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Matlab Code/selectSamples.m

+function [plcs_sel, gdyInteractionTimes] = selectSamples(sample_sets_const, plcs)
+
+% select samples given a set of viable samples, a heatmap, and both types
+% of bounding sets
+
+load_params; % reload all known parameters
+
+% booleans
+gdySolutions = true;
+parOpt = false;
+
+env.Z = Z;
+env.x_area = x_area;
+env.y_area = y_area;
+env.gmObj = gmObj;
+
+supergraphs = generateSupergraphs(plcs,rho,false);
+
+if gdySolutions
+    useBdd = 1; % perform constrained greedy first
+    [greedy_sol_const, score_const] = generateGreedySolutionFast(plcs, supergraphs, env, N, useBdd,...
+        sig, environment_size, sample_sets_const, parOpt);
+    useBdd = 0; % now perform unconstrained greedy
+    [greedy_sol_unconst, score_unconst] = generateGreedySolutionFast(plcs, supergraphs, env, N, useBdd, ...
+        sig, environment_size, sample_sets_const, parOpt);
+    for k=1:Tk
+        % check both solutions for validity
+        if length(greedy_sol_const{k}) < N || length(greedy_sol_unconst{k}) < N
+            error('we failed to effectively select greedy samples, insufficient samples probably');
+        end
+    end
+end
+%---------------------------------------------%
+fprintf('--------------------------------\n')
+
+% assume we can get the optimal solution, somehow. Now to compare trade
+% offs:
+[~, gdyInteractionTimes] = sort(score_unconst - score_const);
+gdyInteractionTimes = gdyInteractionTimes(1:K);
+% so now return which samples go where
+plcs_sel = cell(N,1);
+for i=1:N
+    plcs_sel{i} = zeros(Tk,2);
+end
+for k=1:Tk
+    if ismember(k,gdyInteractionTimes)
+        [agent_idx, traj_idx] = covertIdxForm(greedy_sol_const{k}, Pj);
+    else
+        [agent_idx, traj_idx] = covertIdxForm(greedy_sol_unconst{k}, Pj);
+    end
+    for i=1:N
+        plcs_sel{i}(k,:) = plcs{k,traj_idx(i)}(agent_idx(i),:);
+    end
+end
+
+
+% gdyInteractionTimesNaive = [1 Tk]; % the case of interacting at the begining and at the end
+% 
+% gdyScore = 0;
+% gdyScoreNaive = 0;
+% for k=1:Tk
+%     if gdySolutions
+%         if ismember(k,gdyInteractionTimes)
+%             gdyScore = gdyScore + score_const(k);
+%         else
+%             gdyScore = gdyScore + score_unconst(k);
+%         end
+%         
+%         if ismember(k,gdyInteractionTimesNaive)
+%             gdyScoreNaive = gdyScoreNaive + score_const(k);
+%         else
+%             gdyScoreNaive = gdyScoreNaive + score_unconst(k);
+%         end
+%     end
+% end
+% 
+% recorder(innerCounter,outterCounter) = gdyScore;
+% recorderNaive(innerCounter,outterCounter) = gdyScoreNaive;
+% 
+% plcFin = cell(Tk,1);
+% plcFinNaive = cell(Tk,1);
+% for k=1:Tk
+%     if ismember(k,gdyInteractionTimes)
+%         plcFin{k} = greedy_sol_const{k};
+%     else
+%         plcFin{k} = greedy_sol_unconst{k};
+%     end
+%     
+%     if ismember(k,gdyInteractionTimesNaive)
+%         plcFinNaive{k} = greedy_sol_const{k};
+%     else
+%         plcFinNaive{k} = greedy_sol_unconst{k};
+%     end
+% end
+% counterM = counterM + 1; % go to next test
+% innerCounter = innerCounter + 1;
+
+end
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