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env_gridworld.cpp
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env_gridworld.cpp
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#include <iostream>
#include "env_gridworld.h"
#include <string>
#include <unordered_map>
#include <vector>
using namespace std;
string action_grid::GetStringVal() const {
return this->dir;
}
state_grid::state_grid(const IntPair& pos_input){
this->pos = pos_input;
}
state_grid::state_grid(const int& X, const int& Y){
this->pos.x = X;
this->pos.y = Y;
}
state_base* state_grid::make_copy() {
state_base* new_state_ptr = new state_grid(this->pos.x, this->pos.y);
return new_state_ptr;
}
string state_grid::GetStringVal() {
return "x" + to_string(pos.x) + "y" + to_string(pos.y);
}
IntPair state_grid::GetPairVal() const {
return this->pos;
}
env_gridworld::env_gridworld(vector<vector<string > > &problem_map_input,
vector<vector<double > > &rewards_map_input,
const double& prob) {
this->problem_map = problem_map_input;
this->rewards_map = rewards_map_input;
this->prob_correct = prob;
load_all_state();
}
void env_gridworld::load_all_state() {
if(this->StateLoaded == true) {
return;
}
//loop over all the coordinates in the gridworld map
for(int j = 0; j < this->problem_map.size(); ++j) {
for(int i = 0; i < this->problem_map[0].size(); ++i) {
//"X" means it is a block
if((this->problem_map[j][i] != "X") && (this->problem_map[j][i] != "x")) {
state_base* this_state_ptr = new state_grid(i, j);
string this_state_str = this_state_ptr->GetStringVal();
//State_table
this->State_table[this_state_str] = this_state_ptr;
//TransitionMatrix
this->TransitionMatrix[this_state_str]
= new unordered_map<string, unordered_map<string, double>* >;
if(this->is_terminal(this_state_ptr)) {
//terminal state has only one legal action: "EXIT".
action_base* action_exit_ptr = new action_grid("EXIT");
string action_exit_str = action_exit_ptr->GetStringVal();
delete action_exit_ptr;
(*(this->TransitionMatrix[this_state_str]))[action_exit_str]
= new unordered_map<string, double>;
(*(*(this->TransitionMatrix[this_state_str]))[action_exit_str])[this_state_str] = 1.0;
}
else {
vector<action_base* > action_ptr_vec = LegalActions(this_state_ptr);
//loop over possible actions at the current state
for(auto i_action = 0; i_action < action_ptr_vec.size(); ++i_action) {
action_base* this_action_ptr = action_ptr_vec[i_action];
string this_action_str = this_action_ptr->GetStringVal();
//transition matrix hash table initialization
(*(this->TransitionMatrix[this_state_str]))[this_action_str]
= new unordered_map<string, double>;
vector<state_base*> next_states = NextState_state(this_state_ptr, this_action_ptr);
vector<double> next_probs = NextState_prob(this_state_ptr, this_action_ptr);
//loop over all possible next states given current state and action
for(auto i_NextState = 0; i_NextState < next_states.size(); ++i_NextState) {
string next_state_str = next_states[i_NextState]->GetStringVal();
double next_prob = next_probs[i_NextState];
if((*(this->TransitionMatrix[this_state_str]))[this_action_str]->find(next_state_str)
== (*(this->TransitionMatrix[this_state_str]))[this_action_str]->end()) {
//the key (current state, action, next state) is firstly seen
(*(*(this->TransitionMatrix[this_state_str]))[this_action_str])[next_state_str] = next_prob;
}
else {
//the key (current state, action, next state) is not firstly seen
//an example of triggering this scenarion:
//Consider a position where its west and east sides are both blocked.
//if action "N" is taken, the agent has 10% chance to slide to west and 10% to east.
//However, since west and east are blocked, either scenarions will stay stationary.
//Thus (current state, "N", current state) will appear twice and will result in a 20% prob.
(*(*(this->TransitionMatrix[this_state_str]))[this_action_str])[next_state_str] += next_prob;
}
delete next_states[i_NextState];
next_states[i_NextState] = 0;
}
delete this_action_ptr;
this_action_ptr = 0;
}
}
}
}
}
this->StateLoaded = true;
return;
}
//plot the policy map
void env_gridworld::plot_policy(unordered_map<string, string> &policy_table) {
for(int j = 0; j < this->problem_map.size(); ++j) {
for(int i = 0; i < this->problem_map[0].size(); ++i) {
string key_code = "x" + to_string(i) + "y" + to_string(j);
if(policy_table.find(key_code) != policy_table.end()) {
cout << policy_table[key_code] << "\t";
}
else {
cout << problem_map[j][i] << "\t";
}
}
cout << endl;
}
return;
}
//plot the v value map
void env_gridworld::plot_V_values(unordered_map<string, double> &V_value_table) {
for(int j = 0; j < this->problem_map.size(); ++j) {
for(int i = 0; i < this->problem_map[0].size(); ++i) {
string key_code = "x" + to_string(i) + "y" + to_string(j);
if(V_value_table.find(key_code) != V_value_table.end()) {
cout << V_value_table[key_code] << "\t";
}
else {
cout << problem_map[j][i] << "\t";
}
}
cout << endl;
}
return;
}
void env_gridworld::plot_Q_values(unordered_map<string, unordered_map<string, double>* > &Q_value_table){
//not implemented yet
return;
}
//see env_gridworld.h for description
vector<action_base*> env_gridworld::calc_LegalActions(state_base* state_ptr){
vector<action_base*> vec;
if(env_gridworld::is_terminal(state_ptr)) {
vec.push_back(new action_grid("EXIT"));
return vec;
}
vec.push_back(new action_grid("N"));
vec.push_back(new action_grid("E"));
vec.push_back(new action_grid("S"));
vec.push_back(new action_grid("W"));
return vec;
}
//see env_gridworld.h for description
vector<action_base*> env_gridworld::LegalActions(state_base* state_ptr){
if(this->StateLoaded == false) {
return calc_LegalActions(state_ptr);
}
vector<action_base*> result;
string state_str = state_ptr->GetStringVal();
if(this->TransitionMatrix.find(state_str) == this->TransitionMatrix.end()) {
cout << "LegalActions: requested state not in transition matrix" << endl;
return result;
}
for(auto iter_a = this->TransitionMatrix[state_str]->begin();
iter_a != this->TransitionMatrix[state_str]->end(); ++iter_a) {
result.push_back(new action_grid(iter_a->first));
}
return result;
}
//see env_gridworld.h for description
double env_gridworld::GetReward(state_base* state_ptr,
action_base* Action_ptr,
state_base* new_state_ptr) const {
state_grid* State_Grid_ptr = dynamic_cast<state_grid*>(state_ptr);
if(State_Grid_ptr == NULL) {
cout << "wrong state pointer passed in. state_grid* expected" << endl;
return 0.0;
}
int StateY = State_Grid_ptr->GetPairVal().y;
int StateX = State_Grid_ptr->GetPairVal().x;
return rewards_map[StateY][StateX];
}
//see env_gridworld.h for description
vector<state_base*> env_gridworld::calc_NextState_state(state_base* state_ptr,
action_base* Action_ptr) {
//double slide_prob = 0.5 - (this->prob_correct) / 2;
vector<state_base* > vec;
state_grid* State_Grid_ptr = dynamic_cast<state_grid*>(state_ptr);
if(State_Grid_ptr == NULL) {
cout << "wrong state pointer passed in. state_grid* expected" << endl;
return vec;
}
int StateY = State_Grid_ptr->GetPairVal().y;
int StateX = State_Grid_ptr->GetPairVal().x;
action_grid* Action_Grid_ptr = dynamic_cast<action_grid*>(Action_ptr);
if(Action_Grid_ptr == NULL) {
cout << "wrong action pointer passed in. action_grid* expected" << endl;
return vec;
}
if(Action_Grid_ptr->GetStringVal() == "N") {
//0.8 north
if(StateY == 0) {
vec.push_back(new state_grid(StateX, StateY));
}
else if (this->problem_map[StateY - 1][StateX] == "X"
|| this->problem_map[StateY - 1][StateX] == "x") {
vec.push_back(new state_grid(StateX, StateY));
}
else {
vec.push_back(new state_grid(StateX, StateY - 1));
}
//0.1 west
if(StateX == 0) {
vec.push_back(new state_grid(StateX, StateY));
}
else if (this->problem_map[StateY][StateX - 1] == "X"
|| this->problem_map[StateY][StateX - 1] == "x") {
vec.push_back(new state_grid(StateX, StateY));
}
else {
vec.push_back(new state_grid(StateX - 1, StateY));
}
//0.1 east
if(StateX == this->problem_map[0].size() - 1) {
vec.push_back(new state_grid(StateX, StateY));
}
else if (this->problem_map[StateY][StateX + 1] == "X"
|| this->problem_map[StateY][StateX + 1] == "x") {
vec.push_back(new state_grid(StateX, StateY));
}
else {
vec.push_back(new state_grid(StateX + 1, StateY));
}
}
else if(Action_Grid_ptr->GetStringVal() == "E") {
//0.8 East
if(StateX == this->problem_map[0].size() - 1) {
vec.push_back(new state_grid(StateX, StateY));
}
else if (this->problem_map[StateY][StateX + 1] == "X"
|| this->problem_map[StateY][StateX + 1] == "x") {
vec.push_back(new state_grid(StateX, StateY));
}
else {
vec.push_back(new state_grid(StateX + 1, StateY));
}
//0.1 north
if(StateY == 0) {
vec.push_back(new state_grid(StateX, StateY));
}
else if (this->problem_map[StateY - 1][StateX] == "X"
|| this->problem_map[StateY - 1][StateX] == "x") {
vec.push_back(new state_grid(StateX, StateY));
}
else {
vec.push_back(new state_grid(StateX, StateY - 1));
}
//0.1 south
if(StateY == this->problem_map.size() - 1) {
vec.push_back(new state_grid(StateX, StateY));
}
else if (this->problem_map[StateY + 1][StateX] == "X"
|| this->problem_map[StateY + 1][StateX] == "x") {
vec.push_back(new state_grid(StateX, StateY));
}
else {
vec.push_back(new state_grid(StateX, StateY + 1));
}
}
else if(Action_Grid_ptr->GetStringVal() == "S") {
//0.8 south
if(StateY == this->problem_map.size() - 1) {
vec.push_back(new state_grid(StateX, StateY));
}
else if (this->problem_map[StateY + 1][StateX] == "X"
|| this->problem_map[StateY + 1][StateX] == "x") {
vec.push_back(new state_grid(StateX, StateY));
}
else {
vec.push_back(new state_grid(StateX, StateY + 1));
}
//0.1 west
if(StateX == 0) {
vec.push_back(new state_grid(StateX, StateY));
}
else if (this->problem_map[StateY][StateX - 1] == "X"
|| this->problem_map[StateY][StateX - 1] == "x") {
vec.push_back(new state_grid(StateX, StateY));
}
else {
vec.push_back(new state_grid(StateX - 1, StateY));
}
//0.1 east
if(StateX == this->problem_map[0].size() - 1) {
vec.push_back(new state_grid(StateX, StateY));
}
else if (this->problem_map[StateY][StateX + 1] == "X"
|| this->problem_map[StateY][StateX + 1] == "x") {
vec.push_back(new state_grid(StateX, StateY));
}
else {
vec.push_back(new state_grid(StateX + 1, StateY));
}
}
else if(Action_Grid_ptr->GetStringVal() == "W") {
//0.8 west
if(StateX == 0) {
vec.push_back(new state_grid(StateX, StateY));
}
else if (this->problem_map[StateY][StateX - 1] == "X"
|| this->problem_map[StateY][StateX - 1] == "x") {
vec.push_back(new state_grid(StateX, StateY));
}
else {
vec.push_back(new state_grid(StateX - 1, StateY));
}
//0.1 north
if(StateY == 0) {
vec.push_back(new state_grid(StateX, StateY));
}
else if (this->problem_map[StateY - 1][StateX] == "X"
|| this->problem_map[StateY - 1][StateX] == "x") {
vec.push_back(new state_grid(StateX, StateY));
}
else {
vec.push_back(new state_grid(StateX, StateY - 1));
}
//0.1 south
if(StateY == this->problem_map.size() - 1) {
vec.push_back(new state_grid(StateX, StateY));
}
else if (this->problem_map[StateY + 1][StateX] == "X"
|| this->problem_map[StateY + 1][StateX] == "x") {
vec.push_back(new state_grid(StateX, StateY));
}
else {
vec.push_back(new state_grid(StateX, StateY + 1));
}
}
else {
cout << "illegal Act encountered. Should be NESW" << endl;
}
return vec;
}
//see env_gridworld.h for description
vector<state_base*> env_gridworld::NextState_state(state_base* state_ptr,
action_base* Action_ptr) {
if(this->StateLoaded == false) {
return calc_NextState_state(state_ptr, Action_ptr);
}
vector<state_base*> result;
string this_state_str = state_ptr->GetStringVal();
string this_action_str = Action_ptr->GetStringVal();
if(this->TransitionMatrix.find(this_state_str) == this->TransitionMatrix.end()) {
cout << "NextState_state: State not in transitionmatrix" << endl;
return result;
}
if((this->TransitionMatrix[this_state_str])->find(this_action_str)
== (this->TransitionMatrix[this_state_str])->end()) {
cout << "NextState_state: Action not in transitionmatrix[state]" << endl;
return result;
}
for(auto iter_TM = (*(this->TransitionMatrix[this_state_str]))[this_action_str]->begin();
iter_TM != (*(this->TransitionMatrix[this_state_str]))[this_action_str]->end(); ++iter_TM) {
result.push_back(this->State_table[iter_TM->first]->make_copy());
}
return result;
}
//see env_gridworld.h for description
vector<double> env_gridworld::calc_NextState_prob(state_base* state_ptr, action_base* Action_ptr) {
vector<double> vec{this->prob_correct,
0.5 - (this->prob_correct) / 2,
0.5 - (this->prob_correct) / 2};
return vec;
}
//see env_gridworld.h for description
vector<double> env_gridworld::NextState_prob(state_base* state_ptr, action_base* Action_ptr) {
if(this->StateLoaded == false) {
return calc_NextState_prob(state_ptr, Action_ptr);
}
vector<double> result;
string this_state_str = state_ptr->GetStringVal();
string this_action_str = Action_ptr->GetStringVal();
if(this->TransitionMatrix.find(this_state_str) == this->TransitionMatrix.end()) {
cout << "NextState_prob: State not in transitionmatrix" << endl;
return result;
}
if((this->TransitionMatrix[this_state_str])->find(this_action_str)
== (this->TransitionMatrix[this_state_str])->end()) {
cout << "NextState_prob: Action not in transitionmatrix[state]" << endl;
return result;
}
for(auto iter_TM = (*(this->TransitionMatrix[this_state_str]))[this_action_str]->begin();
iter_TM != (*(this->TransitionMatrix[this_state_str]))[this_action_str]->end(); ++iter_TM) {
result.push_back(iter_TM->second);
}
return result;
}
//see env_gridworld.h for description
state_base* env_gridworld::starting_state() {
return new state_grid(0, 2);
}
bool env_gridworld::is_terminal(state_base* state_ptr){
state_grid* State_Grid_ptr = dynamic_cast<state_grid*>(state_ptr);
if(State_Grid_ptr == NULL) {
cout << "wrong state pointer passed in. state_grid* expected" << endl;
return true;
}
if(problem_map[State_Grid_ptr->GetPairVal().y][State_Grid_ptr->GetPairVal().x] == "0") {
return false;
}
return true;
}
unordered_map<string, state_base*>::iterator env_gridworld::State_table_begin_iter() {
return this->State_table.begin();
}
unordered_map<string, state_base*>::iterator env_gridworld::State_table_end_iter() {
return this->State_table.end();
}