/**
* Computes the Q-value using the uncached transition dynamics produced by the Action object
* methods. This computation *is* compatible with {@link
* burlap.behavior.singleagent.options.Option} objects.
*
* @param sh the given state
* @param ga the given action
* @return the double value of a Q-value for the given state-aciton pair.
*/
protected double computeQ(StateHashTuple sh, GroundedAction ga) {
double q = 0.;
if (ga.action instanceof Option) {
Option o = (Option) ga.action;
double expectedR = o.getExpectedRewards(sh.s, ga.params);
q += expectedR;
List<TransitionProbability> tps = o.getTransitions(sh.s, ga.params);
for (TransitionProbability tp : tps) {
double vp = this.value(tp.s);
// note that for options, tp.p will be the *discounted* probability of transition to s',
// so there is no need for a discount factor to be included
q += tp.p * vp;
}
} else {
List<TransitionProbability> tps = ga.action.getTransitions(sh.s, ga.params);
for (TransitionProbability tp : tps) {
double vp = this.value(tp.s);
double discount = this.gamma;
double r = rf.reward(sh.s, ga, tp.s);
q += tp.p * (r + (discount * vp));
}
}
return q;
}
