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maze_solver_value_iteration.c
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maze_solver_value_iteration.c
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#include "maze_solver_value_iteration.h"
#include "maze_markov.h"
#include "maze_markov_bellman.h"
#include "maze_math.h"
#include "ratmaze.h"
#include <stdio.h>
#include <stdlib.h>
#include <float.h>
#include <math.h>
#ifdef MAZE_DEBUG
#include <unistd.h>
#endif
struct maze_solver_vi_list *maze_solver_vi_list_create(
unsigned int t,
struct maze_solver_vi_list *prec,
struct maze_markov_bellman_vlist *vlist
)
{
struct maze_solver_vi_list *ret;
ret = (struct maze_solver_vi_list *)
malloc(sizeof(struct maze_solver_vi_list));
ret->t = t;
ret->prec = prec;
ret->vlist = vlist;
return ret;
}
void maze_solver_vi_list_destroy(struct maze_solver_vi_list *l)
{
struct maze_solver_vi_list *tmpl;
while ((tmpl = l->prec))
{
maze_markov_bellman_vlist_destroy(l->vlist);
free(l);
l = tmpl;
}
maze_markov_bellman_vlist_destroy(l->vlist);
free(l);
}
float maze_solver_vi_get_vlist_cost(
struct maze_markov_state *state,
struct maze_markov_bellman_vlist *prec
)
{
float ret;
float vup,vdown,vleft,vright, max;
vup = vdown = vleft = vright = max = FLT_MIN;
if (state->up)
{
vup = maze_markov_bellman_get_action_cost(state->up,prec);
max = vup;
}
if (state->down)
{
vdown = maze_markov_bellman_get_action_cost(state->down,prec);
max = MAX(vdown,max);
}
if (state->left)
{
vleft = maze_markov_bellman_get_action_cost(state->left,prec);
max = MAX(vleft,max);
}
if (state->right)
{
vright = maze_markov_bellman_get_action_cost(state->right,prec);
max = MAX(vright,max);
}
ret = max;
#ifdef MAZE_DEBUG
printf("V(%d)=%g\n",state->id,max);
#endif
return ret;
}
void maze_solver_vi_list_display(struct maze_solver_vi_list *l)
{
}
void maze_solver_vi_perform(struct maze_markov_decision_process *mdp)
{
unsigned int t;
float maxs, tmpf;
struct maze_markov_bellman_vlist *node, *nodenew;
struct maze_solver_vi_list *tlist, *prectlist;
struct maze_markov_state_list *sl;
struct maze_markov_bellman_list *qlist;
struct maze_markov_bellman_policy *policy;
#ifdef MAZE_DEBUG
char buffc;
#endif
t = 0;
prectlist = 0;
do
{
sl = mdp->states;
node = 0;
#ifdef MAZE_DEBUG
printf("[t:%d]\n",t);
#endif
while (sl)
{
node = maze_markov_bellman_vlist_create(
sl->node,
maze_solver_vi_get_vlist_cost(
sl->node,
(prectlist?prectlist->vlist:0)
),
node
);
sl = sl->next;
}
#ifdef MAZE_DEBUG
buffc = read(0,&buffc,sizeof(buffc));
#endif
tlist = maze_solver_vi_list_create(t,prectlist,node);
/* perform max Vt(S) - Vt-1(S) */
maxs = FLT_MIN;
nodenew = tlist->vlist;
while (nodenew)
{
node = (prectlist?prectlist->vlist:0);
while (
(node) &&
(node->state != nodenew->state)
)
node = node->next;
if (node)
tmpf = (fabs(nodenew->cost - node->cost));
else
tmpf = (fabs(nodenew->cost - MAZE_SOLVER_VI_V0));
if (tmpf > maxs)
maxs = tmpf;
nodenew = nodenew->next;
}
prectlist = tlist;
t++;
} while (maxs > MAZE_SOLVER_VI_EPSYLON);
printf("Value Iteration: %d iterations, V%d: %g\n",t,t,maxs);
/* find the optimal solution */
qlist = maze_markov_bellman_qlist_create(mdp,tlist->vlist);
policy = maze_markov_bellman_optimal_policy_create(qlist);
printf("\nQ List:\n");
maze_markov_bellman_list_display(qlist);
printf("\nOptimal policy:\n");
maze_markov_bellman_policy_display(policy);
printf("---\n");
maze_solver_vi_list_destroy(tlist);
maze_markov_bellman_list_destroy(qlist);
maze_markov_bellman_policy_destroy(policy);
}