MazeOfDigits.hpp

Go to the documentation of this file.

#ifndef SRC_TYPES_MAZEOFDIGITS_HPP_
#define SRC_TYPES_MAZEOFDIGITS_HPP_

#include <types/Environment.hpp>


namespace mic {
namespace environments {

enum class MazeOfDigitsChannels : std::size_t
{
    Digits = 0, 
    Goals = 1, 
    Walls = 2, 
    Agent = 3, 
    Count = 4 
};


class MazeOfDigits : public mic::environments::Environment {
public:
    MazeOfDigits(std::string node_name_ = "maze_of_digits");

    MazeOfDigits (const mic::environments::MazeOfDigits & md_);

    virtual ~MazeOfDigits();

    mic::environments::MazeOfDigits & operator=(const mic::environments::MazeOfDigits & md);

    virtual size_t getObservationSize() { return ((!pomdp_flag) ? width * height * channels : roi_size * roi_size * 1); }

    virtual void initializePropertyDependentVariables();

    virtual void initializeEnvironment();

    void initExemplaryMaze();

    void reRandomAgentPosition();

    void initFullyRandomMaze();

    void initRandomStructuredMaze();

    void initRandomPathMaze();

    void setBiggerDigit(size_t x_, size_t y_, size_t value_);

    mic::types::TensorXfPtr getObservation();

    virtual std::string environmentToString();

    virtual std::string observationToString();

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

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


    virtual mic::types::MatrixXfPtr encodeAgentGrid();

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

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

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

    // Makes all versions of polymorphic method isStateAllowed() available.
    using mic::environments::Environment::isStateAllowed;

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

    // Makes all versions of polymorphic method isStateTerminal() available.
    using mic::environments::Environment::isStateTerminal;

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

    unsigned int optimalPathLength(){
        return optimal_path_length;
    }


protected:

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

    std::string gridToString(mic::types::TensorXfPtr & grid_);

    unsigned int optimal_path_length;


};

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

#endif /* SRC_TYPES_MAZEOFDIGITS_HPP_ */