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Merged
zsunberg merged 9 commits into from
May 31, 2025
Merged

Add convert_s function #18

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2b8c7d4
Update LaserTag.jl
yangyou95 Dec 13, 2022
c18fa55
Update LaserTag.jl
yangyou95 Dec 20, 2022
da28f02
update LaserTag convert_s and test functions
yangyou95 Jan 17, 2023
419773a
Merge branch 'JuliaPOMDP:master' into master
yangyou95 May 30, 2025
9dea048
update convert_s function and add tests
yangyou95 May 30, 2025
5738c7b
Removed extra comments
zsunberg May 30, 2025
b4c311e
Update runtests.jl
zsunberg May 30, 2025
80307b4
Merge branch 'master' into master
zsunberg May 31, 2025
26e69f0
add StaticArrays to test imports
zsunberg May 31, 2025
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51 changes: 28 additions & 23 deletions src/LaserTag.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -20,29 +20,23 @@ export
LTState,
CMeas,
DMeas,
LaserTagVis,

MoveTowards,
LaserTagVis, MoveTowards,
MoveTowardsSampled,
OptimalMLSolver,
OptimalML,
BestExpectedSolver,
BestExpected,

DESPOTEmu,

gen_lasertag,
BestExpected, DESPOTEmu, gen_lasertag,
cpp_emu_lasertag,
tikz_pic,
n_clear_cells


const Coord = SVector{2, Int}
const CMeas = MVector{8, Float64}
const DMeas = MVector{8, Int}
const Coord = SVector{2,Int}
const CMeas = MVector{8,Float64}
const DMeas = MVector{8,Int}

const C_SAME_LOC = fill!(MVector{8, Float64}(undef), -1.0)
const D_SAME_LOC = fill!(MVector{8, Int64}(undef), -1)
const C_SAME_LOC = fill!(MVector{8,Float64}(undef), -1.0)
const D_SAME_LOC = fill!(MVector{8,Int64}(undef), -1)

@auto_hash_equals struct LTState # XXX auto_hash_equals isn't correct for terminal
robot::Coord
Expand Down Expand Up @@ -72,16 +66,16 @@ obs_type(om::ObsModel) = obs_type(typeof(om))

include("distance_cache.jl")

@with_kw struct LaserTagPOMDP{M<:ObsModel, O<:Union{CMeas, DMeas}} <: POMDP{LTState, Int, O}
tag_reward::Float64 = 10.0
step_cost::Float64 = 1.0
discount::Float64 = 0.95
floor::Floor = Floor(7, 11)
obstacles::Set{Coord} = Set{Coord}()
robot_init::Union{Coord, Nothing} = nothing
diag_actions::Bool = false
dcache::LTDistanceCache = LTDistanceCache(floor, obstacles)
obs_model::M = DESPOTEmu(floor, 2.5)
@with_kw struct LaserTagPOMDP{M<:ObsModel,O<:Union{CMeas,DMeas}} <: POMDP{LTState,Int,O}
tag_reward::Float64 = 10.0
step_cost::Float64 = 1.0
discount::Float64 = 0.95
floor::Floor = Floor(7, 11)
obstacles::Set{Coord} = Set{Coord}()
robot_init::Union{Coord,Nothing} = nothing
diag_actions::Bool = false
dcache::LTDistanceCache = LTDistanceCache(floor, obstacles)
obs_model::M = DESPOTEmu(floor, 2.5)
end

ltfloor(m::LaserTagPOMDP) = m.floor
Expand Down Expand Up @@ -143,6 +137,17 @@ function POMDPs.reward(p::LaserTagPOMDP, s::LTState, a::Int, sp::LTState)
end
end


# add a function to transform a LTState to a vector
function POMDPs.convert_s(T::Type{<:AbstractArray}, s::LTState, p::LaserTagPOMDP)
return convert(T, vcat(s.robot, s.opponent, s.terminal))
end

# transform a vector to a LTState
function POMDPs.convert_s(T::Type{LTState}, v::AbstractArray{Float64}, p::LaserTagPOMDP)
return LTState([v[1], v[2]], [v[3], v[4]], v[5])
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@zsunberg zsunberg Jan 17, 2023

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Suggested change
return LTState([v[1], v[2]], [v[3], v[4]], v[5])
return LTState(Coord(v[1], v[2]), Coord(v[3], v[4]), v[5])

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@yangyou95 yangyou95 Jan 17, 2023

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Hello @zsunberg! Sorry, I totally forgot this change after Xmas... I updated and pushed it! Hope what did is correct.
Pls let me know if everything is ok.

end

POMDPs.isterminal(p::LaserTagPOMDP, s::LTState) = s.terminal
POMDPs.discount(p::LaserTagPOMDP) = p.discount

Expand Down