@Override
public Domain generateDomain() {
Domain domain = new SADomain();
domain.setObjectIdentiferDependence(true);
List<String> colNames = new ArrayList<String>();
colNames.add(COLORRED);
colNames.add(COLORGREEN);
colNames.add(COLORBLUE);
Attribute attonblock = new Attribute(domain, ATTONBLOCK, Attribute.AttributeType.RELATIONAL);
Attribute attontable = new Attribute(domain, ATTONTABLE, Attribute.AttributeType.BOOLEAN);
Attribute attclear = new Attribute(domain, ATTCLEAR, Attribute.AttributeType.BOOLEAN);
Attribute attcolor = new Attribute(domain, ATTCOLOR, Attribute.AttributeType.DISC);
attcolor.setDiscValues(colNames);
ObjectClass blockClass = new ObjectClass(domain, CLASSBLOCK);
blockClass.addAttribute(attonblock);
blockClass.addAttribute(attontable);
blockClass.addAttribute(attclear);
blockClass.addAttribute(attcolor);
new StackAction(ACTIONSTACK, domain);
new UnstackAction(ACTIONUNSTACK, domain);
new OnBlockPF(PFONBLOCK, domain);
new OnTablePF(PFONTABLE, domain);
new ClearPF(PFCLEAR, domain);
for (String col : colNames) {
new ColorPF(col, domain);
}
return domain;
}
public Domain generateDomain() {
Domain domain =
new POMDPDomain() {
@Override
public POMDPState sampleInitialState() {
return InfinitigerDomain.getNewState(this);
}
@Override
public Observation makeObservationFor(GroundedAction a, POMDPState s) {
return InfinitigerDomain.makeObservationFor(this, a, s);
}
@Override
public boolean isSuccess(Observation o) {
if (o == null) {
return false;
}
return InfinitigerDomain.isSuccess(o);
}
@Override
public boolean isTerminal(POMDPState s) {
return InfinitigerDomain.isTerminal(this, s);
}
@Override
public List<POMDPState> getAllInitialStates() {
NameDependentStateHashFactory hashFactory = new NameDependentStateHashFactory();
Set<StateHashTuple> tempSet = new HashSet<StateHashTuple>();
for (int i = 0; i < Math.pow(iterations, 2) * 10; i++) {
tempSet.add(hashFactory.hashState(InfinitigerDomain.getNewState(this)));
}
Set<POMDPState> noDups = new HashSet<POMDPState>();
for (StateHashTuple shi : tempSet) {
noDups.add(new POMDPState(shi.s));
}
return new ArrayList<POMDPState>(noDups);
}
@Override
public List<Observation> getObservations() {
return new ArrayList<Observation>(observations);
}
@Override
public Observation getObservation(String name) {
return observationMap.get(name);
}
@Override
public void addObservation(Observation observation) {
if (!observationMap.containsKey(observation.getName())) {
observations.add(observation);
observationMap.put(observation.getName(), observation);
}
}
};
Attribute tigerness = new Attribute(domain, Names.ATTR_TIGERNESS, Attribute.AttributeType.DISC);
tigerness.setDiscValuesForRange(0, 1, 1);
Attribute index = new Attribute(domain, Names.ATTR_INDEX, Attribute.AttributeType.DISC);
index.setDiscValuesForRange(0, iterations + 1, 1);
Attribute position = new Attribute(domain, Names.ATTR_POSITION, Attribute.AttributeType.DISC);
position.setDiscValues(
new ArrayList<String>() {
{
add(Names.LEFT);
add(Names.RIGHT);
}
});
ObjectClass doorClass = new ObjectClass(domain, Names.CLASS_DOOR);
doorClass.addAttribute(tigerness);
doorClass.addAttribute(position);
ObjectClass indexerClass = new ObjectClass(domain, Names.CLASS_INDEXER);
indexerClass.addAttribute(index);
Action openDoor = new OpenAction(domain, Names.ACTION_OPEN_DOOR);
Action listen = new ListenAction(domain, Names.ACTION_LISTEN);
for (int i = 0; i < observationsPerState; ++i) {
Observation left =
new Observation(domain, Names.OBS_LEFT_DOOR + i) {
@Override
public double getProbability(State s, GroundedAction a) {
if (a.action.getName().equals(Names.ACTION_LISTEN)) {
ObjectInstance leftDoor = s.getObject(Names.OBJ_LEFT_DOOR);
int leftDoorTiger = leftDoor.getDiscValForAttribute(Names.ATTR_TIGERNESS);
if (leftDoorTiger == 1) {
return (1 - noise) / observationsPerState;
} else {
return (noise) / observationsPerState;
}
}
return 0.0;
}
};
Observation right =
new Observation(domain, Names.OBS_RIGHT_DOOR + i) {
@Override
public double getProbability(State s, GroundedAction a) {
if (a.action.getName().equals(Names.ACTION_LISTEN)) {
ObjectInstance leftDoor = s.getObject(Names.OBJ_LEFT_DOOR);
int leftDoorTiger = leftDoor.getDiscValForAttribute(Names.ATTR_TIGERNESS);
if (leftDoorTiger == 0) {
return (1 - noise) / observationsPerState;
} else {
return (noise) / observationsPerState;
}
}
return 0.0;
}
};
}
Observation nullObs =
new Observation(domain, Names.OBS_NULL) {
@Override
public double getProbability(State s, GroundedAction a) {
if (a.action.getName().equals(Names.ACTION_OPEN_DOOR)) {
return 0.5;
}
return 0.0;
}
};
Observation complete =
new Observation(domain, Names.OBS_COMPLETE) {
@Override
public double getProbability(State s, GroundedAction a) {
ObjectInstance indexer = s.getObject(Names.OBJ_INDEXER);
int index = indexer.getDiscValForAttribute(Names.ATTR_INDEX);
if (index == iterations) {
return 1.0;
}
return 0.0;
}
};
return domain;
}