Merge pull request #4 from Kiguli/test

Feature: Store generated MDP during Robust Value Iteration.

Author: Kiguli

examples/ex_storeTempMDP/Makefile

@@ -0,0 +1,19 @@
+CC = acpp # check AdaptiveCPP GitHub for correct GPU selection and put inside --acpp-targets="" (see: https://github.com/AdaptiveCpp/AdaptiveCpp/blob/develop/doc/using-hipsycl.md)
+ARCH := $(shell uname -m)
+CFLAGS = --acpp-targets="cuda:sm_70;omp" -O3 -lnlopt -lm -I/usr/include/hdf5/serial -L/usr/lib/$(ARCH)-linux-gnu/hdf5/serial -lhdf5 -lglpk -lgsl -lgslcblas -DH5_USE_110_API -larmadillo
+
+# Find all .cpp files in the current directory
+CPP_FILES := $(wildcard *.cpp)
+
+# Generate corresponding executable names
+EXECUTABLES := $(patsubst %.cpp,%,$(CPP_FILES))
+
+all: $(EXECUTABLES)
+
+# see: below IMDP.cpp replaced with GPU_synthesis.cpp
+%: %.cpp ../../src/GPU_synthesis.cpp ../../src/MDP.cpp
+	$(CC) $^ $(CFLAGS) -o $@
+
+clean:
+	rm -f $(EXECUTABLES)
+

examples/ex_storeTempMDP/storeMDP.cpp

@@ -0,0 +1,65 @@
+/// To use this example, run and implement the 2Drobot-RU case study. 
+/// Then copy to this folder the files is.h5, ss.h5, minttm.h5, maxttm.h5,
+/// mintm.h5, maxtm.h5, minatm.h5 and maxatm.h5
+ 
+// Run: make
+// ./GPU
+
+
+// Code: Ben Wooding 4 Jan 2024
+
+#include <iostream>
+#include <vector>
+#include <functional>
+#include "../../src/IMDP.h"
+#include "../../src/MDP.h"
+#include <armadillo>
+#include <chrono>
+
+using namespace std;
+using namespace arma;
+
+/*
+ ################################# PARAMETERS ###############################################
+ */
+
+// Set the dimensions
+const int dim_x = 2;
+const int dim_u = 2;
+const int dim_w = 0;
+
+/*
+ ################################# MAIN FUNCTION ##############################################
+ */
+
+int main() {
+    
+    /* ###### create IMDP object ###### */
+    IMDP mdp(dim_x,dim_u,dim_w);
+    
+    /* ###### load the different spaces ###### */
+    mdp.loadStateSpace("ss.h5");
+    mdp.loadInputSpace("is.h5");
+
+    /* ###### load matrices and vectors ######*/
+    mdp.loadMinTargetTransitionVector("minttm.h5");
+    mdp.loadMaxTargetTransitionVector("minttm.h5");
+    mdp.loadMinAvoidTransitionVector("minatm.h5");
+    mdp.loadMaxAvoidTransitionVector("maxatm.h5");
+    mdp.loadMinTransitionMatrix("mintm.h5");
+    mdp.loadMaxTransitionMatrix("maxtm.h5");
+
+
+    /* ###### storeMDP, choose optimization as pessimistic = true, or optimistic = false, also choose how many steps to save MDP from ######*/
+    mdp.finiteHorizonReachControllerSortedStoreMDP(true,1);
+
+    mdp.saveTransitionMatrix();
+    mdp.saveAvoidTransitionVector();
+    mdp.saveTargetTransitionVector();
+
+    /* ###### save controller ######*/
+    mdp.saveController();
+    
+    return 0;
+}
+