IEEE-TAC-2019/Run_Bellman_Recursion.m at master · risk-sensitive-reachability/IEEE-TAC-2019 · GitHub

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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% PURPOSE: Runs bellman recursion particular scenario under a given configuration.
% INPUT:
    % scenarioID = the string id of the scenario to use
    % configurationID = the numeric id of the configuration to use
    % [optional "hot start" file)
    %    /staging/{configurationID}/{scenarioID}/checkpoint.mat :
    %        a file containing any previously completed recursion steps
% OUTPUT:
    %   [file] (after each recursion step) :
    %       /staging/{configurationID}/{scenarioID}/Bellman_checkpoint.mat -
    %       a file containing results for any completed recursion steps
    %   [file] (after each recursion step) :
    %       /staging/{configurationID}/{scenarioID}/times.txt -
    %       a file containing the bellman
    %   [file] (after all recursion steps)
    %       /staging/{configurationID}/{scenarioID}/Bellman_complete.mat : a
    %       file containing results for all recursion steps
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

function[] = Run_Bellman_Recursion(scenarioID, configurationID)

    % declare globals so they are saved with results
    global ambient;
    global scenario;
    global config;

    % check staging area for scenarioID, configurationID
    staging_area = get_staging_directory(scenarioID, configurationID);
    checkpoint_file = strcat([staging_area,'Bellman_checkpoint.mat']);

    % if checkpoint file is available, load it, otherwise start fresh
    if isfile(checkpoint_file)

        load(checkpoint_file);

    else

        % Initialize variables used in value iteration
        [Js, mus, Zs, N] = setup_reachability(scenarioID, configurationID);

    end

    start_point = max(find(cellfun(@isempty,Js),N+1));

    for k = start_point: -1: 1

        % record stage start
        write_log_start_stage(staging_area, k);

        % run stage
        [ Zs{k}, Js{k} , mus{k} ] = perform_Bellman_backup_step(Js{k+1});

        % save checkpoint
        save(strcat([staging_area,'Bellman_checkpoint.mat']));

        % record stage complete
        write_log_end_stage(staging_area, k);

    end

    % save checkpoint
    save(strcat([staging_area,'Bellman_complete.mat']));

end