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// Copyright (C) 2003
// Gerhard Neumann (gerhard@igi.tu-graz.ac.at)
//
// This file is part of RL Toolbox.
// http://www.igi.tugraz.at/ril_toolbox
//
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// 1. Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// 3. The name of the author may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
// IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
// OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
// IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
// NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
// THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#ifndef CGRIDWORDMODEL_H
#define CGRIDWORDMODEL_H
#ifdef WIN32
#include <windows.h>
#endif // WIN32
#include "ctransitionfunction.h"
#include "crewardfunction.h"
#include "cagentcontroller.h"
#include "cdiscretizer.h"
#include "ril_debug.h"
#include <math.h>
#include <vector>
#include <map>
#include <set>
#define GRIDWORLDACTION 16
class CGridWorld
{
protected:
int size_x, size_y;
std::set<char>* start_values;
std::set<char>* target_values;
std::set<char>* prohibited_values;
std::vector<char *>* grid;
void allocGrid();
void deallocGrid();
bool is_allocated;
public:
CGridWorld(char* filename);
CGridWorld(unsigned int size_x, unsigned int size_y);
virtual ~CGridWorld();
void load(char* filename);
virtual void load(FILE *stream);
void save(char* filename);
virtual void save(FILE *stream);
virtual void initGrid();
virtual bool isValid();
virtual void setGridValue(unsigned int pos_x, unsigned int pos_y, char value);
char getGridValue(unsigned int pos_x, unsigned int pos_y);
virtual void addStartValue(char value);
virtual void removeStartValue(char value);
std::set<char> *getStartValues();
virtual void addTargetValue(char value);
virtual void removeTargetValue(char value);
std::set<char> *getTargetValues();
virtual void addProhibitedValue(char value);
virtual void removeProhibitedValue(char value);
std::set<char> *getProhibitedValues();
void setSize(unsigned int size_x, unsigned int size_y);
unsigned int getSizeX();
unsigned int getSizeY();
std::set<char> *getUsedValues();
};
class CGridWorldModel : public CGridWorld, public CTransitionFunction, public CRewardFunction
{
protected:
unsigned int max_bounces;
std::vector<std::pair<int, int>* >* start_points;
std::map<char, rlt_real> *rewards;
rlt_real reward_standard;
rlt_real reward_success;
rlt_real reward_bounce;
bool is_parsed;
virtual void parseGrid();
public:
CGridWorldModel(unsigned int size_x, unsigned int size_y, unsigned int max_bounces);
CGridWorldModel(char* filename, unsigned int max_bounces);
virtual ~CGridWorldModel();
void setMaxBounces(unsigned int value);
unsigned int getMaxBounces();
/*void setActualBounces(unsigned int value);
unsigned int getActualBounces();
void setPosX(unsigned int value);
int getPosX();
void setPosY(unsigned int value);
int getPosY();*/
void setRewardStandard(rlt_real value);
void setRewardSuccess(rlt_real value);
void setRewardBounce(rlt_real value);
void setRewardForSymbol(char symbol, rlt_real reward);
rlt_real getRewardForSymbol(char symbol);
rlt_real getRewardStandard();
rlt_real getRewardSuccess();
rlt_real getRewardBounce();
virtual void load(FILE *stream);
virtual void initGrid();
virtual void setGridValue(unsigned int pos_x, unsigned int pos_y, char value);
virtual void addStartValue(char value);
virtual void removeStartValue(char value);
virtual void transitionFunction(CState *oldstate, CAction *action, CState *newState, CActionData *data = NULL);
virtual bool isResetState(CState *state);
virtual bool isFailedState(CState *state);
virtual void getResetState(CState *resetState);
virtual rlt_real getReward(CStateCollection *oldState, CAction *action, CStateCollection *newState);
};
class CLocal4GridWorldState : public CStateModifier
{
protected:
CGridWorld* grid_world;
public:
CLocal4GridWorldState(CGridWorld *grid_world);
virtual ~CLocal4GridWorldState();
virtual void getModifiedState(CStateCollection *originalState, CState *modifiedState);
};
class CLocal4XGridWorldState : public CStateModifier
{
protected:
CGridWorld* grid_world;
public:
CLocal4XGridWorldState(CGridWorld *grid_world);
virtual ~CLocal4XGridWorldState();
virtual void getModifiedState(CStateCollection *originalState, CState *modifiedState);
};
class CLocal8GridWorldState : public CStateModifier
{
protected:
CGridWorld* grid_world;
public:
CLocal8GridWorldState(CGridWorld *grid_world);
virtual ~CLocal8GridWorldState();
virtual void getModifiedState(CStateCollection *originalState, CState *modifiedState);
};
class CGlobalGridWorldDiscreteState : public CAbstractStateDiscretizer
{
protected:
unsigned int size_x, size_y;
public:
CGlobalGridWorldDiscreteState(unsigned int size_x, unsigned int size_y);
virtual ~CGlobalGridWorldDiscreteState() {};
virtual unsigned int getDiscreteStateNumber(CStateCollection *state);
};
class CLocalGridWorldDiscreteState : public CAbstractStateDiscretizer
{
protected:
CStateModifier* orig_state;
std::map<char, short>* valuemap;
public:
CLocalGridWorldDiscreteState(CStateModifier* orig_state, unsigned int neigbourhood, std::set<char> *possible_values);
virtual ~CLocalGridWorldDiscreteState();
virtual unsigned int getDiscreteStateNumber(CStateCollection *state);
};
class CSmallLocalGridWorldDiscreteState : public CAbstractStateDiscretizer
{
protected:
CStateModifier* orig_state;
CGridWorld *gridworld;
public:
CSmallLocalGridWorldDiscreteState(CStateModifier* orig_state, unsigned int neigbourhood, CGridWorld *gridworld);
virtual ~CSmallLocalGridWorldDiscreteState();
virtual unsigned int getDiscreteStateNumber(CStateCollection *state);
};
class CGridWorldAction : public CPrimitiveAction
{
protected:
int x_move, y_move;
public:
CGridWorldAction(int x_move, int y_move);
int getXMove();
int getYMove();
};
class CGridWorldController : public CAgentStatisticController, public CSemiMDPListener
{
struct GridControllerRecord
{
CGridWorldAction* action;
int pos_x;
int pos_y;
rlt_real factor;
rlt_real distance;
};
protected:
CGridWorld *gridworld;
std::vector<GridControllerRecord> *record;
std::set<std::pair<unsigned int, unsigned int>*>* target_points;
int lastXMove, lastYMove;
public:
CGridWorldController(CGridWorld *gridworld, CActionSet *actions);
virtual ~CGridWorldController();
void init();
virtual CAction* getNextAction(CStateCollection *state, CActionStatistics *stat);
virtual void nextStep(CStateCollection *oldState, CAction *action, CStateCollection *nextState) {};
virtual void intermediateStep(CStateCollection *oldState, CAction *action, CStateCollection *nextState) {};
virtual void newEpisode();
};
#ifdef WIN32
class CGridWorldVisualizer : public CSemiMDPListener
{
protected:
CGridWorldModel *gridworld;
bool flgDisplay;
bool flgTranspose;
HANDLE console;
short xpos, ypos, xoffset, yoffset;
public:
CGridWorldVisualizer(CGridWorldModel *gridworld);
virtual ~CGridWorldVisualizer();
virtual void nextStep(CStateCollection *oldState, CAction *action, CStateCollection *nextState);
virtual void intermediateStep(CStateCollection *oldState, CAction *action, CStateCollection *nextState) {};
virtual void newEpisode();
bool getDisplay();
void setDisplay(bool flgDisplay);
};
#endif // WIN32
class CRaceTrackDiscreteState : public CAbstractStateDiscretizer
{
protected:
CStateModifier* orig_state;
CGridWorld *gridworld;
public:
CRaceTrackDiscreteState(CStateModifier* orig_state, unsigned int neigbourhood, CGridWorld *gridworld);
virtual ~CRaceTrackDiscreteState();
virtual unsigned int getDiscreteStateNumber(CStateCollection *state);
};
class CRaceTrack
{
public:
static void generateRaceTrack(CGridWorld *gridworld, unsigned int width = 40, unsigned int length = 200, unsigned int h_max = 5, unsigned int dy_min = 1, unsigned int dy_max = 8);
};
#endif // CGRIDWORDMODEL_H
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