taxiSimulator.h

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 *       - Christophe GONZALES(_at_AMU)                                     *
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 *       - Pierre-Henri WUILLEMIN(_at_LIP6)                                 *
 *       - Christophe GONZALES(_at_AMU)                                     *
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#ifndef GUM_TAXI_SIMULATOR_H
#define GUM_TAXI_SIMULATOR_H
//======================================================================
//======================================================================
//======================================================================
#include <agrum/FMDP/simulation/abstractSimulator.h>
//======================================================================
#include <agrum/base/variables/labelizedVariable.h>
 
//======================================================================
 
namespace gum {
 
 
  enum TaxiSimulationLandmark : Idx { HOME = 0, WORK = 1, THEATER = 2, CLUB = 3, TAXI = 4 };
 
  enum TaxiSimulationLandmarkX : Idx {
    HOMEX    = 0,
    WORKX    = 0,
    THEATERX = 3,
    CLUBX    = 4,
    STATIONX = 2
  };
 
  enum TaxiSimulationLandmarkY : Idx {
    HOMEY    = 0,
    WORKY    = 4,
    THEATERY = 0,
    CLUBY    = 4,
    STATIONY = 1
  };
 
  enum TaxiSimulationAction : Idx {
    GoNorth = 1,
    GoEast  = 2,
    GoSouth = 3,
    GoWest  = 4,
    PickUp  = 5,
    PutDown = 6,
    FillUp  = 7
  };
 
  // clang-format off
  // clang-format on
 
  class TaxiSimulator: public AbstractSimulator {
    public:
    // ===========================================================================
    // ===========================================================================

    TaxiSimulator();

    ~TaxiSimulator();

 
    // ===========================================================================
    // ===========================================================================
 
    protected:
    Instantiation randomState_();
 
    public:
    bool hasReachEnd();

 
    // ===========================================================================
    // ===========================================================================
 
    const DiscreteVariable* primeVar(const DiscreteVariable* mainVar) {
      return _primeMap_.second(mainVar);
    }

    SequenceIteratorSafe< const DiscreteVariable* > beginVariables() {
      return _taxiVars_.beginSafe();
    }
 
    SequenceIteratorSafe< const DiscreteVariable* > endVariables() { return _taxiVars_.endSafe(); }

 
    // ===========================================================================
    // ===========================================================================
 
    const std::string& actionName(Idx actionId) { return *_actionMap_[actionId]; }

    SequenceIteratorSafe< Idx > beginActions() { return _taxiActions_.beginSafe(); }
 
    SequenceIteratorSafe< Idx > endActions() { return _taxiActions_.endSafe(); }
 
    void perform(Idx);
 
    private:
    void _performGoNorth_();
    void _performGoEast_();
    void _performGoSouth_();
    void _performGoWest_();
    void _performPickUp_();
    void _performPutDown_();
    void _performFillUp_();

 
    // ===========================================================================
    // ===========================================================================
 
    public:
    double reward();
 
    private:
    void _evalReward_();
    bool _isAtDestination_(TaxiSimulationLandmark  passDest,
                           TaxiSimulationLandmarkX xCurPos,
                           TaxiSimulationLandmarkY yCurPos);
    bool _isAtMeetPoint_(TaxiSimulationLandmark  passpos,
                         TaxiSimulationLandmarkX xCurPos,
                         TaxiSimulationLandmarkY yCurPos);


    Sequence< const DiscreteVariable* >                           _taxiVars_;
    Bijection< const DiscreteVariable*, const DiscreteVariable* > _primeMap_;
    LabelizedVariable*                                            _xPos_;
    LabelizedVariable*                                            _yPos_;
    LabelizedVariable*                                            _passengerPos_;
    LabelizedVariable*                                            _passengerDest_;
    LabelizedVariable*                                            _fuelLevel_;

    Sequence< Idx >                _taxiActions_;
    HashTable< Idx, std::string* > _actionMap_;   // __actionMap.insert ( actionId,
    // new std::string ( action ) );
    TaxiSimulationAction _lastAction_;

    double _reward_;
  };
 
} /* namespace gum */
 
 
#endif   // GUM_TAXI_SIMULATOR_H