burlap.behavior.singleagent.planning.deterministic.uninformed.bfs

Class BFS

java.lang.Object

burlap.behavior.singleagent.MDPSolver

burlap.behavior.singleagent.planning.deterministic.DeterministicPlanner

burlap.behavior.singleagent.planning.deterministic.uninformed.bfs.BFS

All Implemented Interfaces:

MDPSolverInterface, Planner

public class BFS
extends DeterministicPlanner

Implements Breadth-first search.

If a terminal function is provided via the setter method defined for OO-MDPs, then the search algorithm will not expand any nodes that are terminal states, as if there were no actions that could be executed from that state. Note that terminal states are not necessarily the same as goal states, since there could be a fail condition from which the agent cannot act, but that is not explicitly represented in the transition dynamics.

Author:

James MacGlashan

Nested Class Summary

Nested classes/interfaces inherited from class burlap.behavior.singleagent.planning.deterministic.DeterministicPlanner

DeterministicPlanner.PlanningFailedException

Field Summary

Fields inherited from class burlap.behavior.singleagent.planning.deterministic.DeterministicPlanner

gc, internalPolicy

Fields inherited from class burlap.behavior.singleagent.MDPSolver

actions, debugCode, domain, gamma, hashingFactory, mapToStateIndex, rf, tf

Constructor Summary

Constructors

Constructor and Description
BFS(Domain domain, StateConditionTest gc, HashableStateFactory hashingFactory) BFS only needs reference to the domain, goal conditions, and hashing factory.

Method Summary

Methods

Modifier and Type	Method and Description
SDPlannerPolicy	planFromState(State initialState) Plans and returns a SDPlannerPolicy.

Methods inherited from class burlap.behavior.singleagent.planning.deterministic.DeterministicPlanner

deterministicPlannerInit, encodePlanIntoPolicy, hasCachedPlanForState, planContainsOption, planHasDupilicateStates, querySelectedActionForState, resetSolver

Methods inherited from class burlap.behavior.singleagent.MDPSolver

addNonDomainReferencedAction, getActions, getAllGroundedActions, getDebugCode, getDomain, getGamma, getHashingFactory, getRf, getRF, getTf, getTF, setActions, setDebugCode, setDomain, setGamma, setHashingFactory, setRf, setTf, solverInit, stateHash, toggleDebugPrinting, translateAction

Methods inherited from class java.lang.Object

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

Methods inherited from interface burlap.behavior.singleagent.MDPSolverInterface

addNonDomainReferencedAction, getActions, getDebugCode, getDomain, getGamma, getHashingFactory, getRf, getRF, getTf, getTF, setActions, setDebugCode, setDomain, setGamma, setHashingFactory, setRf, setTf, solverInit, toggleDebugPrinting

Constructor Detail

BFS

public BFS(Domain domain,
   StateConditionTest gc,
   HashableStateFactory hashingFactory)

BFS only needs reference to the domain, goal conditions, and hashing factory. The reward function is considered UniformCost, but is not used. No states are considered terminal states, but planning will stop when it finds the goal state.

Parameters:

domain - the domain in which to plan

gc - the test for goal states

hashingFactory - the state hashing factory to use.

Method Detail

planFromState

public SDPlannerPolicy planFromState(State initialState)

Plans and returns a SDPlannerPolicy. If a State is not in the solution path of this planner, then the SDPlannerPolicy will throw a runtime exception. If you want a policy that will dynamically replan for unknown states, you should create your own DDPlannerPolicy.

Parameters:

initialState - the initial state of the planning problem

Returns:

a SDPlannerPolicy.