Updater should handle state

[zsunberg]

RC-PBVI.jl/src/stateful.jl

Lines 1 to 16 in 1b18e1a

	mutable struct StatefulPBVIPolicy{P,T,A} <: Policy
	const pomdp::P
	const tree::T
	const actions::A
	const solver
	state::Int
	b::SparseVector{Float64,Int}
	last_a::Int
	steps::Int
	const t_replan::Float64
	const ϵ_replan::Float64
	function StatefulPBVIPolicy(pomdp::P, tree::T, solver::SO; t_replan=0.05, ϵ_replan=solver.epsilon) where {P,T, SO}
	A = ordered_actions(pomdp)
	return new{P,T,typeof(A)}(pomdp, tree, A, solver, 1, first(tree.b), -1, 0, t_replan, ϵ_replan)
	end
	end

My intent when designing POMDPs.jl was for people to handle a stateful policy by creating an updater/policy pair. We should talk about this in a meeting.

-- Zach