burlap.domain.singleagent.blocksworld

Class BlocksWorld

java.lang.Object

burlap.domain.singleagent.blocksworld.BlocksWorld

All Implemented Interfaces:

DomainGenerator

public class BlocksWorld
extends java.lang.Object
implements DomainGenerator

This is a domain generator for the classic relational blocks world domain. There exists a single table and any number of blocks that can be stacked on each other. Blocks can be specified to have the color red, green, or blue. Because this is a relational domain, when performing planning, the HashableStateFactory should be object identifier dependent. For example, if using a SimpleHashableStateFactory, in its constructor specify identifierIndependent=false,

Author:

James MacGlashan

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
class	BlocksWorld.ClearPF Propositional function class for evaluating whether one block is clear (has no block stacked on top of it).
class	BlocksWorld.ColorPF Propositional function class for evaluating whether a block is a certain color.
static class	BlocksWorld.NamedColor
class	BlocksWorld.OnBlockPF Propositional function class for evaluating whether one block is on another.
class	BlocksWorld.OnTablePF Propositional function class for evaluating whether one block is on a table.
class	BlocksWorld.StackActionType Action class for stacking one block onto another.
class	BlocksWorld.UnstackActionType Action class for unstacking a block off of another block and putting it on the table.

Field Summary

Fields

Modifier and Type	Field and Description
static java.lang.String	ACTION_STACK Constant for the stack action name
static java.lang.String	ACTION_UNSTACK Constant for the unstack action name
static java.lang.String	CLASS_BLOCK Constant for the name of the block class.
protected BlocksWorld.NamedColor[]	colors
static java.lang.String	PF_CLEAR Constant for the propositional function "clear" name
static java.lang.String	PF_ON_BLOCK Constant for the propositional function "on" name
static java.lang.String	PF_ON_TABLE Constant for the propositional function "on table" name
protected RewardFunction	rf
static java.lang.String	TABLE_VAL Value for being on the table
protected TerminalFunction	tf
static java.lang.String	VAR_CLEAR Constant for the binary "clear" variable key.
static java.lang.String	VAR_COLOR Constant for the categorical "color" variable key.
static java.lang.String	VAR_ON Constant for the relational "on" variable key.

Constructor Summary

Constructors

Constructor and Description
BlocksWorld()

Method Summary

Modifier and Type	Method and Description
OOSADomain	generateDomain() Returns a newly instanced Domain object
java.util.List<PropositionalFunction>	generatePfs()
static State	getNewState(int nBlocks) Creates a new state with nBlocks block objects in it.
RewardFunction	getRf()
TerminalFunction	getTf()
static void	main(java.lang.String[] args) Main method for exploring the domain.
void	setColorsForPFs(BlocksWorld.NamedColor... colors)
void	setRf(RewardFunction rf)
void	setTf(TerminalFunction tf)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

VAR_ON

public static final java.lang.String VAR_ON

Constant for the relational "on" variable key.

See Also:

Constant Field Values

VAR_CLEAR

public static final java.lang.String VAR_CLEAR

Constant for the binary "clear" variable key.

See Also:

Constant Field Values

VAR_COLOR

public static final java.lang.String VAR_COLOR

Constant for the categorical "color" variable key.

See Also:

Constant Field Values

TABLE_VAL

public static final java.lang.String TABLE_VAL

Value for being on the table

See Also:

Constant Field Values

CLASS_BLOCK

public static final java.lang.String CLASS_BLOCK

Constant for the name of the block class.

See Also:

Constant Field Values

ACTION_STACK

public static final java.lang.String ACTION_STACK

Constant for the stack action name

See Also:

Constant Field Values

ACTION_UNSTACK

public static final java.lang.String ACTION_UNSTACK

Constant for the unstack action name

See Also:

Constant Field Values

PF_ON_BLOCK

public static final java.lang.String PF_ON_BLOCK

Constant for the propositional function "on" name

See Also:

Constant Field Values

PF_ON_TABLE

public static final java.lang.String PF_ON_TABLE

Constant for the propositional function "on table" name

See Also:

Constant Field Values

PF_CLEAR

public static final java.lang.String PF_CLEAR

Constant for the propositional function "clear" name

See Also:

Constant Field Values

colors

protected BlocksWorld.NamedColor[] colors

rf

protected RewardFunction rf

tf

protected TerminalFunction tf

Constructor Detail

BlocksWorld

public BlocksWorld()

Method Detail

getRf

public RewardFunction getRf()

setRf

public void setRf(RewardFunction rf)

getTf

public TerminalFunction getTf()

setTf

public void setTf(TerminalFunction tf)

generatePfs

public java.util.List<PropositionalFunction> generatePfs()

generateDomain

public OOSADomain generateDomain()

Description copied from interface: DomainGenerator

Returns a newly instanced Domain object

Specified by:

generateDomain in interface DomainGenerator

Returns:

the newly instantiated Domain object.

setColorsForPFs

public void setColorsForPFs(BlocksWorld.NamedColor... colors)

getNewState

public static State getNewState(int nBlocks)

Creates a new state with nBlocks block objects in it.

Parameters:

nBlocks - the number of block objects to create

Returns:

a new state with nBlocks block objects

main

public static void main(java.lang.String[] args)

Main method for exploring the domain. The initial state will have 3 red blocks starting on the table. By default this method will launch the visual explorer. Pass a "t" argument to use the terminal explorer.

Parameters:

args - process arguments