Class MaxCellsUpperBound

Inheritance Relationships

Base Type

  • public despot::ParticleUpperBound

Class Documentation

class MaxCellsUpperBound : public despot::ParticleUpperBound

An upper bound which returns the max cells that can still be covered. This looks like min(num_cells-state.visited.size(),time_bound-state.time) Attributes:

  • _numCells: The number of cells in the map

  • _timeBound: The max time bound on planning

Public Functions

inline MaxCellsUpperBound(const int &numCells, const int &timeBound)

Constructor initialises attributes.

Parameters:

  • numCells – The number of cells in the map

  • timeBound – The max time bound on planning

double Value(const despot::State &state) const

Returns an upper bound on the max reward obtainable from state.

Note the coverage planning problem is finite, with no discount factor.

Parameters:

state – The state to evaluate the reward from

Returns:

The max cumulative reward obtainable from state