#include <BeliefState.hh>

Public Types
using	Gns = Diades::Graph::GraphNodeSet

using	Fsm = StateMachine

using	State = typename Fsm::State

using	Transition = typename Fsm::Transition

using	EventPropertyId = typename Fsm::EventPropertyId

using	SharedPtr = std::shared_ptr< BeliefState >

Public Types inherited from Diades::Graph::GraphNodeSet
using	Node = Diades::Graph::Node

using	Exception = Diades::Utils::Exception< GraphNodeSet >

using	Iterator = set< Node >::const_iterator

Public Member Functions
	BeliefState (const Fsm &fsm)

void	insertState (State s)

template<class InputStateIterator >
void	insertStates (InputStateIterator first, InputStateIterator last)

void	removeState (State s)

Iterator	findState (State s) const

template<typename IsGoal >
SharedPtr	nextPredicateBeliefState (IsGoal isGoal)

template<typename IsGoal >
SharedPtr	prevPredicateBeliefState (IsGoal isGoal)

SharedPtr	nextBeliefState (const EventPropertyId &event) const

SharedPtr	prevBeliefState (const EventPropertyId &event) const

SharedPtr	nextBeliefState () const

SharedPtr	prevBeliefState () const

template<typename Predicate >
SharedPtr	nextBeliefState (Predicate predicate) const

template<typename Predicate >
SharedPtr	prevBeliefState (Predicate predicate) const

template<typename TransitionPredicate , typename TransitionInsertIterator >
SharedPtr	nextReachableBeliefState (TransitionPredicate isGoal, TransitionInsertIterator transInsertIterator, TransitionInsertIterator targetTransInsertIterator)
	nextReachableBeliefState More...

template<typename IsGoal , typename IsForbidden , typename TransitionInsertIterator >
SharedPtr	nextReachableBeliefState (IsGoal isGoal, IsForbidden isForbidden, TransitionInsertIterator transInsertIterator, TransitionInsertIterator targetTransInsertIterator)
	nextReachableBeliefState More...

Public Member Functions inherited from Diades::Graph::GraphNodeSet
	GraphNodeSet (const Graph &graph)

	GraphNodeSet (const Graph &graph, Node n)

	GraphNodeSet (const Graph &graph, const set< Node > &n)

	GraphNodeSet (const Graph &graph, const unordered_set< Node > &s)

	GraphNodeSet (const GraphNodeSet &ns)

void	insertNode (Node n)

template<class InputNodeIterator >
void	insertNodes (InputNodeIterator first, InputNodeIterator last)

void	removeNode (Node n)

Iterator	findNode (Node n) const

bool	isEmpty () const

int	size () const

GraphNodeSet *	nextGraphNodeSet (const set< Edge > &edges) const

GraphNodeSet *	previousGraphNodeSet (const set< Edge > &edges) const

const Graph &	graph () const

Iterator	begin () const

Iterator	end () const

set< Node > &	setOfNodes ()

bool	operator== (const GraphNodeSet &ns) const

Private Attributes
const Fsm &	_fsm

Additional Inherited Members
Static Public Member Functions inherited from Diades::Graph::GraphNodeSet
static string	typeName ()

Protected Attributes inherited from Diades::Graph::GraphNodeSet
const Graph &	_grph

set< Node >	_nodes

Detailed Description

template<typename StateMachine>
class Diades::Automata::Experimental::BeliefState< StateMachine >

Definition at line 26 of file BeliefState.hh.

Member Typedef Documentation

◆ EventPropertyId

template<typename StateMachine>

using Diades::Automata::Experimental::BeliefState< StateMachine >::EventPropertyId = typename Fsm::EventPropertyId

Definition at line 33 of file BeliefState.hh.

◆ Fsm

template<typename StateMachine>

using Diades::Automata::Experimental::BeliefState< StateMachine >::Fsm = StateMachine

Definition at line 30 of file BeliefState.hh.

◆ Gns

template<typename StateMachine>

using Diades::Automata::Experimental::BeliefState< StateMachine >::Gns = Diades::Graph::GraphNodeSet

Definition at line 29 of file BeliefState.hh.

◆ SharedPtr

template<typename StateMachine>

using Diades::Automata::Experimental::BeliefState< StateMachine >::SharedPtr = std::shared_ptr<BeliefState>

Definition at line 34 of file BeliefState.hh.

◆ State

template<typename StateMachine>

using Diades::Automata::Experimental::BeliefState< StateMachine >::State = typename Fsm::State

Definition at line 31 of file BeliefState.hh.

◆ Transition

template<typename StateMachine>

using Diades::Automata::Experimental::BeliefState< StateMachine >::Transition = typename Fsm::Transition

Definition at line 32 of file BeliefState.hh.

Constructor & Destructor Documentation

◆ BeliefState()

template<typename StateMachine>

Diades::Automata::Experimental::BeliefState< StateMachine >::BeliefState ( const Fsm & fsm )

inline

Parametrized constructor

Parameters

fsm	a Finite State Machine Build an empty belief state of the Fsm

Definition at line 48 of file BeliefState.hh.

Member Function Documentation

◆ findState()

template<typename StateMachine>

Iterator Diades::Automata::Experimental::BeliefState< StateMachine >::findState ( State s ) const

inline

Find a state

Parameters

s	State to find

Returns: a Iterator it

Postcondition: if s is in the BeliefState then *it == s otherwise it == end()

Definition at line 93 of file BeliefState.hh.

References Diades::Graph::GraphNodeSet::findNode().

◆ insertState()

template<typename StateMachine>

void Diades::Automata::Experimental::BeliefState< StateMachine >::insertState ( State s )

inline

Insert a state

Parameters

s	the State to insert

Definition at line 58 of file BeliefState.hh.

References Diades::Graph::GraphNodeSet::insertNode().

◆ insertStates()

template<typename StateMachine>

template<class InputStateIterator >

void Diades::Automata::Experimental::BeliefState< StateMachine >::insertStates	(	InputStateIterator	first,
		InputStateIterator	last
	)

inline

Insert a range of states

Parameters

first	the first state to insert if not first != last
last	the element after the last state to insert

Definition at line 71 of file BeliefState.hh.

References Diades::Graph::GraphNodeSet::insertNodes().

◆ nextBeliefState() [1/3]

template<typename StateMachine>

SharedPtr Diades::Automata::Experimental::BeliefState< StateMachine >::nextBeliefState ( const EventPropertyId & event ) const

inline

Next belief state

Parameters

e	Event to trigger

Returns: the belief state obtained after triggering the event e from the current belief state in the Component

Definition at line 161 of file BeliefState.hh.

References Diades::Automata::Experimental::BeliefState< StateMachine >::_fsm, Diades::Graph::GraphNodeSet::_nodes, Diades::Automata::Experimental::StateMachine< _StatePropertyId, _EventPropertyId, _NullStatePropertyId, _NullEventPropertyId >::outputEventTransitionBegin(), and Diades::Automata::Experimental::StateMachine< _StatePropertyId, _EventPropertyId, _NullStatePropertyId, _NullEventPropertyId >::outputEventTransitionEnd().

◆ nextBeliefState() [2/3]

template<typename StateMachine>

SharedPtr Diades::Automata::Experimental::BeliefState< StateMachine >::nextBeliefState ( ) const

inline

Next belief state

Returns: the belief state obtained after triggering any event e from the current belief state in the Component

Definition at line 206 of file BeliefState.hh.

References Diades::Automata::Experimental::BeliefState< StateMachine >::_fsm, Diades::Graph::GraphNodeSet::_nodes, Diades::Automata::Experimental::StateMachine< _StatePropertyId, _EventPropertyId, _NullStatePropertyId, _NullEventPropertyId >::outputTransitionBegin(), and Diades::Automata::Experimental::StateMachine< _StatePropertyId, _EventPropertyId, _NullStatePropertyId, _NullEventPropertyId >::outputTransitionEnd().

◆ nextBeliefState() [3/3]

template<typename StateMachine>

template<typename Predicate >

SharedPtr Diades::Automata::Experimental::BeliefState< StateMachine >::nextBeliefState ( Predicate predicate ) const

inline

Next belief state based on a state predicate

Returns: the belief state obtained after triggering any event e from the current belief state in the Component such that the state predicate predicate(state) holds for the target state

Definition at line 251 of file BeliefState.hh.

References Diades::Automata::Experimental::BeliefState< StateMachine >::_fsm, Diades::Graph::GraphNodeSet::_nodes, Diades::Automata::Experimental::StateMachine< _StatePropertyId, _EventPropertyId, _NullStatePropertyId, _NullEventPropertyId >::outputTransitionBegin(), and Diades::Automata::Experimental::StateMachine< _StatePropertyId, _EventPropertyId, _NullStatePropertyId, _NullEventPropertyId >::outputTransitionEnd().

◆ nextPredicateBeliefState()

template<typename StateMachine>

template<typename IsGoal >

SharedPtr Diades::Automata::Experimental::BeliefState< StateMachine >::nextPredicateBeliefState ( IsGoal isGoal )

inline

Next belief state

Parameters

isGoal a Predicate P(t) with t a Transition

Returns: the belief state obtained after triggering a transition t such that P(t) is true from the current belief state in the Component

Definition at line 109 of file BeliefState.hh.

References Diades::Automata::Experimental::BeliefState< StateMachine >::_fsm, Diades::Graph::GraphNodeSet::_nodes, Diades::Automata::Experimental::StateMachine< _StatePropertyId, _EventPropertyId, _NullStatePropertyId, _NullEventPropertyId >::outputTransitionBegin(), and Diades::Automata::Experimental::StateMachine< _StatePropertyId, _EventPropertyId, _NullStatePropertyId, _NullEventPropertyId >::outputTransitionEnd().

◆ nextReachableBeliefState() [1/2]

template<typename StateMachine>

template<typename TransitionPredicate , typename TransitionInsertIterator >

SharedPtr Diades::Automata::Experimental::BeliefState< StateMachine >::nextReachableBeliefState	(	TransitionPredicate	isGoal,
		TransitionInsertIterator	transInsertIterator,
		TransitionInsertIterator	targetTransInsertIterator
	)

inline

nextReachableBeliefState

compute the beliefstate that contains the set of states that are the target of transitions we aim to reach from the current BeliefState with an indefinite transition path. The set of transitions that we aim to reach are the ones such that 'isGoal' is true, and they are called 'goal transitions'. A path from the current BeliefState to the returned one is a path that contains only one goal transition.

Parameters

isGoal	is a Predicate that takes as input a transition and returns true if the transition is a goal transition, that is the set of transitions that the method attempts to reach
transInsertIterator	is an output_iterator see cplusplus.com/reference/iterator/OutputIterator This iterator is used to insert the set of transitions such that every of them is part of a path from the current Beliefstate to a goal transition from the current BeliefState. This set also includes the effective set of reached transitions among the goal transitions.

Returns: return the set of states that are the targets of the goal transitions that could be effectively reached from the current BeliefState by a transition path made of only one goal transition.

This method is typically used to look for a certain type of observable transitions from the current belief state.

Definition at line 330 of file BeliefState.hh.

◆ nextReachableBeliefState() [2/2]

template<typename StateMachine>

template<typename IsGoal , typename IsForbidden , typename TransitionInsertIterator >

SharedPtr Diades::Automata::Experimental::BeliefState< StateMachine >::nextReachableBeliefState	(	IsGoal	isGoal,
		IsForbidden	isForbidden,
		TransitionInsertIterator	transInsertIterator,
		TransitionInsertIterator	targetTransInsertIterator
	)

inline

nextReachableBeliefState

compute the beliefstate that contains the set of states that are the target of transitions we aim to reach from the current BeliefState with an indefinite transition path. The set of transitions that we aim to reach are the ones such that 'isGoal' is true, and they are called 'goal transitions'. A path from the current BeliefState to the returned one is a path that contains only one goal transition and does not contain any forbidden transition

Parameters

isGoal	is a Predicate that takes as input a transition and returns true if the transition is a goal transition, that is the set of transitions that the method attempts to reach
isForbidden	is a Predicate that takes as input a transition and returns true if the trigger of the transition is forbidden during the search for reachable states.
transInsertIterator	is an output_iterator see cplusplus.com/reference/iterator/OutputIterator This iterator is used to insert the set of transitions such that every of them is part of a path from the current Beliefstate to a goal transition from the current BeliefState. This set also includes the effective set of reached transitions among the goal transitions.

Returns: return the set of states that are the targets of the goal transitions that could be effectively reached from the current BeliefState by a transition path made of only one goal transition.

This method is typically used to look for a certain type of observable transitions from the current belief state.

Definition at line 378 of file BeliefState.hh.

References Diades::Automata::Experimental::BeliefState< StateMachine >::_fsm, Diades::Graph::GraphNodeSet::begin(), Diades::Automata::Experimental::StateMachine< _StatePropertyId, _EventPropertyId, _NullStatePropertyId, _NullEventPropertyId >::behaviour(), current, Diades::Graph::GraphNodeSet::end(), Diades::Automata::Experimental::StateMachine< _StatePropertyId, _EventPropertyId, _NullStatePropertyId, _NullEventPropertyId >::inputTransitionBegin(), Diades::Automata::Experimental::StateMachine< _StatePropertyId, _EventPropertyId, _NullStatePropertyId, _NullEventPropertyId >::inputTransitionEnd(), Diades::Automata::Experimental::StateMachine< _StatePropertyId, _EventPropertyId, _NullStatePropertyId, _NullEventPropertyId >::outputTransitionBegin(), and Diades::Automata::Experimental::StateMachine< _StatePropertyId, _EventPropertyId, _NullStatePropertyId, _NullEventPropertyId >::outputTransitionEnd().

◆ prevBeliefState() [1/3]

template<typename StateMachine>

SharedPtr Diades::Automata::Experimental::BeliefState< StateMachine >::prevBeliefState ( const EventPropertyId & event ) const

inline

Previous belief state

Parameters

e	Event to trigger

Returns: the belief state that contains the states that can possibly lead to the current belief state by triggerinf the event e

Definition at line 183 of file BeliefState.hh.

References Diades::Automata::Experimental::BeliefState< StateMachine >::_fsm, Diades::Graph::GraphNodeSet::_nodes, Diades::Automata::Experimental::StateMachine< _StatePropertyId, _EventPropertyId, _NullStatePropertyId, _NullEventPropertyId >::inputEventTransitionBegin(), and Diades::Automata::Experimental::StateMachine< _StatePropertyId, _EventPropertyId, _NullStatePropertyId, _NullEventPropertyId >::inputEventTransitionEnd().

◆ prevBeliefState() [2/3]

template<typename StateMachine>

SharedPtr Diades::Automata::Experimental::BeliefState< StateMachine >::prevBeliefState ( ) const

inline

Previous belief state

Returns: the belief state that contains the states that can possibly lead to the current belief state by triggering any event e

Definition at line 227 of file BeliefState.hh.

References Diades::Automata::Experimental::BeliefState< StateMachine >::_fsm, Diades::Graph::GraphNodeSet::_nodes, Diades::Automata::Experimental::StateMachine< _StatePropertyId, _EventPropertyId, _NullStatePropertyId, _NullEventPropertyId >::inputEventTransitionBegin(), and Diades::Automata::Experimental::StateMachine< _StatePropertyId, _EventPropertyId, _NullStatePropertyId, _NullEventPropertyId >::inputEventTransitionEnd().

◆ prevBeliefState() [3/3]

template<typename StateMachine>

template<typename Predicate >

SharedPtr Diades::Automata::Experimental::BeliefState< StateMachine >::prevBeliefState ( Predicate predicate ) const

inline

Previous belief state based on a state predicate

Returns: the belief state obtained after triggering any event e leading to the current belief state in the Component such that the state predicate predicate(state) holds for the source state

Definition at line 277 of file BeliefState.hh.

References Diades::Automata::Experimental::BeliefState< StateMachine >::_fsm, Diades::Graph::GraphNodeSet::_nodes, Diades::Automata::Experimental::StateMachine< _StatePropertyId, _EventPropertyId, _NullStatePropertyId, _NullEventPropertyId >::inputEventTransitionBegin(), and Diades::Automata::Experimental::StateMachine< _StatePropertyId, _EventPropertyId, _NullStatePropertyId, _NullEventPropertyId >::inputEventTransitionEnd().

◆ prevPredicateBeliefState()

template<typename StateMachine>

template<typename IsGoal >

SharedPtr Diades::Automata::Experimental::BeliefState< StateMachine >::prevPredicateBeliefState ( IsGoal isGoal )

inline

Next belief state

Parameters

isGoal a Predicate P(t) with t a Transition

Returns: the belief state obtained after triggering backward a transition t such that P(t) is true from the current belief state in the Component

Definition at line 136 of file BeliefState.hh.

References Diades::Automata::Experimental::BeliefState< StateMachine >::_fsm, Diades::Graph::GraphNodeSet::_nodes, Diades::Automata::Experimental::StateMachine< _StatePropertyId, _EventPropertyId, _NullStatePropertyId, _NullEventPropertyId >::inputTransitionBegin(), and Diades::Automata::Experimental::StateMachine< _StatePropertyId, _EventPropertyId, _NullStatePropertyId, _NullEventPropertyId >::inputTransitionEnd().

◆ removeState()

template<typename StateMachine>

void Diades::Automata::Experimental::BeliefState< StateMachine >::removeState ( State s )

inline

Removal of a state

Parameters

s a state

Precondition: s is a State of the fsm

Definition at line 82 of file BeliefState.hh.

References Diades::Graph::GraphNodeSet::removeNode().

Member Data Documentation

◆ _fsm

template<typename StateMachine>

const Fsm& Diades::Automata::Experimental::BeliefState< StateMachine >::_fsm

private

Iterator on the nodes

Definition at line 38 of file BeliefState.hh.

Referenced by Diades::Automata::Experimental::BeliefState< StateMachine >::nextBeliefState(), Diades::Automata::Experimental::BeliefState< StateMachine >::nextPredicateBeliefState(), Diades::Automata::Experimental::BeliefState< StateMachine >::nextReachableBeliefState(), Diades::Automata::Experimental::BeliefState< StateMachine >::prevBeliefState(), and Diades::Automata::Experimental::BeliefState< StateMachine >::prevPredicateBeliefState().

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

/home/yannick/laas/redmine/tools/diades/include/diades/automata/experimental/BeliefState.hh

Public Types

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

template<typename StateMachine> class Diades::Automata::Experimental::BeliefState< StateMachine >

Member Typedef Documentation

◆ EventPropertyId

◆ Fsm

◆ Gns

◆ SharedPtr

◆ State

◆ Transition

Constructor & Destructor Documentation

◆ BeliefState()

Member Function Documentation

◆ findState()

◆ insertState()

◆ insertStates()

◆ nextBeliefState() [1/3]

◆ nextBeliefState() [2/3]

◆ nextBeliefState() [3/3]

◆ nextPredicateBeliefState()

◆ nextReachableBeliefState() [1/2]

◆ nextReachableBeliefState() [2/2]

◆ prevBeliefState() [1/3]

◆ prevBeliefState() [2/3]

◆ prevBeliefState() [3/3]

◆ prevPredicateBeliefState()

◆ removeState()

Member Data Documentation

◆ _fsm

template<typename StateMachine>
class Diades::Automata::Experimental::BeliefState< StateMachine >