├── CMakeLists.txt ├── README.txt ├── doc ├── FAQ.pdf ├── Install.txt ├── POMDP │ └── PomdpFileFormat.html ├── POMDPX │ ├── PomdpxFileFormat-v1.0.pdf │ └── pomdpx.xsd └── Usage.txt ├── examples ├── POMDP │ ├── Hallway.pomdp │ ├── Hallway2.pomdp │ ├── RockSample_7_8.pomdp │ ├── TagAvoid.pomdp │ └── Tiger.pomdp └── POMDPX │ ├── Hallway.pomdpx │ ├── Hallway2.pomdpx │ ├── RockSample_11_11.pomdpx │ ├── RockSample_7_8.pomdpx │ ├── TagAvoid.pomdpx │ ├── Tiger.pdf │ ├── Tiger.policy │ └── Tiger.pomdpx ├── license ├── APACHE LICENSE-2.0.txt ├── GPL-2.0.txt ├── License ├── Notice └── zlib.txt ├── package.xml └── src ├── Algorithms ├── PointBasedAlgorithm.h └── SARSOP │ ├── AlphaPlaneMaxMeta.h │ ├── BinManager.cpp │ ├── BinManager.h │ ├── BinManagerSet.cpp │ ├── BinManagerSet.h │ ├── Prune.h │ ├── SARSOP.cpp │ ├── SARSOP.h │ ├── SARSOPPrune.cpp │ ├── SARSOPPrune.h │ ├── Sample.cpp │ ├── Sample.h │ ├── SampleBP.cpp │ └── SampleBP.h ├── Bounds ├── AlphaPlane.cpp ├── AlphaPlane.h ├── AlphaPlanePool.cpp ├── AlphaPlanePool.h ├── AlphaPlanePoolSet.cpp ├── AlphaPlanePoolSet.h ├── AlphaVectorPolicy.cpp ├── AlphaVectorPolicy.h ├── BackupAlphaPlaneMOMDP.cpp ├── BackupAlphaPlaneMOMDP.h ├── BackupAlphaPlaneMOMDPLite.cpp ├── BackupAlphaPlaneMOMDPLite.h ├── BackupBeliefValuePairMOMDP.cpp ├── BackupBeliefValuePairMOMDP.h ├── BackupBeliefValuePairMOMDPLite.cpp ├── BackupBeliefValuePairMOMDPLite.h ├── BeliefValuePair.cpp ├── BeliefValuePair.h ├── BeliefValuePairPool.cpp ├── BeliefValuePairPool.h ├── BeliefValuePairPoolSet.cpp ├── BeliefValuePairPoolSet.h ├── BlindLBInitializer.cpp ├── BlindLBInitializer.h ├── FastInfUBInitializer.cpp ├── FastInfUBInitializer.h ├── FullObsUBInitializer.cpp ├── FullObsUBInitializer.h ├── PruneAlphaPlane.cpp ├── PruneAlphaPlane.h ├── PruneBeliefValuePair.cpp ├── PruneBeliefValuePair.h ├── xml_parse_lib.c └── xml_parse_lib.h ├── Controller ├── Controller.cpp ├── Controller.h ├── ControllerInterface.h └── testControllerTiger.cpp ├── Core ├── Actions.cpp ├── Actions.h ├── Backup.h ├── Belief.cpp ├── Belief.h ├── BeliefCache.cpp ├── BeliefCache.h ├── BeliefCacheRow.h ├── BeliefCacheSet.cpp ├── BeliefCacheSet.h ├── BeliefException.cpp ├── BeliefException.h ├── BeliefForest.cpp ├── BeliefForest.h ├── BeliefTransition.h ├── BeliefTreeNode.cpp ├── BeliefTreeNode.h ├── BeliefWithState.cpp ├── BeliefWithState.h ├── Bound.h ├── BoundSet.h ├── Component.h ├── Const.h ├── FacmodelStructs.h ├── IndexedTuple.h ├── MObject.cpp ├── MObject.h ├── MObjectManager.h ├── MObjectUser.h ├── Observations.cpp ├── Observations.h ├── Policy.h ├── States.cpp ├── States.h ├── SymbolSet.h ├── SymbolSetIterator.h ├── Tuple.h ├── UniqueBeliefHeap.cpp ├── UniqueBeliefHeap.h ├── VariableContainer.cpp └── VariableContainer.h ├── Evaluator ├── EvaluationEngine.cpp ├── EvaluationEngine.h ├── Evaluator.cpp ├── EvaluatorBeliefTreeNodeTuple.h ├── EvaluatorSampleEngine.cpp └── EvaluatorSampleEngine.h ├── Makefile ├── Makefile.dep ├── MathLib ├── DenseVector.cpp ├── DenseVector.h ├── MathLib.cpp ├── MathLib.h ├── SparseMatrix.cpp ├── SparseMatrix.h ├── SparseVector.cpp └── SparseVector.h ├── Models └── MOMDP │ ├── BeliefTransitionMOMDP.cpp │ ├── BeliefTransitionMOMDP.h │ ├── BeliefTransitionMOMDPLite.cpp │ ├── BeliefTransitionMOMDPLite.h │ ├── BooleanVariable.cpp │ ├── BooleanVariable.h │ ├── IVariable.cpp │ ├── IVariable.h │ ├── IVariableValue.cpp │ ├── IVariableValue.h │ ├── MOMDP.cpp │ ├── MOMDP.h │ ├── MOMDPLite.cpp │ ├── MOMDPLite.h │ ├── ObservationProbabilities.cpp │ ├── ObservationProbabilities.h │ ├── Rewards.cpp │ ├── Rewards.h │ ├── StateTransitionX.cpp │ ├── StateTransitionX.h │ ├── StateTransitionXXpY.cpp │ ├── StateTransitionXXpY.h │ ├── StateTransitionXY.cpp │ ├── StateTransitionXY.h │ ├── StateTransitionY.cpp │ ├── StateTransitionY.h │ ├── Variable.cpp │ ├── Variable.h │ ├── VariableCombined.cpp │ ├── VariableCombined.h │ ├── VariableRelation.cpp │ ├── VariableRelation.h │ ├── VariableValue.cpp │ └── VariableValue.h ├── OfflineSolver ├── GlobalResource.cpp ├── GlobalResource.h ├── solver.cpp ├── solverUtils.cpp └── solverUtils.h ├── Parser ├── Cassandra │ ├── MDP.h │ ├── POMDP.cpp │ ├── POMDP.h │ ├── Parser.cpp │ ├── Parser.h │ ├── decision-tree.c │ ├── decision-tree.h │ ├── imm-reward.c │ ├── imm-reward.h │ ├── include │ │ ├── pomdp_spec.tab.cc │ │ ├── pomdp_spec.tab.hh │ │ └── pomdp_spec.yy.cc │ ├── mdpCassandra.c │ ├── mdpCassandra.h │ ├── parse_constant.h │ ├── parse_err.c │ ├── parse_err.h │ ├── parse_hash.c │ ├── parse_hash.h │ ├── pomdpCassandraWrapper.cpp │ ├── pomdpCassandraWrapper.h │ ├── sparse-matrix.c │ └── sparse-matrix.h ├── POMDPX │ ├── FactoredPomdp.cpp │ ├── FactoredPomdp.h │ ├── Function.cpp │ ├── Function.h │ ├── ObsAct.cpp │ ├── ObsAct.h │ ├── POMDPLayer.h │ ├── PreCEntry.cpp │ ├── PreCEntry.h │ ├── PreCMatrix.cpp │ ├── PreCMatrix.h │ ├── SparseEntry.cpp │ ├── SparseEntry.h │ ├── SparseTable.cpp │ ├── SparseTable.h │ ├── State.cpp │ ├── State.h │ ├── StateObsAct.cpp │ ├── StateObsAct.h │ ├── UniqueIndex.h │ ├── tinystr.cpp │ ├── tinystr.h │ ├── tinyxml.cpp │ ├── tinyxml.h │ ├── tinyxmlerror.cpp │ └── tinyxmlparser.cpp ├── ParserSelector.cpp └── ParserSelector.h ├── PolicyGraph ├── PolicyGraph.cpp ├── PolicyGraphGenerator.cpp └── PolicyGraphGenerator.h ├── PomdpConvertor ├── PomdpConverter.vcproj └── convertor.cpp ├── Simulator ├── SimulationEngine.cpp ├── SimulationEngine.h └── Simulator.cpp ├── Utils ├── CPMemUtils.cpp ├── CPMemUtils.h ├── CPTimer.h ├── Cache.h ├── InfoLog.cpp ├── InfoLog.h ├── SimulationRewardCollector.cpp ├── SimulationRewardCollector.h ├── StatsCollector.cpp ├── StatsCollector.h ├── boost │ ├── assert.hpp │ ├── checked_delete.hpp │ ├── config.hpp │ ├── config │ │ ├── abi │ │ │ ├── borland_prefix.hpp │ │ │ ├── borland_suffix.hpp │ │ │ ├── msvc_prefix.hpp │ │ │ └── msvc_suffix.hpp │ │ ├── abi_prefix.hpp │ │ ├── abi_suffix.hpp │ │ ├── auto_link.hpp │ │ ├── compiler │ │ │ ├── borland.hpp │ │ │ ├── codegear.hpp │ │ │ ├── comeau.hpp │ │ │ ├── common_edg.hpp │ │ │ ├── compaq_cxx.hpp │ │ │ ├── digitalmars.hpp │ │ │ ├── gcc.hpp │ │ │ ├── gcc_xml.hpp │ │ │ ├── greenhills.hpp │ │ │ ├── hp_acc.hpp │ │ │ ├── intel.hpp │ │ │ ├── kai.hpp │ │ │ ├── metrowerks.hpp │ │ │ ├── mpw.hpp │ │ │ ├── pgi.hpp │ │ │ ├── sgi_mipspro.hpp │ │ │ ├── sunpro_cc.hpp │ │ │ ├── vacpp.hpp │ │ │ └── visualc.hpp │ │ ├── no_tr1 │ │ │ ├── cmath.hpp │ │ │ ├── complex.hpp │ │ │ ├── functional.hpp │ │ │ ├── memory.hpp │ │ │ └── utility.hpp │ │ ├── platform │ │ │ ├── aix.hpp │ │ │ ├── amigaos.hpp │ │ │ ├── beos.hpp │ │ │ ├── bsd.hpp │ │ │ ├── cygwin.hpp │ │ │ ├── hpux.hpp │ │ │ ├── irix.hpp │ │ │ ├── linux.hpp │ │ │ ├── macos.hpp │ │ │ ├── qnxnto.hpp │ │ │ ├── solaris.hpp │ │ │ └── win32.hpp │ │ ├── posix_features.hpp │ │ ├── requires_threads.hpp │ │ ├── select_compiler_config.hpp │ │ ├── select_platform_config.hpp │ │ ├── select_stdlib_config.hpp │ │ ├── stdlib │ │ │ ├── dinkumware.hpp │ │ │ ├── libcomo.hpp │ │ │ ├── libstdcpp3.hpp │ │ │ ├── modena.hpp │ │ │ ├── msl.hpp │ │ │ ├── roguewave.hpp │ │ │ ├── sgi.hpp │ │ │ ├── stlport.hpp │ │ │ └── vacpp.hpp │ │ ├── suffix.hpp │ │ ├── user.hpp │ │ └── warning_disable.hpp │ ├── current_function.hpp │ ├── detail │ │ ├── algorithm.hpp │ │ ├── allocator_utilities.hpp │ │ ├── atomic_count.hpp │ │ ├── binary_search.hpp │ │ ├── call_traits.hpp │ │ ├── catch_exceptions.hpp │ │ ├── compressed_pair.hpp │ │ ├── container_fwd.hpp │ │ ├── dynamic_bitset.hpp │ │ ├── endian.hpp │ │ ├── has_default_constructor.hpp │ │ ├── identifier.hpp │ │ ├── indirect_traits.hpp │ │ ├── interlocked.hpp │ │ ├── is_function_ref_tester.hpp │ │ ├── is_incrementable.hpp │ │ ├── is_xxx.hpp │ │ ├── iterator.hpp │ │ ├── lcast_precision.hpp │ │ ├── lightweight_mutex.hpp │ │ ├── lightweight_test.hpp │ │ ├── lightweight_thread.hpp │ │ ├── limits.hpp │ │ ├── named_template_params.hpp │ │ ├── no_exceptions_support.hpp │ │ ├── none_t.hpp │ │ ├── numeric_traits.hpp │ │ ├── ob_call_traits.hpp │ │ ├── ob_compressed_pair.hpp │ │ ├── quick_allocator.hpp │ │ ├── reference_content.hpp │ │ ├── select_type.hpp │ │ ├── sp_typeinfo.hpp │ │ ├── templated_streams.hpp │ │ ├── utf8_codecvt_facet.hpp │ │ └── workaround.hpp │ ├── exception │ │ ├── current_exception_cast.hpp │ │ ├── detail │ │ │ ├── error_info_impl.hpp │ │ │ ├── is_output_streamable.hpp │ │ │ ├── object_hex_dump.hpp │ │ │ └── type_info.hpp │ │ ├── diagnostic_information.hpp │ │ ├── enable_current_exception.hpp │ │ ├── enable_error_info.hpp │ │ ├── error_info.hpp │ │ ├── exception.hpp │ │ ├── get_error_info.hpp │ │ ├── info.hpp │ │ ├── info_tuple.hpp │ │ ├── to_string.hpp │ │ └── to_string_stub.hpp │ ├── memory_order.hpp │ ├── smart_ptr │ │ ├── bad_weak_ptr.hpp │ │ ├── detail │ │ │ ├── atomic_count.hpp │ │ │ ├── atomic_count_gcc.hpp │ │ │ ├── atomic_count_gcc_x86.hpp │ │ │ ├── atomic_count_pthreads.hpp │ │ │ ├── atomic_count_solaris.hpp │ │ │ ├── atomic_count_sync.hpp │ │ │ ├── atomic_count_win32.hpp │ │ │ ├── lightweight_mutex.hpp │ │ │ ├── lwm_nop.hpp │ │ │ ├── lwm_pthreads.hpp │ │ │ ├── lwm_win32_cs.hpp │ │ │ ├── operator_bool.hpp │ │ │ ├── quick_allocator.hpp │ │ │ ├── shared_array_nmt.hpp │ │ │ ├── shared_count.hpp │ │ │ ├── shared_ptr_nmt.hpp │ │ │ ├── sp_convertible.hpp │ │ │ ├── sp_counted_base.hpp │ │ │ ├── sp_counted_base_acc_ia64.hpp │ │ │ ├── sp_counted_base_cw_ppc.hpp │ │ │ ├── sp_counted_base_cw_x86.hpp │ │ │ ├── sp_counted_base_gcc_ia64.hpp │ │ │ ├── sp_counted_base_gcc_mips.hpp │ │ │ ├── sp_counted_base_gcc_ppc.hpp │ │ │ ├── sp_counted_base_gcc_sparc.hpp │ │ │ ├── sp_counted_base_gcc_x86.hpp │ │ │ ├── sp_counted_base_nt.hpp │ │ │ ├── sp_counted_base_pt.hpp │ │ │ ├── sp_counted_base_solaris.hpp │ │ │ ├── sp_counted_base_spin.hpp │ │ │ ├── sp_counted_base_sync.hpp │ │ │ ├── sp_counted_base_w32.hpp │ │ │ ├── sp_counted_impl.hpp │ │ │ ├── sp_has_sync.hpp │ │ │ ├── spinlock.hpp │ │ │ ├── spinlock_gcc_arm.hpp │ │ │ ├── spinlock_nt.hpp │ │ │ ├── spinlock_pool.hpp │ │ │ ├── spinlock_pt.hpp │ │ │ ├── spinlock_sync.hpp │ │ │ ├── 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