EpisodicHistogramFilterMazeLocalization.hpp

Go to the documentation of this file.

#ifndef SRC_APPLICATION_EPISODICHISTOGRAMFILTERMAZELOCALIZATION_HPP_
#define SRC_APPLICATION_EPISODICHISTOGRAMFILTERMAZELOCALIZATION_HPP_

#include <opengl/application/OpenGLEpisodicApplication.hpp>
#include <opengl/visualization/WindowCollectorChart.hpp>
using namespace mic::opengl::visualization;

#include <types/MatrixTypes.hpp>

#include <importers/MazeMatrixImporter.hpp>

#include <types/Action2D.hpp>

#include <algorithms/MazeHistogramFilter.hpp>


namespace mic {
namespace application {

class EpisodicHistogramFilterMazeLocalization: public mic::opengl::application::OpenGLEpisodicApplication {
public:
    EpisodicHistogramFilterMazeLocalization(std::string node_name_ = "application");

    virtual ~EpisodicHistogramFilterMazeLocalization();

protected:

    virtual void initialize(int argc, char* argv[]);

    virtual void initializePropertyDependentVariables();

    virtual bool performSingleStep();

    virtual void startNewEpisode();

    virtual void finishCurrentEpisode();


private:

    mic::utils::DataCollectorPtr<std::string, float> collector_ptr;

    WindowCollectorChart<float>* w_localization_time_chart;

    mic::importers::MazeMatrixImporter importer;

    mic::algorithms::MazeHistogramFilter hf;

    mic::configuration::Property<short> hidden_maze_number;

    mic::configuration::Property<short> hidden_x;

    mic::configuration::Property<short> hidden_y;

    mic::configuration::Property<short> action;

    mic::configuration::Property<double> epsilon;

    mic::configuration::Property<double> hit_factor;

    mic::configuration::Property<double> miss_factor;

    mic::configuration::Property<double> exact_move_probability;

    mic::configuration::Property<double> overshoot_move_probability;

    mic::configuration::Property<double> undershoot_move_probability;

    mic::configuration::Property<short> max_number_of_iterations;

    mic::configuration::Property<double> min_maze_confidence;

    double max_pm;

    mic::configuration::Property<std::string> statistics_filename;
};


} /* namespace application */
} /* namespace mic */

#endif /* SRC_APPLICATION_EPISODICHISTOGRAMFILTERMAZELOCALIZATION_HPP_ */