Package edu.tufts.hrilab.action.mcts

Class MCTSNode

java.lang.Object

edu.tufts.hrilab.action.mcts.MCTSNode

public class MCTSNode
extends Object

Custom implementation of an MCTS tree node. Each node represents a bound action to be taken, with both arguments and actor.

Constructor Summary

Constructors

Constructor	Description
MCTSNode(ActionDBEntry entry, Map<String,Object> bindings, MCTSNode parent, Symbol agent)	Create a pre-bound MCTS node.
MCTSNode(Context context, MCTSNode parent, Symbol agent)	Create an unbound MCTS node.

Method Summary

Modifier and Type	Method	Description
void	addChild(MCTSNode newNode)
void	addChildren(List<MCTSNode> potentialChildren)
void	backup(int value)	Propogates the value from this node up to its parent
void	generateContext()
Symbol	getAgent()
MCTSNode	getBestChild()	returns the child with the highest UTC
List<MCTSNode>	getChildren()
Context	getContext()
MCTSNode	getParent()
double	getScore()
int	getVisits()
boolean	isExpanded()
void	setContext(Context context)
void	setExpanded(boolean expanded)
void	setScore(double score)
void	setVisits(int visits)
String	toActionDesc()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

MCTSNode

public MCTSNode(ActionDBEntry entry,
 Map<String,Object> bindings,
 MCTSNode parent,
 Symbol agent)

Create a pre-bound MCTS node.

Parameters:

entry -

bindings -

parent -

agent -

MCTSNode

public MCTSNode(Context context,
 MCTSNode parent,
 Symbol agent)

Create an unbound MCTS node. Only for creation of the root node.

Parameters:

context -

parent -

agent -

Method Details

generateContext

public void generateContext()

getAgent

public Symbol getAgent()

getVisits

public int getVisits()

setVisits

public void setVisits(int visits)

getScore

public double getScore()

setScore

public void setScore(double score)

getBestChild

public MCTSNode getBestChild()

returns the child with the highest UTC

Returns:

backup

public void backup(int value)

Propogates the value from this node up to its parent

Parameters:

value -

toActionDesc

public String toActionDesc()

isExpanded

public boolean isExpanded()

getChildren

public List<MCTSNode> getChildren()

addChild

public void addChild(MCTSNode newNode)

addChildren

public void addChildren(List<MCTSNode> potentialChildren)

getContext

public Context getContext()

setContext

public void setContext(Context context)

getParent

public MCTSNode getParent()

setExpanded

public void setExpanded(boolean expanded)