public static CUDDNode ProbReachReward(CUDDNode trans, CUDDNode stateReward, CUDDNode transReward, CUDDNode reach, CUDDVars allRowVars, CUDDVars allColVars, CUDDNode maybe, CUDDNode inf)
{
CUDD.Ref(trans, maybe);
CUDDNode a = CUDD.Function.Times(trans, maybe);
CUDD.Ref(stateReward, maybe);
CUDDNode newStateReward = CUDD.Function.Times(stateReward, maybe);
CUDD.Ref(transReward, a);
CUDDNode newTransRewards = CUDD.Function.Times(transReward, a);
newTransRewards = CUDD.Abstract.SumAbstract(newTransRewards, allColVars);
CUDDNode allReward = CUDD.Function.Plus(newStateReward, newTransRewards);
//
CUDDNode tmp = CUDD.Matrix.Identity(allRowVars, allColVars);
CUDD.Ref(reach);
tmp = CUDD.Function.And(tmp, reach);
a = CUDD.Function.Minus(tmp, a);
CUDDNode sol = Jacobi(a, allReward, allReward, reach, allRowVars, allColVars, 1);
// set reward for infinity states to infinity
CUDD.Ref(inf);
sol = CUDD.Function.ITE(inf, CUDD.PlusInfinity(), sol);
//
CUDD.Deref(a, allReward);
return sol;
}
public CUDDNode ComputeReachReward(CUDDNode b, int rewardStructIndex)
{
//Reference to b in the calling place and create a new copy
CUDD.Ref(b, reach);
b = CUDD.Function.And(b, reach);
//
CUDDNode inf, maybe, reward;
if (b.Equals(CUDD.ZERO))
{
CUDD.Ref(reach);
inf = reach;
maybe = CUDD.Constant(0);
}
else if (b.Equals(reach))
{
inf = CUDD.Constant(0);
maybe = CUDD.Constant(0);
}
else
{
CUDDNode no = ProbAlgo.Prob0(trans01, reach, allRowVars, allColVars, reach, b);
CUDDNode prob1 = ProbAlgo.Prob1(trans01, reach, allRowVars, allColVars, reach, b, no);
CUDD.Deref(no);
CUDD.Ref(reach);
inf = CUDD.Function.And(reach, CUDD.Function.Not(prob1));
CUDD.Ref(reach, inf, b);
maybe = CUDD.Function.And(reach, CUDD.Function.Not(CUDD.Function.Or(inf, b)));
}
// print out yes/no/maybe
Debug.WriteLine("goal = " + CUDD.GetNumMinterms(b, allRowVars.GetNumVars()));
Debug.WriteLine("inf = " + CUDD.GetNumMinterms(inf, allRowVars.GetNumVars()));
Debug.WriteLine("maybe = " + CUDD.GetNumMinterms(maybe, allRowVars.GetNumVars()));
if (maybe.Equals(CUDD.ZERO))
{
CUDD.Ref(inf);
reward = CUDD.Function.ITE(inf, CUDD.PlusInfinity(), CUDD.Constant(0));
}
else
{
reward = ProbAlgo.ProbReachReward(trans, stateRewards[rewardStructIndex], transRewards[rewardStructIndex], reach, allRowVars, allColVars, maybe, inf);
}
CUDD.Deref(inf, maybe, b);
CUDD.Ref(start);
return(CUDD.Function.Times(reward, start));
}
public static CUDDNode NondetInstReward(CUDDNode trans, CUDDNode stateReward, CUDDNode nondetMask, CUDDVars allRowVars, CUDDVars allColVars, CUDDVars nondetVars, int bound, bool min, CUDDNode init)
{
DateTime startTime = DateTime.Now;
CUDDNode newNondetMask, sol, tmp;
CUDD.Ref(nondetMask);
newNondetMask = CUDD.Function.ITE(nondetMask, CUDD.PlusInfinity(), CUDD.Constant(0));
CUDD.Ref(stateReward);
sol = stateReward;
for (int i = 0; i < bound; i++)
{
tmp = CUDD.Matrix.MatrixMultiplyVector(trans, sol, allRowVars, allColVars);
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.Deref(sol);
sol = tmp;
}
DateTime endTime = DateTime.Now;
double runningTime = (endTime - startTime).TotalSeconds;
Debug.WriteLine("NondetInstReward: " + bound + " iterations in " + runningTime + " seconds");
//
CUDD.Deref(newNondetMask);
return(sol);
}
/// <summary>
/// [ REFS: '', DEREFS:]
/// </summary>
/// <param name="allProb"></param>
/// <param name="state"></param>
public double GetMinProb(CUDDNode allProb, CUDDNode filter)
{
double result = 0;
CUDD.Ref(filter, reach);
CUDDNode newFilter = CUDD.Function.And(filter, reach);
if (newFilter.Equals(CUDD.ZERO))
{
result = double.MaxValue;
}
else
{
CUDD.Ref(newFilter, allProb);
CUDDNode tmp = CUDD.Function.ITE(newFilter, allProb, CUDD.PlusInfinity());
result = CUDD.FindMin(tmp);
CUDD.Deref(tmp);
}
CUDD.Deref(newFilter);
return(result);
}
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);
}
