TestRep

   Executes many times of Perseus on a given problem. 

   Executes a sequence of experiments on a given problem and stores the
   results in a file. 
   The aim of this is to obtain statistically significant data to generate
   the plots in the paper.

   Parameters can be
      - POMDP, P, range: The POMDP, the set of parameters, and the range
        for the repetitions.
      - name, range: The name is used to obtain the POMDP and the
        parameters P calling a function with name 'Get'+name+'Parameters'

   The execution of each repetition is extremely computationally
   demanding. The range is typically used to execute different repetitions
   in different computers, in parallel. 

   Finally note that, before executing anything, we check whether the file
   to generat is already available. If so nothing is executed.

   Examples of use:
     Get the experiment parameters     
        [POMDP P]=GetHallwayParameters;
        [POMDP P]=GetTest1Parameters;
     and execute   
        TestRep(POMDP,P,infix,1:10);

     or directly use
        TestRep('Hallway',infix,1:10);
        TestRep('Test1',infix,1:10);

   After each experiment statistics are obtained using GetPOMDPSolutionStatistics
   At the end of the execution, a file with the results and the statistics is 
   generated.
   This file is named as
         Results/POMDPname-infix-n.mat

   where - POMDPname is the output of get(POMDP,'name').
         - infix is the parameter given when calling this function.
         - n is the repetition number (in the given range).

   See also SampleBeliefs, iPerseus, GetPOMDPSolutionStatistics.

0001 function TestRep(varargin)
0002 %   Executes many times of Perseus on a given problem.
0003 %
0004 %   Executes a sequence of experiments on a given problem and stores the
0005 %   results in a file.
0006 %   The aim of this is to obtain statistically significant data to generate
0007 %   the plots in the paper.
0008 %
0009 %   Parameters can be
0010 %      - POMDP, P, range: The POMDP, the set of parameters, and the range
0011 %        for the repetitions.
0012 %      - name, range: The name is used to obtain the POMDP and the
0013 %        parameters P calling a function with name 'Get'+name+'Parameters'
0014 %
0015 %   The execution of each repetition is extremely computationally
0016 %   demanding. The range is typically used to execute different repetitions
0017 %   in different computers, in parallel.
0018 %
0019 %   Finally note that, before executing anything, we check whether the file
0020 %   to generat is already available. If so nothing is executed.
0021 %
0022 %   Examples of use:
0023 %     Get the experiment parameters
0024 %        [POMDP P]=GetHallwayParameters;
0025 %        [POMDP P]=GetTest1Parameters;
0026 %     and execute
0027 %        TestRep(POMDP,P,infix,1:10);
0028 %
0029 %     or directly use
0030 %        TestRep('Hallway',infix,1:10);
0031 %        TestRep('Test1',infix,1:10);
0032 %
0033 %   After each experiment statistics are obtained using GetPOMDPSolutionStatistics
0034 %   At the end of the execution, a file with the results and the statistics is
0035 %   generated.
0036 %   This file is named as
0037 %         Results/POMDPname-infix-n.mat
0038 %
0039 %   where - POMDPname is the output of get(POMDP,'name').
0040 %         - infix is the parameter given when calling this function.
0041 %         - n is the repetition number (in the given range).
0042 %
0043 %   See also SampleBeliefs, iPerseus, GetPOMDPSolutionStatistics.
0044 
0045   switch nargin
0046     case 3
0047       if isa(varargin{1},'char')
0048         [POMDP P]=eval(['Get' varargin{1} 'Parameters']);
0049       else
0050         error('Wrong type of parameters in TestOne');
0051       end
0052       infix=varargin{2};
0053       rep=varargin{3};
0054       
0055     case 4
0056       POMDP=varargin{1};
0057       P=varargin{2};
0058       infix=varargin{3};
0059       rep=varargin{4};
0060       
0061     otherwise
0062       error('Wrong number of parameters in TestRep');
0063   end
0064   
0065   % Tag for the output files
0066   prefix=sprintf('Results/%s-%s',get(POMDP,'name'),infix);
0067   
0068   for i=rep
0069     name=sprintf('%s-%u.mat',prefix,i);
0070     
0071     f=fopen(name);
0072     if f<0
0073       fprintf('Repetition %u\n',i);
0074 
0075       % Sample a set of beliefs
0076       fprintf('  Sampling Beliefs\n');
0077       B=SampleBeliefs(POMDP,P.start,P.nBeliefs,P.dBelief,P.stepsXtrial,P.rMin,P.rMax);
0078 
0079       % Solve the problem
0080       fprintf('  Solving\n');
0081       [V Val Alpha time]=iPerseus(POMDP,B,P.stopCriteria);
0082 
0083       % Collect statistics on the resulting set of plans
0084       [tics aV aR nA nC]=GetPOMDPSolutionStatistics(POMDP,P,B,V,Alpha,time,P.maxTime,P.stTime);
0085     
0086       % Save results for this repetition
0087       save(name,'POMDP','P','B','V','Val','Alpha','time','tics','aV','aR','nA','nC');
0088     else
0089       fprintf('Repetition %u is already generated\n',i);
0090       fclose(f);
0091     end
0092     
0093   end