#include <OMPartial.h>

Inheritance diagram for Rcs::OMPartial:

Collaboration diagram for Rcs::OMPartial:

Public Types
typedef std::vector< unsigned int >	IndexList

Public Member Functions
	OMPartial (ObservationModel *wrapped, IndexList indices, bool exclude=false)

	OMPartial (ObservationModel *wrapped, IndexList stateIndices, IndexList velocityIndices, bool exclude=false)

virtual	~OMPartial ()

	OMPartial (const OMPartial &)=delete

OMPartial &	operator= (const OMPartial &)=delete

	OMPartial (OMPartial &&)=delete

OMPartial &	operator= (OMPartial &&)=delete

virtual unsigned int	getStateDim () const

virtual unsigned int	getVelocityDim () const

virtual void	computeObservation (double state, double velocity, const MatNd *currentAction, double dt) const

virtual void	getLimits (double minState, double maxState, double *maxVelocity) const

virtual std::vector< std::string >	getStateNames () const

virtual std::vector< std::string >	getVelocityNames () const

virtual void	reset ()

virtual std::vector< ObservationModel * >	getNested () const

Public Member Functions inherited from Rcs::ObservationModel
virtual	~ObservationModel ()

MatNd *	computeObservation (const MatNd *currentAction, double dt) const

void	computeObservation (MatNd observation, const MatNd currentAction, double dt) const

virtual void	getMinMax (double min, double max) const final

virtual unsigned int	getDim () const final

virtual std::vector< std::string >	getNames () const final

template<typename OM >
OM *	findModel ()

template<typename OM >
Offsets	findOffsets ()

Public Member Functions inherited from Rcs::BoxSpaceProvider
	BoxSpaceProvider ()

virtual	~BoxSpaceProvider ()

	BoxSpaceProvider (const BoxSpaceProvider &)=delete

BoxSpaceProvider &	operator= (const BoxSpaceProvider &)=delete

	BoxSpaceProvider (BoxSpaceProvider &&)=delete

BoxSpaceProvider &	operator= (BoxSpaceProvider &&)=delete

const BoxSpace *	getSpace () const

Static Public Member Functions
static OMPartial *	fromMask (ObservationModel *wrapped, const std::vector< bool > &mask, bool exclude=false)

static OMPartial *	fromMask (ObservationModel *wrapped, const std::vector< bool > &stateMask, const std::vector< bool > &velocityMask, bool exclude=false)

static OMPartial *	fromNames (ObservationModel *wrapped, const std::vector< std::string > &names, bool exclude=false, bool autoSelectVelocity=false)

Private Attributes
ObservationModel *	wrapped

IndexList	keptStateIndices

IndexList	keptVelocityIndices

Detailed Description

Applies partial observability by masking out certain state variables.

Definition at line 42 of file OMPartial.h.

Member Typedef Documentation

◆ IndexList

typedef std::vector<unsigned int> Rcs::OMPartial::IndexList

Definition at line 45 of file OMPartial.h.

Constructor & Destructor Documentation

◆ OMPartial() [1/4]

Rcs::OMPartial::OMPartial	(	ObservationModel *	wrapped,
		IndexList	indices,
		bool	exclude = `false`
	)

Create a partial observation model using only the specified indices.

Parameters

wrapped	wrapped observation model. takes ownership.
indices	selected indices. Applied to both state and velocity, assuming their dimensions are equal.
exclude	set to true to invert the mask and keep only observations not in indices.

Definition at line 92 of file OMPartial.cpp.

◆ OMPartial() [2/4]

Rcs::OMPartial::OMPartial	(	ObservationModel *	wrapped,
		IndexList	stateIndices,
		IndexList	velocityIndices,
		bool	exclude = `false`
	)

Create a partial observation model using only the specified indices.

Parameters

wrapped	wrapped observation model. takes ownership.
stateIndices	selected indices for state.
velocityIndices	selected indices for velocity.
exclude	set to true to invert the mask and keep only observations not in indices.

Definition at line 109 of file OMPartial.cpp.

◆ ~OMPartial()

Rcs::OMPartial::~OMPartial ( )

virtual

Definition at line 174 of file OMPartial.cpp.

◆ OMPartial() [3/4]

Rcs::OMPartial::OMPartial ( const OMPartial & )

delete

◆ OMPartial() [4/4]

Rcs::OMPartial::OMPartial ( OMPartial && )

delete

Member Function Documentation

◆ computeObservation()

void Rcs::OMPartial::computeObservation	(	double *	state,
		double *	velocity,
		const MatNd *	currentAction,
		double	dt
	)		const

virtual

Implement to fill the observation vector with the observed values.

Parameters

[out]	state	state observation vector to fill, has getStateDim() elements.
[out]	velocity	velocity observation vector to fill, has getVelocityDim() elements.
[in]	currentAction	action in current step. May be NULL if not available.
[in]	dt	time step since the last observation has been taken

Implements Rcs::ObservationModel.

Definition at line 199 of file OMPartial.cpp.

◆ fromMask() [1/2]

OMPartial * Rcs::OMPartial::fromMask	(	ObservationModel *	wrapped,
		const std::vector< bool > &	mask,
		bool	exclude = `false`
	)

static

Create a partial observation model using a boolean mask. The mask is applied to both state and velocity, assuming their dimensions are equal.

Parameters

wrapped	wrapped observation model. takes ownership.
mask	true entries will be kept.
exclude	set to true to invert the mask

Definition at line 116 of file OMPartial.cpp.

◆ fromMask() [2/2]

OMPartial * Rcs::OMPartial::fromMask	(	ObservationModel *	wrapped,
		const std::vector< bool > &	stateMask,
		const std::vector< bool > &	velocityMask,
		bool	exclude = `false`
	)

static

Create a partial observation model using a boolean mask.

Parameters

wrapped	wrapped observation model. takes ownership.
stateMask	mask for state. Length must match wrapped->getStateDim().
velocityMask	mask for velocity. Length must match wrapped->getVelocityDim().
exclude	set to true to invert the mask

Definition at line 124 of file OMPartial.cpp.

◆ fromNames()

OMPartial * Rcs::OMPartial::fromNames	(	ObservationModel *	wrapped,
		const std::vector< std::string > &	names,
		bool	exclude = `false`,
		bool	autoSelectVelocity = `false`
	)

static

Create a partial observation model using a boolean mask.

Parameters

wrapped	wrapped observation model. takes ownership.
names	selected entry names
exclude	set to true to invert the mask
autoSelectVelocity	set to true to automatically exclude the velocity corresponding to a state name

Definition at line 133 of file OMPartial.cpp.

◆ getLimits()

void Rcs::OMPartial::getLimits	(	double *	minState,
		double *	maxState,
		double *	maxVelocity
	)		const

virtual

Provides the minimum and maximum observable values. Since the velocity is symmetric, only the maximum needs to be provided. The default implementation uses -inf and inf.

Parameters

[out]	minState	minimum state vector to fill, has getStateDim() elements.
[out]	maxState	maximum state vector to fill, has getStateDim() elements.
[out]	maxVelocity	maximum velocity vector to fill, has getVelocityDim() elements.

Reimplemented from Rcs::ObservationModel.

Definition at line 220 of file OMPartial.cpp.

◆ getNested()

std::vector< ObservationModel * > Rcs::OMPartial::getNested ( ) const

virtual

List directly nested observation models. The default implementation returns an empty list, since there are no nested models.

Reimplemented from Rcs::ObservationModel.

Definition at line 267 of file OMPartial.cpp.

◆ getStateDim()

unsigned int Rcs::OMPartial::getStateDim ( ) const

virtual

The number of state variables.

Implements Rcs::ObservationModel.

Definition at line 189 of file OMPartial.cpp.

◆ getStateNames()

std::vector< std::string > Rcs::OMPartial::getStateNames ( ) const

virtual

Provides names for each state entry.

Returns: a vector of name strings. Must be of length getStateDim() or empty for a nameless space.

Reimplemented from Rcs::ObservationModel.

Definition at line 246 of file OMPartial.cpp.

◆ getVelocityDim()

unsigned int Rcs::OMPartial::getVelocityDim ( ) const

virtual

The number of velocity variables. The default implementation assumes that for each state there is a velocity.

Reimplemented from Rcs::ObservationModel.

Definition at line 194 of file OMPartial.cpp.

◆ getVelocityNames()

std::vector< std::string > Rcs::OMPartial::getVelocityNames ( ) const

virtual

Provides names for each velocity entry. The default implementation derives the names from getStateNames(), appending a 'd' to each name.

Returns: a vector of name strings. Must be of length getVelocityDim() or empty for a nameless space.

Reimplemented from Rcs::ObservationModel.

Definition at line 254 of file OMPartial.cpp.

◆ operator=() [1/2]

OMPartial& Rcs::OMPartial::operator= ( OMPartial && )

delete

◆ operator=() [2/2]

OMPartial& Rcs::OMPartial::operator= ( const OMPartial & )

delete

◆ reset()

void Rcs::OMPartial::reset ( )

virtual

Reset any internal state. This is called to begin a new episode. It should also reset values depending on modifiable physics parameters. This is an optional operation, so the default implementation does nothing.

Reimplemented from Rcs::ObservationModel.

Definition at line 262 of file OMPartial.cpp.

Member Data Documentation

◆ keptStateIndices

IndexList Rcs::OMPartial::keptStateIndices

private

Definition at line 126 of file OMPartial.h.

◆ keptVelocityIndices

IndexList Rcs::OMPartial::keptVelocityIndices

private

Definition at line 127 of file OMPartial.h.

◆ wrapped

ObservationModel* Rcs::OMPartial::wrapped

private

Definition at line 123 of file OMPartial.h.

The documentation for this class was generated from the following files:

src/cpp/core/observation/OMPartial.h
src/cpp/core/observation/OMPartial.cpp

Public Types

Public Member Functions

Static Public Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ IndexList

Constructor & Destructor Documentation

◆ OMPartial() [1/4]

◆ OMPartial() [2/4]

◆ ~OMPartial()

◆ OMPartial() [3/4]

◆ OMPartial() [4/4]

Member Function Documentation

◆ computeObservation()

◆ fromMask() [1/2]

◆ fromMask() [2/2]

◆ fromNames()

◆ getLimits()

◆ getNested()

◆ getStateDim()

◆ getStateNames()

◆ getVelocityDim()

◆ getVelocityNames()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ reset()

Member Data Documentation

◆ keptStateIndices

◆ keptVelocityIndices

◆ wrapped