Environment.hpp

Go to the documentation of this file.

#ifndef SRC_TYPES_ENVIRONMENT_HPP_
#define SRC_TYPES_ENVIRONMENT_HPP_

#include <types/Position2D.hpp>
#include <types/TensorTypes.hpp>
#include <types/MatrixTypes.hpp>
#include <logger/Log.hpp>

#include <configuration/PropertyTree.hpp>

namespace mic {
namespace environments {

class Environment : public mic::configuration::PropertyTree {
public:
    Environment(std::string node_name_);


    virtual ~Environment();

    virtual void initializeEnvironment() = 0;

    mic::types::TensorXfPtr & getEnvironment() { return environment_grid; }

    virtual size_t getEnvironmentWidth() { return width; }

    virtual size_t getEnvironmentHeight() { return height; }

    virtual size_t getEnvironmentSize() { return width * height * channels; }

    virtual size_t getObservationWidth() { return ((!pomdp_flag) ? width : roi_size); }

    virtual size_t getObservationHeight() { return ((!pomdp_flag) ?height : roi_size); }

    virtual size_t getObservationSize() { return ((!pomdp_flag) ? width * height * channels : roi_size * roi_size * channels); }

    virtual size_t getChannels() { return channels; }

    size_t getROISize() { return roi_size; }


    virtual std::string environmentToString() = 0;

    virtual std::string observationToString() = 0;

    virtual mic::types::MatrixXfPtr encodeEnvironment() = 0;


    virtual mic::types::MatrixXfPtr encodeObservation() = 0;

    virtual mic::types::Position2D getAgentPosition() = 0;

    bool moveAgent (mic::types::Action2DInterface ac_);


    virtual bool moveAgentToPosition(mic::types::Position2D pos_) = 0;

    virtual void moveAgentToInitialPosition();

    virtual float getStateReward(mic::types::Position2D pos_) = 0;


    virtual bool isStateAllowed(long x_, long y_);

    virtual bool isStateAllowed(mic::types::Position2D pos_) = 0;

    virtual bool isStateTerminal(long x_, long y_);


    virtual bool isStateTerminal(mic::types::Position2D pos_) = 0;


    virtual bool isActionAllowed(long x_, long y_, size_t action_);

    virtual bool isActionAllowed(mic::types::Position2D pos_, mic::types::Action2DInterface ac_);

    virtual bool isActionAllowed(mic::types::Action2DInterface ac_);


protected:

    mic::configuration::Property<size_t> width;

    mic::configuration::Property<size_t> height;

    mic::configuration::Property<size_t> roi_size;

    size_t channels;

    bool pomdp_flag;

    mic::types::Position2D initial_position;

    mic::types::TensorXfPtr environment_grid;

    mic::types::TensorXfPtr observation_grid;

};

} /* namespace environments */
} /* namespace mic */

#endif /* SRC_TYPES_ENVIRONMENT_HPP_ */