Added basic logging capability to bicycle domain

Makefile

@@ -2,8 +2,8 @@ CFLAGS=-Wall -g #-pg
 INCLUDES=-I/home/cmansley/boost_1_41_0 #-I /koko/rl3/cmansley/boost_1_41_0 -I/koko/rl3/cmansley/local/include
 LIBS= #-L/koko/rl3/cmansley/local/lib
 
-plan: main.o ccl.o ss.o ip.o uct.o lander.o hoo.o node.o gaussian.o hoot.o mcplanner.o chopper.o di.o lqr.o ddi.o bicycle.o
-	g++ $(CFLAGS) -o plan main.o ccl.o ss.o ip.o uct.o lander.o hoo.o node.o hoot.o mcplanner.o chopper.o di.o lqr.o ddi.o bicycle.o $(LIBS) -lgsl -lgslcblas -lm -lgflags
+plan: main.o ccl.o ss.o ip.o uct.o lander.o hoo.o node.o gaussian.o hoot.o mcplanner.o chopper.o di.o lqr.o ddi.o bicycle.o sars.o
+	g++ $(CFLAGS) -o plan main.o ccl.o ss.o ip.o uct.o lander.o hoo.o node.o hoot.o mcplanner.o chopper.o di.o lqr.o ddi.o bicycle.o sars.o $(LIBS) -lgsl -lgslcblas -lm -lgflags
 
 temp: temp.o gaussian.o hoo.o node.o chopper.o ip.o ddi.o
 	g++ $(CFLAGS) -o temp temp.o gaussian.o hoo.o node.o ip.o chopper.o ddi.o -lgsl -lgslcblas -lm
@@ -59,5 +59,8 @@ lqr.o: lqr.cc lqr.hh
 bicycle.o: bicycle.cc bicycle.hh
 	g++ -c $(CFLAGS) bicycle.cc $(INCLUDES)
 
+sars.o: sars.cc sars.hh
+	g++ -c $(CFLAGS) sars.cc $(INCLUDES)
+
 clean:
 	rm -f *~ *.o plan temp

bicycle.cc

@@ -62,6 +62,9 @@ Bicycle::Bicycle(double gamma) : stateDimension(5), actionDimension(2)
 
   /* Initialize gamma */
   this->gamma = gamma;
+
+  /* Open logfile */
+  logfile.open("log.txt");
 }
 
 /*!

bicycle.hh

@@ -19,7 +19,22 @@ public:
   Bicycle(double gamma);
 
   /** Destructor */
-  ~Bicycle() { }
+  ~Bicycle() { logfile.close(); }
+
+  /** Simulate an interaction with the environment */
+  SARS *simulate(State s, Action a) 
+  { 
+    /* Simulate step */
+    SARS *sars = step(s,a);
+
+    /* Track samples */
+    numSamples++; 
+
+    /* Log samples */
+    logfile << *sars << std::endl;
+
+    return sars; 
+  }
 
   /** Perform an interaction with the environment */
   SARS *step(State s, Action a);
@@ -74,6 +89,9 @@ private:
   /** Domain Properties */
   double gamma;
 
+  /** Logging */
+  std::ofstream logfile;
+
   /** Domain Specific */
   static const double dt;
   double noise;

domain.hh

@@ -33,7 +33,7 @@ public:
   virtual ~Domain() { }
 
   /** Simulate an interaction with the environment */
-  SARS *simulate(State s, Action a) { numSamples++; return step(s,a); }
+  virtual SARS *simulate(State s, Action a) { numSamples++; return step(s,a); }
 
   /** Perform an interaction with the environment */
   virtual SARS *step(State s, Action a) = 0;

sars.cc

@@ -0,0 +1,33 @@
+/*
+ * Code by Chris Mansley
+ */
+#include "sars.hh"
+
+/*!
+ * Output operator for the SARS class
+ */
+std::ostream& operator<<(std::ostream &out, const SARS &sars)
+{
+  /* Print state */
+  for(State::const_iterator it = sars.s.begin(); it != sars.s.end(); ++it) {
+    out << *it << ",";
+  }
+
+  /* Print action */
+  for(Action::const_iterator it = sars.a.begin(); it != sars.a.end(); ++it) {
+    out << *it << ",";
+  }
+
+  /* Print reward */
+  out << sars.reward << ",";
+
+  /* Print next state */
+  for(State::const_iterator it = sars.s_prime.begin(); it != sars.s_prime.end(); ++it) {
+    out << *it << ",";
+  }
+
+  /* Print out terminal */
+  out << sars.terminal;
+
+  return out;
+}

sars.hh

@@ -7,6 +7,7 @@
 
 /* Definition dependencies */
 #include <string>
+#include <fstream>
 
 #include "state.hh"
 #include "action.hh"
@@ -35,6 +36,8 @@ public:
   /** Is this a terminal state */
   bool terminal;
 
+  /** Overload output operator */
+  friend std::ostream& operator<<(std::ostream &out, const SARS &sars);
 };
 
 #endif //SARS_HH