public static CUDDNode NondetUntil(CUDDNode trans, CUDDNode nondetMask, CUDDVars allRowVars, CUDDVars allColVars, CUDDVars nondetVars, CUDDNode yes, CUDDNode maybe, bool min)
{
DateTime startTime = DateTime.Now;
int numberOfIterations = 0;
CUDDNode a, sol, tmp;
CUDD.Ref(trans, maybe);
a = CUDD.Function.Times(trans, maybe);
CUDD.Ref(yes);
sol = yes;
while (true)
{
numberOfIterations++;
tmp = CUDD.Matrix.MatrixMultiplyVector(a, sol, allRowVars, allColVars);
if (min)
{
CUDD.Ref(nondetMask);
tmp = CUDD.Function.Maximum(tmp, nondetMask);
tmp = CUDD.Abstract.MinAbstract(tmp, nondetVars);
}
else
{
tmp = CUDD.Abstract.MaxAbstract(tmp, nondetVars);
}
CUDD.Ref(yes);
tmp = CUDD.Function.Maximum(tmp, yes);
//check convergence
if (CUDD.IsEqual(tmp, sol))
{
CUDD.Deref(tmp);
break;
}
CUDD.Deref(sol);
sol = tmp;
}
DateTime endTime = DateTime.Now;
double runningTime = (endTime - startTime).TotalSeconds;
Debug.WriteLine("NondetUntil: " + numberOfIterations + " iterations in " + runningTime + " seconds");
//
CUDD.Deref(a);
return(sol);
}
public static CUDDNode NondetReachReward(CUDDNode trans, CUDDNode reach, CUDDNode stateReward, CUDDNode transReward, CUDDNode nondetMask, CUDDVars allRowVars, CUDDVars allColVars, CUDDVars nondetVars, CUDDNode infReward, CUDDNode maybeReward, bool min)
{
DateTime startTime = DateTime.Now;
int numberOfIterations = 0;
CUDDNode a, allReward, newNondetMask, sol, tmp;
// filter out rows (goal states and infinity states) from matrix
CUDD.Ref(trans, maybeReward);
a = CUDD.Function.Times(trans, maybeReward);
// also remove goal and infinity states from state rewards vector
CUDD.Ref(stateReward, maybeReward);
CUDDNode tempStateReward = CUDD.Function.Times(stateReward, maybeReward);
// multiply transition rewards by transition probs and sum rows
// (note also filters out unwanted states at the same time)
CUDD.Ref(transReward, a);
CUDDNode tempTransReward = CUDD.Function.Times(transReward, a);
tempTransReward = CUDD.Abstract.SumAbstract(tempTransReward, allColVars);
// combine state and transition rewards
allReward = CUDD.Function.Plus(tempStateReward, tempTransReward);
// need to change mask because rewards are not necessarily in the range 0..1
CUDD.Ref(nondetMask);
newNondetMask = CUDD.Function.ITE(nondetMask, CUDD.PlusInfinity(), CUDD.Constant(0));
// initial solution is infinity in 'inf' states, zero elsewhere
// note: ok to do this because cudd matrix-multiply (and other ops)
// treat 0 * inf as 0, unlike in IEEE 754 rules
CUDD.Ref(infReward);
sol = CUDD.Function.ITE(infReward, CUDD.PlusInfinity(), CUDD.Constant(0));
while (true)
{
numberOfIterations++;
tmp = CUDD.Matrix.MatrixMultiplyVector(a, sol, allRowVars, allColVars);
// add rewards
CUDD.Ref(allReward);
tmp = CUDD.Function.Plus(tmp, allReward);
if (min)
{
CUDD.Ref(newNondetMask);
tmp = CUDD.Function.Maximum(tmp, newNondetMask);
tmp = CUDD.Abstract.MinAbstract(tmp, nondetVars);
}
else
{
tmp = CUDD.Abstract.MaxAbstract(tmp, nondetVars);
}
CUDD.Ref(infReward);
tmp = CUDD.Function.ITE(infReward, CUDD.PlusInfinity(), tmp);
if (CUDD.IsEqual(tmp, sol))
{
CUDD.Deref(tmp);
break;
}
CUDD.Deref(sol);
sol = tmp;
}
DateTime endTime = DateTime.Now;
double runningTime = (endTime - startTime).TotalSeconds;
Debug.WriteLine("NondetReachReward: " + numberOfIterations + " iterations in " + runningTime + " seconds");
//
CUDD.Deref(a, allReward, newNondetMask);
return(sol);
}
/// <summary>
/// Solve the linear equation system Ax = b with Jacobi
/// </summary>
/// <param name="a"></param>
/// <param name="b"></param>
/// <param name="init">initial solution</param>
/// <param name="reach"></param>
/// <param name="allRowVars"></param>
/// <param name="allColVars"></param>
/// <param name="omega">jor parameter</param>
/// <returns></returns>
public static CUDDNode Jacobi(CUDDNode a, CUDDNode b, CUDDNode init, CUDDNode reach, CUDDVars allRowVars, CUDDVars allColVars, double omega)
{
DateTime startTime = DateTime.Now;
int numberOfIterations = 0;
CUDDNode id = CUDD.Matrix.Identity(allRowVars, allColVars);
CUDD.Ref(reach);
id = CUDD.Function.And(id, reach);
CUDD.Ref(id, a);
CUDDNode diags = CUDD.Function.Times(id, a);
diags = CUDD.Abstract.SumAbstract(diags, allColVars);
//
CUDD.Ref(id, a);
CUDDNode newA = CUDD.Function.ITE(id, CUDD.Constant(0), a);
newA = CUDD.Function.Times(CUDD.Constant(-1), newA);
// divide a,b by diagonal
CUDD.Ref(diags);
newA = CUDD.Function.Divide(newA, diags);
CUDD.Ref(b, diags);
CUDDNode newB = CUDD.Function.Divide(b, diags);
// print out some memory usage
Debug.WriteLine("Iteration matrix MTBDD... [nodes = " + CUDD.GetNumNodes(newA) + "]");
Debug.WriteLine("Diagonals MTBDD... [nodes = " + CUDD.GetNumNodes(diags) + "]");
CUDD.Ref(init);
CUDDNode sol = init;
while(true)
{
numberOfIterations++;
CUDDNode tmp = CUDD.Matrix.MatrixMultiplyVector(newA, sol, allRowVars, allColVars);
CUDD.Ref(newB);
tmp = CUDD.Function.Plus(tmp, newB);
if(omega != 1)
{
tmp = CUDD.Function.Times(tmp, CUDD.Constant(omega));
CUDD.Ref(sol);
tmp = CUDD.Function.Plus(tmp, CUDD.Function.Times(sol, CUDD.Constant(1 - omega)));
}
if(CUDD.IsEqual(tmp, sol))
{
CUDD.Deref(tmp);
break;
}
CUDD.Deref(sol);
sol = tmp;
}
CUDD.Deref(id, diags, newA, newB);
DateTime endTime = DateTime.Now;
double runningTime = (endTime - startTime).TotalSeconds;
Debug.WriteLine("Jacobi: " + numberOfIterations + " iterations in " + runningTime + " seconds");
return sol;
}