protected MCTSNode Expand(MCTSNode parent, ActionDST action)
{
WorldModelDST newState = parent.State.GenerateChildWorldModel();
action.ApplyActionEffects(newState);
var child = new MCTSNode(newState)
{
Action = action,
Parent = parent,
};
parent.ChildNodes.Add(child);
return(child);
}
protected float Playout(WorldModelDST initialPlayoutState)
{
List <ActionDST> executableActions;
ActionDST action = null;
int randomIndex;
WorldModelDST state = initialPlayoutState;
while (this.CurrentDepth < this.MaxPlayoutDepthReached)
{
executableActions = state.GetExecutableActions();
if (executableActions.Count > 0)
{
this.CurrentDepth++;
randomIndex = this.RandomGenerator.Next(0, executableActions.Count);
action = executableActions[randomIndex];
state = state.GenerateChildWorldModel();
action.ApplyActionEffects(state);
}
else
{
this.CurrentDepth++;
}
}
if (this.CurrentDepth < this.MaxPlayoutDepthReached)
{
this.CurrentDepth = this.MaxPlayoutDepthReached;
}
//Console.WriteLine("Value Heuristic:");
//Console.WriteLine(PlayoutHeuristic(state));
//Console.WriteLine("");
return(PlayoutHeuristic(state));
}