Fix JuliaPOMDP/POMDPs.jl#513

Project.toml

@@ -18,18 +18,23 @@ Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 [compat]
 BasicPOMCP = "0.3.8"
 Colors = "0.12"
+CommonRLSpaces = "0.2"
 D3Trees = "0.3"
 MCTS = "0.5"
-POMDPs = "0.9"
 POMDPTools = "0.1"
+POMDPs = "0.9"
 Parameters = "0.12"
 ParticleFilters = "0.5"
+StaticArrays = "1"
 julia = "1.1"
 
 [extras]
+CommonRLSpaces = "408f5b3e-f2a2-48a6-b4bb-c8aa44c458e6"
 Distributions = "31c24e10-a181-5473-b8eb-7969acd0382f"
+LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 POMDPModels = "355abbd5-f08e-5560-ac9e-8b5f2592a0ca"
+StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [targets]
-test = ["Distributions", "POMDPModels", "Test"]
+test = ["CommonRLSpaces", "Distributions", "LinearAlgebra", "POMDPModels", "StaticArrays", "Test"]

src/beliefs.jl

@@ -5,14 +5,14 @@ struct POWNodeBelief{S,A,O,P}
     dist::CategoricalVector{Tuple{S,Float64}}
 
     POWNodeBelief{S,A,O,P}(m,a,o,d) where {S,A,O,P} = new(m,a,o,d)
-    function POWNodeBelief{S, A, O, P}(m::P, s::S, a::A, sp::S, o::O, r) where {S, A, O, P}
-        cv = CategoricalVector{Tuple{S,Float64}}((sp, convert(Float64, r)),
+    function POWNodeBelief{S, A, O, P}(m::P, s, a, sp, o, r) where {S, A, O, P}
+        cv = CategoricalVector{Tuple{S,Float64}}((convert(S, sp), convert(Float64, r)),
                                                  obs_weight(m, s, a, sp, o))
         new(m, a, o, cv)
     end
 end
 
-function POWNodeBelief(model::POMDP{S,A,O}, s::S, a::A, sp::S, o::O, r) where {S,A,O}
+function POWNodeBelief(model::POMDP{S,A,O}, s, a, sp, o, r) where {S,A,O}
     POWNodeBelief{S,A,O,typeof(model)}(model, s, a, sp, o, r)
 end
 

test/discussion_513.jl

@@ -0,0 +1,20 @@
+using CommonRLSpaces
+using Distributions
+using LinearAlgebra
+using StaticArrays
+
+struct D513POMDP <: POMDP{SVector{3,Float64}, SVector{2,Float64}, SVector{3,Float64}} end
+
+POMDPs.states(m::D513POMDP) = Box([-5,-5,-3], [5,5,3])
+POMDPs.actions(m::D513POMDP) = Box([-5,-5], [5,5])
+POMDPs.observations(m::D513POMDP) = Box([-5,-5,-3], [5,5,3])
+POMDPs.transition(m::D513POMDP, s, a, dt=0.1) = MvNormal(s, Diagonal([0.1,0.1,0.1]))
+POMDPs.observation(m::D513POMDP, s, a, sp) = MvNormal(sp, Diagonal([0.001,0.001,0.001]))
+POMDPs.reward(m::D513POMDP, s, a, sp) = 0
+POMDPs.discount(m::D513POMDP) = 0.9
+
+m = D513POMDP()
+solver = POMCPOWSolver()
+policy = solve(solver, m)
+a = action(policy, Deterministic([0.0,0.0,0.0]))
+@test a in actions(m)

test/runtests.jl

@@ -89,4 +89,8 @@ using D3Trees
     @testset "init_node_sr_belief_error" begin
         include("init_node_sr_belief_error.jl")
     end;
+
+    @testset "Discussion 513" begin
+        include("discussion_513.jl")
+    end
 end;