burlap.mdp.core.oo.OODomain Java Examples

private void updatePropTextArea(State s){

		if(!(domain instanceof OODomain) || !(s instanceof OOState)){
			return ;
		}

	    StringBuilder buf = new StringBuilder();
		
		List <PropositionalFunction> props = ((OODomain)domain).propFunctions();
		for(PropositionalFunction pf : props){
			List<GroundedProp> gps = pf.allGroundings((OOState)s);
			for(GroundedProp gp : gps){
				if(gp.isTrue((OOState)s)){
					buf.append(gp.toString()).append("\n");
				}
			}
		}
		
		propViewer.setText(buf.toString());
		
		
		
	}
 

protected void updatePropTextArea(State s){

		if(!(domain instanceof OODomain) || !(s instanceof OOState)){
			return ;
		}

	    StringBuilder buf = new StringBuilder();
		
		List <PropositionalFunction> props = ((OODomain)domain).propFunctions();
		for(PropositionalFunction pf : props){
			//List<GroundedProp> gps = s.getAllGroundedPropsFor(pf);
			List<GroundedProp> gps = pf.allGroundings((OOState)s);
			for(GroundedProp gp : gps){
				if(gp.isTrue((OOState)s)){
					buf.append(gp.toString()).append("\n");
				}
			}
		}
		
		propViewer.setText(buf.toString());
		
		
		
	}
 

private void updatePropTextArea(State s){

		if(!(domain instanceof OODomain) || !(s instanceof OOState)){
			return ;
		}

	    StringBuilder buf = new StringBuilder();
		
		List <PropositionalFunction> props = ((OODomain)domain).propFunctions();
		for(PropositionalFunction pf : props){
			//List<GroundedProp> gps = s.getAllGroundedPropsFor(pf);
			List<GroundedProp> gps = pf.allGroundings((OOState)s);
			for(GroundedProp gp : gps){
				if(gp.isTrue((OOState)s)){
					buf.append(gp.toString()).append("\n");
				}
			}
		}
		propViewer.setText(buf.toString());
		
		
	}
 

private void updatePropTextArea(State s){

		if(domain == null || !(s instanceof OOState)){
			return ;
		}

	    StringBuilder buf = new StringBuilder();
		
		List <PropositionalFunction> props = ((OODomain)domain).propFunctions();
		for(PropositionalFunction pf : props){
			List<GroundedProp> gps = pf.allGroundings((OOState)s);
			for(GroundedProp gp : gps){
				if(gp.isTrue((OOState)s)){
					buf.append(gp.toString()).append("\n");
				}
			}
		}
		propViewer.setText(buf.toString());
		
		
	}
 

/**
 * Updates the propositional function evaluation text display for the given state.
 * @param s the input state on which propositional functions are to be evaluated.
 */
protected void updatePropTextArea(State s){

	if(!(domain instanceof OODomain) || !(s instanceof OOState)){
		return ;
	}

    StringBuilder buf = new StringBuilder();
	
	List <PropositionalFunction> props = ((OODomain)domain).propFunctions();
	for(PropositionalFunction pf : props){
		List<GroundedProp> gps = pf.allGroundings((OOState)s);
		for(GroundedProp gp : gps){
			if(gp.isTrue((OOState)s)){
				buf.append(gp.toString()).append("\n");
			}
		}
	}
	propViewer.setText(buf.toString());
	
	
}
 

protected void updatePropTextArea(State s){

		if(!(domain instanceof OODomain) || !(s instanceof OOState)){
			return;
		}

	    StringBuilder buf = new StringBuilder();
		
		List <PropositionalFunction> props = ((OODomain)domain).propFunctions();
		for(PropositionalFunction pf : props){
			List<GroundedProp> gps = pf.allGroundings((OOState)s);
			for(GroundedProp gp : gps){
				if(gp.isTrue((OOState)s)){
					buf.append(gp.toString()).append("\n");
				}
			}
		}
		

		propViewer.setText(buf.toString());
		
		
	}
 

/**
 * Initializes for a given domain, step cost reward, universal goal reward, and unique personal goal reward for each player.
 * @param ggDomain the domain
 * @param stepCost the reward returned for all transitions except transtions to goal locations
 * @param universalGoalReward the reward returned for transitions to a universal goal
 * @param noopIncursStepCost if true, then noop actions also incur the stepCost reward; if false, then noops always return 0 reward.
 * @param personalGoalRewards a map from player numbers to their personal goal reward (the first player number is 0)
 */
public GGJointRewardFunction(OODomain ggDomain, double stepCost, double universalGoalReward, boolean noopIncursStepCost, Map<Integer, Double> personalGoalRewards){
	
	agentInPersonalGoal = ggDomain.propFunction(GridGame.PF_IN_P_GOAL);
	agentInUniversalGoal = ggDomain.propFunction(GridGame.PF_IN_U_GOAL);
	this.stepCost = stepCost;
	this.uGoalReward = universalGoalReward;
	this.noopIncursCost = noopIncursStepCost;
	this.personalGoalRewards = personalGoalRewards;
	
}
 

/**
 * Initializes for a given domain, step cost reward, personal goal reward, and universal goal reward.
 * @param ggDomain the domain
 * @param stepCost the reward returned for all transitions except transtions to goal locations
 * @param personalGoalReward the reward returned for transitions to a personal goal
 * @param universalGoalReward the reward returned for transitions to a universal goal
 * @param noopIncursStepCost if true, then noop actions also incur the stepCost reward; if false, then noops always return 0 reward.
 */
public GGJointRewardFunction(OODomain ggDomain, double stepCost, double personalGoalReward, double universalGoalReward, boolean noopIncursStepCost){
	agentInPersonalGoal = ggDomain.propFunction(GridGame.PF_IN_P_GOAL);
	agentInUniversalGoal = ggDomain.propFunction(GridGame.PF_IN_U_GOAL);
	this.stepCost = stepCost;
	this.pGoalReward = personalGoalReward;
	this.uGoalReward = universalGoalReward;
	this.noopIncursCost = noopIncursStepCost;
}
 

/**
 * Initializes for a given domain, step cost reward and goal reward.
 * @param ggDomain the domain
 * @param stepCost the reward returned for all transitions except transtions to goal locations
 * @param goalReward the reward returned for transitioning to a personal or universal goal
 * @param noopIncursStepCost if true, then noop actions also incur the stepCost reward; if false, then noops always return 0 reward.
 */
public GGJointRewardFunction(OODomain ggDomain, double stepCost, double goalReward, boolean noopIncursStepCost){
	agentInPersonalGoal = ggDomain.propFunction(GridGame.PF_IN_P_GOAL);
	agentInUniversalGoal = ggDomain.propFunction(GridGame.PF_IN_U_GOAL);
	this.stepCost = stepCost;
	this.pGoalReward = this.uGoalReward = goalReward;
	this.noopIncursCost = noopIncursStepCost;
}
 

@Override
public OOSADomain generateDomain() {

	OOSADomain domain = new OOSADomain();
	
	domain.addStateClass(CLASS_BLOCK, BlocksWorldBlock.class);

	domain.addActionType(new StackActionType(ACTION_STACK))
			.addActionType(new UnstackActionType(ACTION_UNSTACK));

	RewardFunction rf = this.rf;
	TerminalFunction tf = this.tf;

	if(rf == null){
		rf = new NullRewardFunction();
	}
	if(tf == null){
		tf = new NullTermination();
	}

	BWModel smodel = new BWModel();
	FactoredModel model = new FactoredModel(smodel, rf , tf);
	domain.setModel(model);

	OODomain.Helper.addPfsToDomain(domain, this.generatePfs());
	
	return domain;
}
 

/**
 * Initializes with default reward values (move through air = -1; collision = -100; land on pad = +1000)
 * @param domain a {@link burlap.domain.singleagent.lunarlander.LunarLanderDomain} generated {@link burlap.mdp.core.Domain}.
 */
public LunarLanderRF(OODomain domain){
	this.onGround = domain.propFunction(LunarLanderDomain.PF_ON_GROUND);
	this.touchingSurface = domain.propFunction(LunarLanderDomain.PF_TOUCH_SURFACE);
	this.touchingPad = domain.propFunction(LunarLanderDomain.PF_TOUTCH_PAD);
	this.onPad = domain.propFunction(LunarLanderDomain.PF_ON_PAD);
}
 

/**
 * Initializes
 * @param domain the {@link OODomain} holding the propositional functions for the propositional function viewer
 * @param painter the painter for rendering states
 * @param cWidth the width of the state visualization area
 * @param cHeight the height of the state visualization area
 */
public VisualActionObserver(OODomain domain, Visualizer painter, int cWidth, int cHeight){
	this.domain = domain;
	this.painter = painter;
	this.cWidth = cWidth;
	this.cHeight = cHeight;
	
	this.propViewer = new TextArea();
	this.propViewer.setEditable(false);
}
 

/**
 * Initializes using all propositional functions that belong to the domain
 * @param domain the domain containing all the propositional functions to use
 */
public PFFeatures(OODomain domain){
	
	this.pfsToUse = new PropositionalFunction[domain.propFunctions().size()];
	int i = 0;
	for(PropositionalFunction pf : domain.propFunctions()){
		this.pfsToUse[i] = pf;
		i++;
	}
	
}
 

@Override
public OOSADomain generateDomain() {
	
	OOSADomain domain = new OOSADomain();
	
	List <Double> thrustValuesTemp = this.thrustValues;
	if(thrustValuesTemp.isEmpty()){
		thrustValuesTemp.add(0.32);
		thrustValuesTemp.add(-physParams.gravity);
	}
	
	domain.addStateClass(CLASS_AGENT, LLAgent.class)
			.addStateClass(CLASS_PAD, LLBlock.LLPad.class)
			.addStateClass(CLASS_OBSTACLE, LLBlock.LLObstacle.class);

	//make copy of physics parameters
	LLPhysicsParams cphys = this.physParams.copy();
	
	//add actions
	domain.addActionType(new UniversalActionType(ACTION_TURN_LEFT))
			.addActionType(new UniversalActionType(ACTION_TURN_RIGHT))
			.addActionType(new UniversalActionType(ACTION_IDLE))
			.addActionType(new ThrustType(thrustValues));


	OODomain.Helper.addPfsToDomain(domain, this.generatePfs());

	LunarLanderModel smodel = new LunarLanderModel(cphys);
	RewardFunction rf = this.rf;
	TerminalFunction tf = this.tf;
	if(rf == null){
		rf = new LunarLanderRF(domain);
	}
	if(tf == null){
		tf = new LunarLanderTF(domain);
	}

	FactoredModel model = new FactoredModel(smodel, rf, tf);
	domain.setModel(model);
	
	return domain;
	
}
 

public FrostbiteTF(OODomain domain) {
	this.inWater = domain.propFunction(FrostbiteDomain.PF_IN_WATER);
	this.onIce = domain.propFunction(FrostbiteDomain.PF_ON_ICE);
	this.iglooBuilt = domain.propFunction(FrostbiteDomain.PF_IGLOO_BUILT);
}
 

/**
 * Initializes for the given domain
 * @param ggDomain the specific grid world domain.
 */
public GGTerminalFunction(OODomain ggDomain){
	agentInPersonalGoal = ggDomain.propFunction(GridGame.PF_IN_P_GOAL);
	agentInUniversalGoal = ggDomain.propFunction(GridGame.PF_IN_U_GOAL);
}
 

public FrostbiteRF(OODomain domain) {
	this.inWater = domain.propFunction(FrostbiteDomain.PF_IN_WATER);
	this.onIce = domain.propFunction(FrostbiteDomain.PF_ON_ICE);
	this.iglooBuilt = domain.propFunction(FrostbiteDomain.PF_IGLOO_BUILT);
}
 

@Override
public OOSGDomain generateDomain() {
	
	OOSGDomain domain = new OOSGDomain();
	
	
	domain.addStateClass(CLASS_AGENT, GGAgent.class)
			.addStateClass(CLASS_GOAL, GGGoal.class)
			.addStateClass(CLASS_DIM_H_WALL, GGWall.GGHorizontalWall.class)
			.addStateClass(CLASS_DIM_V_WALL, GGWall.GGVerticalWall.class);
	

	domain.addActionType(new UniversalActionType(ACTION_NORTH))
			.addActionType(new UniversalActionType(ACTION_SOUTH))
			.addActionType(new UniversalActionType(ACTION_EAST))
			.addActionType(new UniversalActionType(ACTION_WEST))
			.addActionType(new UniversalActionType(ACTION_NOOP));

	
	
	OODomain.Helper.addPfsToDomain(domain, this.generatePFs());

	domain.setJointActionModel(new GridGameStandardMechanics(domain, this.semiWallProb));
	
	return domain;
}
 

/**
 * Initializes for a given domain. Defaults rewards to 0 reward everywhere except transition to unviersal or personal goals which return a reward 1.
 * @param ggDomain the domain
 */
public GGJointRewardFunction(OODomain ggDomain){
	agentInPersonalGoal = ggDomain.propFunction(GridGame.PF_IN_P_GOAL);
	agentInUniversalGoal = ggDomain.propFunction(GridGame.PF_IN_U_GOAL);
}
 

public LocationFeatures(OODomain domain, int numLocations){
	this.numLocations = numLocations;
	this.inLocationPF = domain.propFunction(GridWorldDomain.PF_AT_LOCATION);
}
 

@Override
public int call(BurlapShell shell, String argString, Scanner is, PrintStream os) {
	Environment env = ((EnvironmentShell)shell).getEnv();

	OptionSet oset = this.parser.parse(argString.split(" "));

	if(oset.has("h")){
		os.println("[s]\nCommand to list all true (or false) grounded propositional function for the current environment observation.\n" +
				"-f: list false grounded propositional functions, rather than true ones. " +
				"-n: list the name of all propositional functions, rather than grounded evaluations\n" +
				"-s: evaluate propositional functions on POMDP environment hidden state, rather than environment observation. Environment must extend SimulatedPOEnvironment");

		return 0;
	}


	if(!(shell.getDomain() instanceof OODomain)){
		os.println("cannot query propositional functions because the domain is not an OODomain");
		return 0;
	}

	if(oset.has("n")){
		for(PropositionalFunction pf : ((OODomain)shell.getDomain()).propFunctions()){
			os.println(pf.getName());
		}
		return 0;
	}


	State qs = env.currentObservation();

	if(oset.has("s")){
		if(!(env instanceof SimulatedPOEnvironment)){
			os.println("Cannot query applicable actions with respect to POMDP hidden state, because the environment does not extend SimulatedPOEnvironment.");
			return 0;
		}
		qs = ((SimulatedPOEnvironment)env).getCurrentHiddenState();
	}

	List<GroundedProp> gps = PropositionalFunction.allGroundingsFromList(((OODomain)shell.getDomain()).propFunctions(), (OOState)qs);
	for(GroundedProp gp : gps){
		if(gp.isTrue((OOState)qs) == !oset.has("f")){
			os.println(gp.toString());
		}
	}

	return 0;
}
 

public AddStateObjectCommand(Domain domain) {
	if(domain instanceof OODomain) {
		this.domain = (OODomain) domain;
	}
}
 

@Override
public OOSADomain generateDomain() {

	OOSADomain domain = new OOSADomain();

	domain.addStateClass(CLASS_AGENT, ExGridAgent.class)
			.addStateClass(CLASS_LOCATION, EXGridLocation.class);

	domain.addActionTypes(
			new UniversalActionType(ACTION_NORTH),
			new UniversalActionType(ACTION_SOUTH),
			new UniversalActionType(ACTION_EAST),
			new UniversalActionType(ACTION_WEST));


	OODomain.Helper.addPfsToDomain(domain, this.generatePfs());

	OOGridWorldStateModel smodel = new OOGridWorldStateModel();
	RewardFunction rf = new SingleGoalPFRF(domain.propFunction(PF_AT), 100, -1);
	TerminalFunction tf = new SinglePFTF(domain.propFunction(PF_AT));

	domain.setModel(new FactoredModel(smodel, rf, tf));


	return domain;
}
 

/**
 * Initializes with custom reward condition values.
 * @param domain a {@link burlap.domain.singleagent.lunarlander.LunarLanderDomain} generated {@link burlap.mdp.core.Domain}.
 * @param goalReward the reward for landing on the landing pad.
 * @param collisionReward the reward for a collision.
 * @param defaultReward the default reward for all other states (i.e., moving through the air)
 */
public LunarLanderRF(OODomain domain, double goalReward, double collisionReward, double defaultReward){
	this(domain);
	this.goalReward = goalReward;
	this.collisionReward = collisionReward;
	this.defaultReward = defaultReward;
}
 

/**
 * Initializes.
 * @param domain a {@link burlap.domain.singleagent.lunarlander.LunarLanderDomain} generated {@link burlap.mdp.core.Domain} object.
 */
public LunarLanderTF(OODomain domain){
	this.onPad = domain.propFunction(LunarLanderDomain.PF_ON_PAD);
}
 

/**
 * Initializes with a visualizer size of 800x800
 * @param domain the {@link OODomain} holding the propositional functions for the propositional function viewer
 * @param painter the painter for rendering states
 */
public VisualActionObserver(OODomain domain, Visualizer painter){
	this(domain, painter, 800, 800);
}