is_inside_goal(vtmp->s))
{
for(list<Edge*>::iterator j= vtmp->edges_out.begin(); j != vtmp->edges_out.end(); j++)
{
Edge *etmp = (*j);
pout <<"T: "<< etmp->control_index <<" : "<< etmp->from->index_in_vlist << " : "\
<< etmp->to->index_in_vlist <<" " << etmp->transition_prob << endl;
}
}
else
{
pout <<"T: * : "<< vtmp->index_in_vlist << " : "\
<< vtmp->index_in_vlist <<" " << 1 << endl;
}
}
pout<< endl << endl;
pout <<"#Observation probabilities" << endl;
for(int i=0; i< graph->num_vert; i++)
{
Vertex *v1 = graph->vlist[i];
State obs_v1 = sys->observation(v1->s, true);
totprob = 0;
tmp.clear();
for(unsigned int j=0; j < sys->sampled_observations.size(); j++)
{
double local_obs_variance[NUM_DIM_OBS] = {0};
sys->get_obs_variance(v1->s, local_obs_variance);
double ptmp = normal_val( obs_v1.x, local_obs_variance, sys->sampled_observations[j].x, NUM_DIM_OBS);
totprob += ptmp;
tmp.push_back(ptmp);
}
pout <<"O: * : " << i <<" ";
for(unsigned int j=0; j < sys->sampled_observations.size(); j++)
{
#if 0
if( j != i)
pout << 0 << " ";
else
pout << 1 << " ";
#else
pout << tmp[j]/totprob <<" ";
#endif
}
pout<<endl;
}
pout << endl;
pout <<"#Rewards" << endl;
for(int i =0; i< graph->num_sampled_controls; i++)
{
for(int j=0; j< graph->num_vert; j++)
{
Vertex *v1 = graph->vlist[j];
pout <<"R: " << i <<" : * : "<< j << " : * " << -(v1->s).norm2() + \
-(sys->sampled_controls[i]).norm2() << endl;
}
}
pout << endl;
pout.close();
}
void MDP::write_pomdp_file_lightdark()
{
System *sys = graph->system;
ofstream sindex("sarsop/state_index.dat");
sindex<< graph->vlist[0]->holding_times[0]<<endl;
for(int i=0; i< graph->num_vert; i++)
{
sindex<<i<<"\t";
graph->vlist[i]->s.print(sindex);
}
sindex.close();
ofstream cindex("sarsop/control_index.dat");
for(unsigned int i=0; i< sys->sampled_controls.size(); i++)
{
cindex<<i<<"\t";
sys->sampled_controls[i].print(cindex);
}
cindex.close();
ofstream pout("sarsop/problem.pomdp");
pout <<"#This is an auto-generated pomdp file from the MDP\n" << endl;
pout <<"discount: " << sys->discount << endl;
pout <<"values: reward" << endl;
pout <<"states: "<< graph->num_vert + 2<< endl; // other_state and goal_state
pout <<"actions: "<< graph->num_sampled_controls + 1 << endl; // stopping action
pout <<"observations: "<< sys->sampled_observations.size()<< endl;
pout << endl;
int goal_state_index = graph->num_vert;
int non_goal_state_index = graph->num_vert+1;
int stopping_action_index = graph->num_sampled_controls;
//cout<<"goal_state_index: " << goal_state_index<<" stopping_action: " << stopping_action_index << endl;
pout <<"start: ";
vector<double> tmp;
double totprob = 0;
#if 1
for(int i=0; i< graph->num_vert; i++)
{
double prior = normal_val(sys->init_state.x, sys->init_var, graph->vlist[i]->s.x, NUM_DIM);
totprob += prior;
tmp.push_back(prior);
}
for(int i=0; i< graph->num_vert; i++)
{
pout<< tmp[i]/totprob<<" ";
}
pout<<0<<" "<<0 << " "; // last two states
#else
pout <<"uniform" << endl;
#endif
pout<<endl << endl;
pout<<"#Transition probabilities"<<endl;
// kushner
for(int i=0; i<graph->num_vert; i++)
{
Vertex *vtmp = graph->vlist[i];
for(list<Edge*>::iterator j= vtmp->edges_out.begin(); j != vtmp->edges_out.end(); j++)
{
Edge *etmp = (*j);
pout <<"T: "<< etmp->control_index <<" : "<< etmp->from->index_in_vlist << " : "\
<< etmp->to->index_in_vlist <<" " << etmp->transition_prob << endl;
}
}
// states -> goal + non_goal states
for(int i=0; i< graph->num_vert; i++)
{
Vertex *vtmp = graph->vlist[i];
if( sys->is_inside_goal(vtmp->s) )
{
pout <<"T: "<< stopping_action_index <<" : "<< vtmp->index_in_vlist << " : "\
<< goal_state_index <<" " << 1 << endl;
}
else{
pout <<"T: "<< stopping_action_index <<" : "<< vtmp->index_in_vlist << " : "\
<< non_goal_state_index <<" " << 1 << endl;
}
}
// make goal + non_goal states stopping states for all controls
for(int i=0; i< graph->num_sampled_controls+1; i++)
{
pout <<"T: "<< i <<" : "<< goal_state_index << " : "\
<< goal_state_index <<" " << 1 << endl;
pout <<"T: "<< i <<" : "<< non_goal_state_index << " : "\
<< non_goal_state_index <<" " << 1 << endl;
}
pout<< endl << endl;
pout <<"#Observation probabilities" << endl;
for(int i=0; i< graph->num_vert; i++)
{
Vertex *v1 = graph->vlist[i];
State obs_v1 = sys->observation(v1->s, true);
totprob = 0;
tmp.clear();
for(unsigned int j=0; j < sys->sampled_observations.size(); j++)
{
double local_obs_variance[NUM_DIM_OBS] = {0};
sys->get_obs_variance(v1->s, local_obs_variance);
double ptmp = normal_val( obs_v1.x, local_obs_variance, sys->sampled_observations[j].x, NUM_DIM_OBS);
totprob += ptmp;
tmp.push_back(ptmp);
}
pout <<"O: * : " << i <<" ";
for(unsigned int j=0; j < sys->sampled_observations.size(); j++)
{
#if 0
if( j != i)
pout << 0 << " ";
else
pout << 1 << " ";
#else
pout << tmp[j]/totprob <<" ";
#endif
}
//pout << 0 <<" "<< 0; // probability of being in the last two states is zero always
pout<<endl;
}
// add goal + non_goal state observations
pout <<"O: * : " << goal_state_index <<" ";
for(unsigned int j=0; j < sys->sampled_observations.size(); j++)
{
pout<<1/(double)sys->sampled_observations.size()<<" ";
}
pout<<endl;
pout <<"O: * : " << non_goal_state_index <<" ";
for(unsigned int j=0; j < sys->sampled_observations.size(); j++)
{
pout<<1/(double)sys->sampled_observations.size()<<" ";
}
pout << endl<<endl;
pout <<"#Rewards" << endl;
for(int i=0; i< graph->num_vert; i++)
{
Vertex *v1 = graph->vlist[i];
if(sys->is_inside_goal(v1->s))
pout <<"R: " << stopping_action_index <<" : " << i <<" : * : * " << 1000 << endl;
else
pout <<"R: " << stopping_action_index <<" : " << i <<" : * : * " << -1000 << endl;
for(int j=0; j< graph->num_sampled_controls; j++)
{
//pout <<"R: " << j <<" : " << i <<" : * : * " << -1 << endl;
}
}
pout << endl;
pout.close();
}
Graph::Graph(System& sys, int max_vert_in)
{
system = &sys;
num_sampled_controls = system->sampled_controls.size();
vlist.clear();
num_vert = 0;
max_vert = max_vert_in;
state_tree = kd_create(NUM_DIM);
obs_tree = kd_create(NUM_DIM);
gamma = 2.1*pow( (1+1/(double)NUM_DIM), 1/(double)NUM_DIM);
};
Graph::~Graph()
{
for(vector<Vertex*>::reverse_iterator i = vlist.rbegin(); i != vlist.rend(); i++)
{
Vertex *vtmp = *i;
delete vtmp;
num_vert--;
}
for(list<Edge*>::reverse_iterator i = elist.rbegin(); i != elist.rend(); i++)
{
delete *i;
}
vlist.clear();
kd_free(state_tree);
kd_free(obs_tree);
}
int Graph::vertex_delete_edges(Vertex* v)
{
//cout<<"delete_edges before: " << v->edges_out.size() << endl;
for(list<Edge *>::reverse_iterator i = v->edges_out.rbegin(); i != v->edges_out.rend(); i++)
{
//debug
Edge* etmp = (*i);
//cout<<"elist: " << distance(elist.begin(), etmp->elist_iter) << endl;
//cout<<"to_list: " << distance(etmp->to->edges_in.begin(), etmp->to_iter) << endl;
//cout<<"from_list: " << distance(etmp->from->edges_out.begin(), etmp->from_iter) << endl;
elist.erase(etmp->elist_iter);
etmp->to->edges_in.erase(etmp->to_iter);
delete etmp;
}
v->edges_out.clear();
//cout<<"delete_edges after: " << v->edges_out.size() << endl;
return 0;
}
void Graph::remove_edge(Edge *e)
{
elist.erase(e->elist_iter);
//cout<<"--- inside remove_edge" << endl;
// remove from, from + to lists and then call destructor
e->from->edges_out.erase(e->from_iter);
e->to->edges_in.erase(e->to_iter);
//cout<<"removed to, delete" << endl;
delete e;
}
void Graph::plot_graph()
{
/*
#if 1
bot_lcmgl_color4f(lcmgl, 0, 1, 0, 0.5);
bot_lcmgl_point_size(lcmgl, 4.0);
//cout<<"rrg size: "<< vlist.size() << endl;
for(vector<Vertex*>::iterator i = vlist.begin(); i != vlist.end(); i++)
{
Vertex *tstart = (*i);
#if 0
for(list<Edge*>::iterator eo = tstart->edges_out.begin(); eo != tstart->edges_out.end(); eo++)
{
Vertex *tend = (*eo)->to;
//draw the edge
bot_lcmgl_begin(lcmgl, GL_LINES);
double toput1[3] ={0};
for(int i =0; i< NUM_DIM; i++)
toput1[i] = tstart->s.x[i];
bot_lcmgl_vertex3f(lcmgl, toput1[0], toput1[1], toput1[2]);
for(int i =0; i< NUM_DIM; i++)
toput1[i] = tend->s.x[i];
bot_lcmgl_vertex3f(lcmgl, toput1[0], toput1[1], toput1[2]);
bot_lcmgl_end(lcmgl);
}
#endif
bot_lcmgl_begin(lcmgl, GL_POINTS);
double toput[3] ={0};
for(int i =0; i< NUM_DIM; i++)
toput[i] = tstart->s.x[i];
bot_lcmgl_vertex3f(lcmgl, toput[0], toput[1], toput[2]);
bot_lcmgl_end(lcmgl);
}
#endif
*/
}
void MDP::plot_trajectory()
{
/*
#if 1
double curr_time =0;
bot_lcmgl_color4f(lcmgl, 1, 0, 0, 1);
bot_lcmgl_point_size(lcmgl, 4.0);
bot_lcmgl_begin(lcmgl, GL_LINES);
for(vector<State>::iterator i= truth.begin(); i != truth.end(); i++)
{
State& curr = *i;
vector<State>::iterator j = i;
j++;
double toput1[3] ={0};
for(int i =0; i< NUM_DIM; i++)
toput1[i] = curr.x[i];
bot_lcmgl_vertex3f(lcmgl, toput1[0], toput1[1], toput1[2]);
if( (j) != truth.end() )
{
State& next = *(j);
double toput2[3] ={0};
for(int i =0; i< NUM_DIM; i++)
toput2[i] = next.x[i];
bot_lcmgl_vertex3f(lcmgl, toput2[0], toput2[1], toput2[2]);
}
curr_time += graph->system->sim_time_delta;
}
bot_lcmgl_end(lcmgl);
#if 0
count = 0;
bot_lcmgl_color4f(lcmgl, 0, 0, 1, 0.3);
bot_lcmgl_point_size(lcmgl, 4.0);
bot_lcmgl_begin(lcmgl, GL_POINTS);
for(vector<State>::iterator i= obs.begin(); i != obs.end(); i++)
{
State& curr = *i;
double toput1[3] ={0};
for(int i =0; i< NUM_DIM; i++)
toput1[i] = curr.x[i];
bot_lcmgl_vertex3f(lcmgl, toput1[0], toput1[1], toput1[2]);
count++;
}
bot_lcmgl_end(lcmgl);
#endif
#endif
*/
}
Vertex* Graph::nearest_vertex(State s)
{
assert(num_vert > 0);
double key[NUM_DIM];
system->get_key(s, key);
kdres *res;
res = kd_nearest(state_tree, key);
if(kd_res_end(res))
{
cout<<"Error: no nearest"<<endl;
exit(1);
}
Vertex *v = (Vertex*)kd_res_item_data(res);
kd_res_free(res);
return v;
}
int Graph::make_holding_time_constant_all()
{
constant_holding_time = 1000;
for(int i=0; i< num_vert; i++)
{
Vertex* vtmp = vlist[i];
for(unsigned int j=0; j < vtmp->holding_times.size(); j++)
{
if(vtmp->holding_times[j] < constant_holding_time)
constant_holding_time = vtmp->holding_times[j];
}
}
constant_holding_time = 0.99*constant_holding_time;
cout<<"delta: " << constant_holding_time << endl;
for(int i=0; i< num_vert; i++)
{
make_holding_time_constant(vlist[i]);
}
return 0;
}
int Graph::make_holding_time_constant(Vertex* from)
{
list<Edge *>::iterator last_control_iter = from->edges_out.begin();
int controls_iter_iter = 0;
int edges_num = 0;
for(list<Edge *>::iterator i = from->edges_out.begin(); i != from->edges_out.end(); i ++)
{
edges_num++;
list<Edge *>::iterator i_plus_one = i;
i_plus_one++;
if( edges_num == from->controls_iter[controls_iter_iter] )
{
// cout<<"controls_iter_iter: " << from->controls_iter[controls_iter_iter] << endl;
// normalize between last_edge_count and edge_count
// add new edge
double pself = 1- constant_holding_time/from->holding_times[controls_iter_iter];
if( (pself > 1) || (pself < 0) )
{
cout<<"pself greater: " << pself<<" constant holding_time: " << constant_holding_time << endl;
}
from->holding_times[controls_iter_iter] = constant_holding_time;
Edge* eself = new Edge(from, from, pself, constant_holding_time);
eself->control = &(system->sampled_controls[controls_iter_iter]);
eself->control_index = controls_iter_iter;
elist.push_back(eself);
from->edges_out.push_back(eself);
from->edges_in.push_back(eself);
eself->elist_iter = elist.end(); eself->elist_iter--;
eself->from_iter = from->edges_out.end(); eself->from_iter--;
eself->to_iter = from->edges_in.end(); eself->to_iter--;
for(list<Edge *>::iterator j = last_control_iter;\
j != i_plus_one; j++)
{
Edge *etmp = (*j);
etmp->transition_prob = etmp->transition_prob *(1 - pself);
etmp->transition_time = constant_holding_time;
//cout<<"wrote edge prob: "<< etmp->transition_prob << endl;
}
last_control_iter = i_plus_one; // edges belonging to new control start from here
controls_iter_iter++;
}
}
return 0;
}
void Graph::normalize_edges(Vertex *from)
{
list<Edge *>::iterator last_control_iter = from->edges_out.begin();
int controls_iter_iter = 0;
double totprob = 0;
int edges_num = 0;
for(list<Edge *>::iterator i = from->edges_out.begin(); i != from->edges_out.end(); i ++)
{
edges_num++;
totprob += (*i)->transition_prob;
list<Edge *>::iterator i_plus_one = i;
i_plus_one++;
if( edges_num == from->controls_iter[controls_iter_iter] )
{
// cout<<"controls_iter_iter: " << from->controls_iter[controls_iter_iter] << endl;
// normalize between last_edge_count and edge_count
if(totprob > 1.0/DBL_MAX)
{
for(list<Edge *>::iterator j = last_control_iter;\
j != i_plus_one; j++)
{
Edge *etmp = (*j);
etmp->transition_prob = etmp->transition_prob / totprob;
//cout<<"wrote edge prob: "<< etmp->transition_prob << endl;
}
}
else
{
for(list<Edge *>::iterator j = last_control_iter;\
j != i; j++)
{
Edge *etmp = (*j);
etmp->transition_prob = 1;
cout<<"setting prob to 1, maybe only one edge" << endl;
//cout<<"wrote edge prob: "<< etmp->transition_prob << endl;
}
//cout<<"totprob is: "<< totprob << " [DITCH]" << endl;
}
last_control_iter = i_plus_one; // edges belonging to new control start from here
totprob = 0;
controls_iter_iter++;
}
}
#if 0
if(etmp->transition_prob != etmp->transition_prob)
{
cout<<"found a nan: "<< totprob << " nedges: "<< nedges << endl;
getchar();
}
#endif
/*
cout<<"getchar(): ";
getchar();
cout<<endl;
*/
}
bool Graph::is_edge_free( Edge *etmp)
{
return true;
#if 0
int num_discrete = 10;
State& init = etmp->from->s;
State& end = etmp->to->s;
for(int i=0; i< num_discrete+1; i++)
{
State stmp;
for(int j=0; j< NUM_DIM; j++)
stmp.x[j] = init.x[j] + (end.x[j] - init.x[j])/num_discrete*i;
if( system->is_free(stmp) == 0)
return false;
}
return true;
#endif
}
int Graph::add_sample(bool is_init)
{
State stmp;
#if 0
if (num_vert < 2)
stmp = system->sample_init_state();
else if(num_vert < 4)
stmp = system->sample_goal();
else
stmp = system->sample_state();
#else
#if NUM_DIM==2
int rmv = sqrt(max_vert);
int i = num_vert/rmv;
int j = num_vert%rmv;
double h = (system->max_states[0] - system->min_states[0])/(double)rmv;
stmp.x[0] = system->min_states[0] + i*h;
stmp.x[1] = system->min_states[1] + j*h;
#elif NUM_DIM==1
double h = (system->max_states[0] - system->min_states[0])/(double)max_vert;
stmp.x[0] = system->min_states[0] + num_vert*h;
#endif
#endif
Vertex *v = new Vertex(stmp);
v->index_in_vlist = num_vert;
vlist.push_back(v);
num_vert++;
insert_into_state_tree(v);
return 0;
}
int Graph::reconnect_edges_neighbors(Vertex* v)
{
#if 1
double key[NUM_DIM] ={0};
system->get_key(v->s, key);
double bowlr = gamma/2 * pow( log(num_vert)/(num_vert), 1.0/(double)NUM_DIM);
kdres *res;
res = kd_nearest_range(state_tree, key, bowlr );
//int pr = kd_res_size(res);
//cout<<"reconnecting "<<kd_res_size(res)<<" nodes, radius: " << bowlr << endl;
double pos[NUM_DIM] = {0};
while( !kd_res_end(res) )
{
Vertex* v1 = (Vertex* ) kd_res_item(res, pos);
if(v1 != v)
{
// remove old edges
//cout<<"reconnecting vertex: " << v1->index_in_vlist << endl;
vertex_delete_edges(v1);
connect_edges_approx(v1);
}
kd_res_next(res);
}
kd_res_free(res);
#endif
return 0;
}
int Graph::connect_edges_approx(Vertex* v)
{
if(system->name == "singleint")
{
if(system->is_inside_goal(v->s))
return 0;
}
v->controls.clear();
v->controls_iter.clear();
v->edges_out.clear();
double key[NUM_DIM] ={0};
system->get_key(v->s, key);
double bowlr = 1.2/sqrt(num_vert);
//double bowlr = gamma * pow( log(num_vert+1.0)/(double)(num_vert+1.0), 1.0/(double)NUM_DIM);
//double bowlr = 1.1/(double)pow(num_vert, 1/(float)NUM_DIM);
//cout<<"bowlr: " << bowlr << endl;
kdres *res;
res = kd_nearest_range(state_tree, key, bowlr );
if(kd_res_size(res) == 0)
return 1;
//cout<<"got "<<kd_res_size(res)<<" states in bowlr = "<< bowlr << endl;
//int pr = kd_res_size(res);
double *sys_var = new double[NUM_DIM];
int num_edges = 0;
for(int i = 0; i< num_sampled_controls; i++)
{
State *curr_control = &(system->sampled_controls[i]);
v->controls.push_back( curr_control );
//double holding_time = 0.1;
double holding_time = system->get_holding_time(v->s, *curr_control, gamma, num_vert);
v->holding_times.push_back(holding_time);
// cout<<"ht: "<< holding_time << endl;
State stmp = system->get_fdt(v->s, *curr_control, holding_time);
for(int j=0; j<NUM_DIM; j++)
stmp.x[j] = stmp.x[j] + v->s.x[j];
system->get_variance(v->s, holding_time, sys_var);
double pos[NUM_DIM] = {0};
while( !kd_res_end(res) )
{
Vertex* v1 = (Vertex* ) kd_res_item(res, pos);
if(v1 != v)
{
double prob_tmp = normal_val(stmp.x, sys_var, v1->s.x, NUM_DIM);
if(prob_tmp > 0)
{
Edge *e1 = new Edge(v, v1, prob_tmp, holding_time);
e1->control = curr_control;
e1->control_index = i;
num_edges++;
elist.push_back(e1);
v->edges_out.push_back(e1);
v1->edges_in.push_back(e1);
e1->elist_iter = elist.end(); e1->elist_iter--;
e1->from_iter = v->edges_out.end(); e1->from_iter--;
e1->to_iter = v1->edges_in.end(); e1->to_iter--;
}
}
kd_res_next(res);
}
kd_res_rewind(res);
v->controls_iter.push_back(num_edges); // this is the number of edges
}
kd_res_free(res);
normalize_edges(v);
delete[] sys_var;
return 0;
}
void Graph::print_rrg()
{
#if 1
int counte = 0;
int countv = 0;
for(vector<Vertex*>::iterator i = vlist.begin(); i != vlist.end(); i++)
{
Vertex *v = *i;
cout<<"node: " << countv++ << " state: " << v->s.x[0] << " " << v->s.x[1] << endl;
counte = 0;
cout << "ei: " << endl;
for(list<Edge *>::iterator j = v->edges_in.begin(); j != v->edges_in.end(); j++)
{
cout<<"\t "<< (*j)->from->index_in_vlist <<"-"<< (*j)->to->index_in_vlist << \
" control: " << (*j)->control_index << " " << (*j)->transition_prob << endl;
}
counte = 0;
double totprob = 0;
cout<<"eo: " << endl;
for(list<Edge *>::iterator j = v->edges_out.begin(); j != v->edges_out.end(); j++)
{
cout<<"\t "<< (*j)->from->index_in_vlist <<"-"<< (*j)->to->index_in_vlist << \
" contol: " << (*j)->control_index << " " << (*j)->transition_prob << endl;
totprob += (*j)->transition_prob;
}
cout<<"totprob: "<< totprob << endl;
}
#endif
}
void Graph::put_init_samples(int howmany)
{
for(int i=0; i < howmany; i++)
{
add_sample(false);
}
}
bool Graph::is_everything_normalized()
{
for(vector<Vertex*>::iterator i = vlist.begin(); i != vlist.end(); i++)
{
Vertex* v = *i;
if(v->edges_out.size() > 0)
{
double totprob = 0;
for(list<Edge *>::iterator j = v->edges_out.begin(); j != v->edges_out.end(); j++)
{
totprob += (*j)->transition_prob;
}
if( fabs(totprob - 1.0) > 0.1)
{
cout<<"offending vertex prob: "<< totprob << " nedges: "<< v->edges_out.size() << endl;
return false;
}
}
}
return true;
}
// returns
int Graph::simulate_trajectory(double duration)
{
#if 1
list<State> seq;
list<double> seq_times;
State stmp = system->init_state;
multivar_normal(system->init_state.x, system->init_var, stmp.x, NUM_DIM);
bool can_go_forward = false;
Vertex *vcurr = nearest_vertex(stmp);
if(vcurr->edges_out.size() > 0)
can_go_forward = true;
else
cout<<"vcurr has zero edges" << endl;
seq.push_back(vcurr->s);
seq_times.push_back(0);
// keep in multiplicative form for simulation
double traj_prob = 1;
double curr_time = 0;
double max_time = duration;
while(can_go_forward)
{
double rand_tmp = RANDF;
double runner = 0;
Edge *which_edge = NULL;
for(list<Edge*>::iterator eo = vcurr->edges_out.begin(); eo != vcurr->edges_out.end(); eo++)
{
runner += (*eo)->transition_prob;
if(runner > rand_tmp)
{
vcurr = (*eo)->to;
which_edge = *eo;
break;
}
}
if(vcurr->edges_out.size() == 0)
{
can_go_forward = false;
//cout<<"break line 684 size: " << seq.size() << endl;
break;
}
if(which_edge != NULL)
{
seq.push_back(vcurr->s);
seq_times.push_back(curr_time);
traj_prob = traj_prob * which_edge->transition_prob;
curr_time += which_edge->transition_time;
if(curr_time > max_time)
{
//cout<<"finished one sim" << endl;
break;
}