hpom_constraints.h

#ifndef PROBFD_OCCUPATION_MEASURES_HPOM_CONSTRAINTS_H
#define PROBFD_OCCUPATION_MEASURES_HPOM_CONSTRAINTS_H
 
#include "probfd/occupation_measures/constraint_generator.h"
 
#include "probfd/fdr_types.h"
 
#include <memory>
#include <vector>
 
// Forward Declarations
class State;
 
namespace lp {
class LPSolver;
class LinearProgram;
} // namespace lp
 
namespace probfd {
class ProbabilisticTask;
class ProbabilisticTaskProxy;
} // namespace probfd
 
namespace probfd::occupation_measures {
 
class HPOMGenerator : public ConstraintGenerator {
    std::vector<int> offset_;
    mutable std::vector<int> reset_indices_;
 
public:
    void initialize_constraints(
        const std::shared_ptr<ProbabilisticTask>& task,
        const std::shared_ptr<FDRCostFunction>& task_cost_function,
        lp::LinearProgram& lp) final;
 
    void update_constraints(const State& state, lp::LPSolver& solver) final;
    void reset_constraints(const State& state, lp::LPSolver& solver) final;
 
    static void generate_hpom_lp(
        const ProbabilisticTaskProxy& task_proxy,
        const FDRCostFunction& task_cost_function,
        lp::LinearProgram& lp,
        std::vector<int>& offsets);
};
 
} // namespace probfd::occupation_measures
 
#endif // PROBFD_OCCUPATION_MEASURES_HPOM_CONSTRAINTS_H