GridWorldDomain

java.lang.Object
- burlap.domain.singleagent.gridworld.GridWorldDomain

All Implemented Interfaces:

DomainGenerator
```
public class GridWorldDomain
extends java.lang.Object
implements DomainGenerator
```
A domain generator for basic grid worlds. This domain generator allows for the creation of arbitrarily sized grid worlds with user defined layouts. The grid world supports classic north, south, east, west movement actions that may be either deterministic or stochastic with user defined stochastic failures.
The domain is an OODomain that consists of only two object classes: an agent class and a location class, each of which is defined by and x and y position. Locations also have an attribute defining which type of location it is.
Walls are not considered objects. Instead walls are considered part of the transition dynamics. There are 2 types of walls supported. Walls that are more like obstacles and occupy an entire cell of the map and 1D walls. 1D walls are specified as either a horizontal wall on the north side of a cell or a vertical wall on the east side of the wall. A cell may also have a 1D north and east wall in it. The type of wall for each cell is specified by a 2D int matrix provided to the constructor. Cells in the matrix with a 0 are clear of any walls and obstacle; 1s indicate a full cell obstacle; 2s a 1D north wall; 3s a 1D east wall; and 4s indicate that the cell has both a 1D north wall and 1D east wall.
Note that if you change the stochastic transition dynamics or the map of the domain generator *after* generating a domain with generateDomain(), the previously generated domain will use the settings prior to its generation. To use the new settings, you will need to generate a new domain object.
There are five propositional functions supported: atLocation(agent, location), wallToNorth(agent), wallToSouth(agent), wallToEast(agent), and wallToWest(agent).

Author:

James MacGlashan

Nested Class Summary

Nested Classes
Modifier and Type	Class and Description
`class`	`GridWorldDomain.AtLocationPF` Propositional function for determining if the agent is at the same position as a given location object
`static class`	`GridWorldDomain.GridWorldModel`
`class`	`GridWorldDomain.WallToPF` Propositional function for indicating if a wall is in a given position relative to the agent position

Field Summary

Fields
Modifier and Type	Field and Description
`static java.lang.String`	`ACTION_EAST` Constant for the name of the east action
`static java.lang.String`	`ACTION_NORTH` Constant for the name of the north action
`static java.lang.String`	`ACTION_SOUTH` Constant for the name of the south action
`static java.lang.String`	`ACTION_WEST` Constant for the name of the west action
`static java.lang.String`	`CLASS_AGENT` Constant OO-MDP class name for agent
`static java.lang.String`	`CLASS_LOCATION` Constant OO-MDP class name for a location
`protected int`	`height` The height of grid world
`protected int[][]`	`map` The wall map where the first index is the x position and the second index is the y position.
`protected int`	`numLocationTypes` The number of possible location types
`static java.lang.String`	`PF_AT_LOCATION` Constant for the name of the at location propositional function
`static java.lang.String`	`PF_WALL_EAST` Constant for the name of the wall to east propositional function
`static java.lang.String`	`PF_WALL_NORTH` Constant for the name of the wall to north propositional function
`static java.lang.String`	`PF_WALL_SOUTH` Constant for the name of the wall to south propositional function
`static java.lang.String`	`PF_WALL_WEST` Constant for the name of the wall to west propositional function
`protected RewardFunction`	`rf`
`protected TerminalFunction`	`tf`
`protected double[][]`	`transitionDynamics` Matrix specifying the transition dynamics in terms of movement directions.
`static java.lang.String`	`VAR_TYPE` Constant for location type variable key
`static java.lang.String`	`VAR_X` Constant for x variable key
`static java.lang.String`	`VAR_Y` Constant for y variable key
`protected int`	`width` The width of the grid world

Constructor Summary

Constructors
Constructor and Description
`GridWorldDomain(int[][] map)` Constructs a deterministic world based on the provided map.
`GridWorldDomain(int width, int height)` Constructs an empty map with deterministic transitions

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`clearLocationOfWalls(int x, int y)` Removes any obstacles or walls at the specified location.
`OOSADomain`	`generateDomain()` Returns a newly instanced Domain object
`java.util.List<PropositionalFunction>`	`generatePfs()`
`static ValueFunctionVisualizerGUI`	`getGridWorldValueFunctionVisualization(java.util.List<State> states, int maxX, int maxY, ValueFunction valueFunction, Policy p)` Creates and returns a `ValueFunctionVisualizerGUI` object for a grid world.
`int`	`getHeight()` Returns this grid world's height
`int[][]`	`getMap()` Returns a deep copy of the map being used for the domain
`RewardFunction`	`getRf()`
`TerminalFunction`	`getTf()`
`double[][]`	`getTransitionDynamics()`
`int`	`getWidth()` Returns this grid world's width
`void`	`horizontal1DNorthWall(int xi, int xf, int y)` Creates a sequence of 1D north walls spanning the specified start and end x coordinates.
`void`	`horizontalWall(int xi, int xf, int y)` Creates a sequence of complete cell walls spanning the specified start and end x coordinates.
`static void`	`main(java.lang.String[] args)` Creates a visual explorer or terminal explorer.
`void`	`makeEmptyMap()` Makes the map empty
`protected static int[]`	`movementDirectionFromIndex(int i)` Returns the change in x and y position for a given direction number.
`void`	`set1DEastWall(int x, int y)` Sets a specified location to have a 1D east wall.
`void`	`set1DNorthWall(int x, int y)` Sets a specified location to have a 1D north wall.
`void`	`setCellWallState(int x, int y, int wallType)` Sets the map at the specified location to have the specified wall configuration.
`void`	`setDeterministicTransitionDynamics()` Will set the domain to use deterministic action transitions.
`void`	`setMap(int[][] map)` Set the map of the world.
`void`	`setMapToFourRooms()` Will set the map of the world to the classic Four Rooms map used the original options work (Sutton, R.S.
`void`	`setNumberOfLocationTypes(int numLocationTypes)` Sets the number of possible location types to which a location object can belong.
`void`	`setObstacleInCell(int x, int y)` Sets a complete cell obstacle in the designated location.
`void`	`setProbSucceedTransitionDynamics(double probSucceed)` Sets the domain to use probabilistic transitions.
`void`	`setRf(RewardFunction rf)`
`void`	`setTf(TerminalFunction tf)`
`void`	`setTransitionDynamics(double[][] transitionDynamics)` Will set the movement direction probabilities based on the action chosen.
`void`	`vertical1DEastWall(int yi, int yf, int x)` Creates a sequence of 1D east walls spanning the specified start and end y coordinates.
`void`	`verticalWall(int yi, int yf, int x)` Creates a sequence of complete cell walls spanning the specified start and end y coordinates

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - VAR_X
```
public static final java.lang.String VAR_X
```
    Constant for x variable key
    
    See Also:
    
    Constant Field Values
  - VAR_Y
```
public static final java.lang.String VAR_Y
```
    Constant for y variable key
    
    See Also:
    
    Constant Field Values
  - VAR_TYPE
```
public static final java.lang.String VAR_TYPE
```
    Constant for location type variable key
    
    See Also:
    
    Constant Field Values
  - CLASS_AGENT
```
public static final java.lang.String CLASS_AGENT
```
    Constant OO-MDP class name for agent
    
    See Also:
    
    Constant Field Values
  - CLASS_LOCATION
```
public static final java.lang.String CLASS_LOCATION
```
    Constant OO-MDP class name for a location
    
    See Also:
    
    Constant Field Values
  - ACTION_NORTH
```
public static final java.lang.String ACTION_NORTH
```
    Constant for the name of the north action
    
    See Also:
    
    Constant Field Values
  - ACTION_SOUTH
```
public static final java.lang.String ACTION_SOUTH
```
    Constant for the name of the south action
    
    See Also:
    
    Constant Field Values
  - ACTION_EAST
```
public static final java.lang.String ACTION_EAST
```
    Constant for the name of the east action
    
    See Also:
    
    Constant Field Values
  - ACTION_WEST
```
public static final java.lang.String ACTION_WEST
```
    Constant for the name of the west action
    
    See Also:
    
    Constant Field Values
  - PF_AT_LOCATION
```
public static final java.lang.String PF_AT_LOCATION
```
    Constant for the name of the at location propositional function
    
    See Also:
    
    Constant Field Values
  - PF_WALL_NORTH
```
public static final java.lang.String PF_WALL_NORTH
```
    Constant for the name of the wall to north propositional function
    
    See Also:
    
    Constant Field Values
  - PF_WALL_SOUTH
```
public static final java.lang.String PF_WALL_SOUTH
```
    Constant for the name of the wall to south propositional function
    
    See Also:
    
    Constant Field Values
  - PF_WALL_EAST
```
public static final java.lang.String PF_WALL_EAST
```
    Constant for the name of the wall to east propositional function
    
    See Also:
    
    Constant Field Values
  - PF_WALL_WEST
```
public static final java.lang.String PF_WALL_WEST
```
    Constant for the name of the wall to west propositional function
    
    See Also:
    
    Constant Field Values
  - width
```
protected int width
```
    The width of the grid world
  - height
```
protected int height
```
    The height of grid world
  - numLocationTypes
```
protected int numLocationTypes
```
    The number of possible location types
  - map
```
protected int[][] map
```
    The wall map where the first index is the x position and the second index is the y position. Values of 1 indicate a wall is there, values of 0 indicate an empty cell
  - transitionDynamics
```
protected double[][] transitionDynamics
```
    Matrix specifying the transition dynamics in terms of movement directions. The first index indicates the action direction attempted (ordered north, south, east, west) the second index indicates the actual resulting direction the agent will go (assuming there is no wall in the way). The value is the probability of that outcome. The existence of walls does not affect the probability of the direction the agent will actually go, but if a wall is in the way, it will affect the outcome. For instance, if the agent selects north, but there is a 0.2 probability of actually going east and there is a wall to the east, then with 0.2 probability, the agent will stay in place.
  - rf
```
protected RewardFunction rf
```
  - tf
```
protected TerminalFunction tf
```
- Constructor Detail
  - GridWorldDomain
```
public GridWorldDomain(int width,
                       int height)
```
    Constructs an empty map with deterministic transitions
    
    Parameters:
    
    width - width of the map
    
    height - height of the map
  - GridWorldDomain
```
public GridWorldDomain(int[][] map)
```
    Constructs a deterministic world based on the provided map.
    
    Parameters:
    
    map - the first index is the x index, the second the y; 1 entries indicate a wall
- Method Detail
  - setNumberOfLocationTypes
```
public void setNumberOfLocationTypes(int numLocationTypes)
```
    Sets the number of possible location types to which a location object can belong. The default is 1.
    
    Parameters:
    
    numLocationTypes - the number of possible location types to which a location object can belong.
  - setDeterministicTransitionDynamics
```
public void setDeterministicTransitionDynamics()
```
    Will set the domain to use deterministic action transitions.
  - setProbSucceedTransitionDynamics
```
public void setProbSucceedTransitionDynamics(double probSucceed)
```
    Sets the domain to use probabilistic transitions. Agent will move in the intended direction with probability probSucceed. Agent will move in a random direction with probability 1 - probSucceed
    
    Parameters:
    
    probSucceed - probability to move the in intended direction
  - setTransitionDynamics
```
public void setTransitionDynamics(double[][] transitionDynamics)
```
    Will set the movement direction probabilities based on the action chosen. The index (0,1,2,3) indicates the direction north,south,east,west, respectively and the matrix is organized by transitionDynamics[selectedDirection][actualDirection]. For instance, the probability of the agent moving east when selecting north would be specified in the entry transitionDynamics[0][2]
    
    Parameters:
    
    transitionDynamics - entries indicate the probability of movement in the given direction (second index) for the given action selected (first index).
  - getTransitionDynamics
```
public double[][] getTransitionDynamics()
```
  - makeEmptyMap
```
public void makeEmptyMap()
```
    Makes the map empty
  - setMap
```
public void setMap(int[][] map)
```
    Set the map of the world.
    
    Parameters:
    
    map - the first index is the x index, the second the y; 1 entries indicate a wall
  - setMapToFourRooms
```
public void setMapToFourRooms()
```
    Will set the map of the world to the classic Four Rooms map used the original options work (Sutton, R.S. and Precup, D. and Singh, S., 1999).
  - horizontalWall
```
public void horizontalWall(int xi,
                           int xf,
                           int y)
```
    Creates a sequence of complete cell walls spanning the specified start and end x coordinates.
    
    Parameters:
    
    xi - The starting x coordinate of the wall
    
    xf - The ending x coordinate of the wall
    
    y - The y coordinate of the wall
  - verticalWall
```
public void verticalWall(int yi,
                         int yf,
                         int x)
```
    Creates a sequence of complete cell walls spanning the specified start and end y coordinates
    
    Parameters:
    
    yi - The stating y coordinate of the wall
    
    yf - The ending y coordinate of the wall
    
    x - The x coordinate of the wall
  - horizontal1DNorthWall
```
public void horizontal1DNorthWall(int xi,
                                  int xf,
                                  int y)
```
    Creates a sequence of 1D north walls spanning the specified start and end x coordinates. If any of the cells spanned already have a east wall set in that location, then the cell is set to have both an east wall and a north wall.
    
    Parameters:
    
    xi - The starting x coordinate of the wall
    
    xf - The ending x coordinate of the wall
    
    y - The y coordinate of the wall
  - vertical1DEastWall
```
public void vertical1DEastWall(int yi,
                               int yf,
                               int x)
```
    Creates a sequence of 1D east walls spanning the specified start and end y coordinates. If any of the cells spanned already have a 1D north wall set in that location, then the cell is set to have both a north wall and an east wall.
    
    Parameters:
    
    yi - The stating y coordinate of the wall
    
    yf - The ending y coordinate of the wall
    
    x - The x coordinate of the wall
  - setObstacleInCell
```
public void setObstacleInCell(int x,
                              int y)
```
    Sets a complete cell obstacle in the designated location.
    
    Parameters:
    
    x - the x coordinate of the obstacle
    
    y - the y coordinate of the obstacle
  - set1DNorthWall
```
public void set1DNorthWall(int x,
                           int y)
```
    Sets a specified location to have a 1D north wall. If the specified cell already has a 1D east wall set in that location, then the cell is set to have both an east wall and a north wall.
    
    Parameters:
    
    x - the x coordinate of the location to have the north wall
    
    y - the y coordinate of the location to have the north wall
  - set1DEastWall
```
public void set1DEastWall(int x,
                          int y)
```
    Sets a specified location to have a 1D east wall. If the specified cell already has a 1D north wall set in that location, then the cell is set to have both a north wall and an east wall.
    
    Parameters:
    
    x - the x coordinate of the location to have the east wall
    
    y - the y coordinate of the location to have the east wall
  - clearLocationOfWalls
```
public void clearLocationOfWalls(int x,
                                 int y)
```
    Removes any obstacles or walls at the specified location.
    
    Parameters:
    
    x - the x coordinate of the location
    
    y - the y coordinate of the location
  - setCellWallState
```
public void setCellWallState(int x,
                             int y,
                             int wallType)
```
    Sets the map at the specified location to have the specified wall configuration.
    
    Parameters:
    
    x - the x coordinate of the location
    
    y - the y coordinate of the location
    
    wallType - the wall configuration for this location. 0 = no walls; 1 = complete cell wall/obstacle; 2 = 1D north wall; 3 = 1D east wall; 4 = 1D north *and* east wall
  - getMap
```
public int[][] getMap()
```
    Returns a deep copy of the map being used for the domain
    
    Returns:
    
    a deep copy of the map being used in the domain
  - getWidth
```
public int getWidth()
```
    Returns this grid world's width
    
    Returns:
    
    this grid world's width
  - getHeight
```
public int getHeight()
```
    Returns this grid world's height
    
    Returns:
    
    this grid world's height
  - 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.
  - getGridWorldValueFunctionVisualization
```
public static ValueFunctionVisualizerGUI getGridWorldValueFunctionVisualization(java.util.List<State> states,
                                                                                int maxX,
                                                                                int maxY,
                                                                                ValueFunction valueFunction,
                                                                                Policy p)
```
    Creates and returns a ValueFunctionVisualizerGUI object for a grid world. The value of states will be represented by colored cells from red (lowest value) to blue (highest value). North-south-east-west actions will be rendered with arrows using ArrowActionGlyph objects. The GUI will not be launched by default; call the ValueFunctionVisualizerGUI.initGUI() on the returned object to start it.
    
    Parameters:
    
    states - the states whose value should be rendered.
    
    maxX - the maximum value in the x dimension
    
    maxY - the maximum value in the y dimension
    
    valueFunction - the value Function that can return the state values.
    
    p - the policy to render
    
    Returns:
    
    a gridworld-based ValueFunctionVisualizerGUI object.
  - movementDirectionFromIndex
```
protected static int[] movementDirectionFromIndex(int i)
```
    Returns the change in x and y position for a given direction number.
    
    Parameters:
    
    i - the direction number (0,1,2,3 indicates north,south,east,west, respectively)
    
    Returns:
    
    the change in direction for x and y; the first index of the returned double is change in x, the second index is change in y.
  - main
```
public static void main(java.lang.String[] args)
```
    Creates a visual explorer or terminal explorer. By default a visual explorer is presented; use the "t" argument to create terminal explorer. Will create a 4 rooms grid world with the agent in lower left corner and a location in the upper right. Use w-a-s-d to move.
    
    Parameters:
    
    args - command line args

Class GridWorldDomain

Nested Class Summary

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

VAR_X

VAR_Y

VAR_TYPE

CLASS_AGENT

CLASS_LOCATION

ACTION_NORTH

ACTION_SOUTH

ACTION_EAST

ACTION_WEST

PF_AT_LOCATION

PF_WALL_NORTH

PF_WALL_SOUTH

PF_WALL_EAST

PF_WALL_WEST

width

height

numLocationTypes

map

transitionDynamics

rf

tf

Constructor Detail

GridWorldDomain

GridWorldDomain

Method Detail

setNumberOfLocationTypes

setDeterministicTransitionDynamics

setProbSucceedTransitionDynamics

setTransitionDynamics

getTransitionDynamics

makeEmptyMap

setMap

setMapToFourRooms

horizontalWall

verticalWall

horizontal1DNorthWall

vertical1DEastWall

setObstacleInCell

set1DNorthWall

set1DEastWall

clearLocationOfWalls

setCellWallState

getMap

getWidth

getHeight

getRf

setRf

getTf

setTf

generatePfs

generateDomain

getGridWorldValueFunctionVisualization

movementDirectionFromIndex

main