def solve(self):
""" Solve the POMDP by executing the solver.
Returns:
The POMDPAlphaVectors policy solution to the POMDP.
"""
policy = pav.POMDPAlphaVectors()
result = npp._nova.pomdp_pbvi_execute_cpu(self.pomdpPtr, self, policy)
if result != 0:
print("Failed to execute the 'nova' library's CPU POMDP solver.")
raise Exception()
return policy
def get_policy(self):
""" Get the policy computed by the solver.
Returns:
The POMDPAlphaVectors policy solution to the POMDP.
"""
policy = pav.POMDPAlphaVectors()
result = nph._nova.pomdp_hsvi2_get_policy(self.pomdpPtr, self, policy)
if result != 0:
print(
"Failed to get the policy for the 'nova' library's CPU POMDP solver."
)
raise Exception()
return policy