public BeliefState GetInitialBelief()
{
Debug.WriteLine("Generating initial belief state");
BeliefState bs = new BeliefState(this);
foreach (GroundedPredicate p in m_lKnown)
{
if (p.Name == "=")
{
bs.FunctionValues[p.Constants[0].Name] = double.Parse(p.Constants[1].Name);
}
else
{
bs.AddObserved(p);
}
}
foreach (CompoundFormula cf in m_lHidden)
{
Formula fReduced = cf.Reduce(m_lKnown);
if (fReduced is CompoundFormula)
{
bs.AddInitialStateFormula(((CompoundFormula)fReduced));
}
}
//bs.InitDNF();
return(bs);
}
public List <PartiallySpecifiedState> GetInitialStates()
{
List <PartiallySpecifiedState> lpssInitialPossibleStates = new List <PartiallySpecifiedState>();
BeliefState bsInitial = GetInitialBelief();//, bsCurrent = bsInitial, bsNext = null;
PartiallySpecifiedState pssInitial = bsInitial.GetPartiallySpecifiedState();
lpssInitialPossibleStates.Add(pssInitial);
foreach (var hiddenItems in Hidden)
{
if (hiddenItems is CompoundFormula)
{
List <PartiallySpecifiedState> stateAdditions = new List <PartiallySpecifiedState>();
foreach (var item in hiddenItems.Operands)
{
foreach (var pssCurrentCheckedState in lpssInitialPossibleStates)
{
PartiallySpecifiedState pssNew = pssCurrentCheckedState.Clone();
pssNew.AddObserved(item);
stateAdditions.Add(pssNew);
}
}
lpssInitialPossibleStates = stateAdditions;
}
else
{
throw new NotImplementedException();
}
}
return(lpssInitialPossibleStates);
}
//public string agentMove(Kernel.Point pLoc, Kernel.Point cLoc)
//{
// switch (cLoc.Column - pLoc.Column)
// {
// case 1:
// return "Agent Moves Right";
// case -1:
// return "Agent Moves Loft";
// }
// switch (cLoc.Row - pLoc.Row)
// {
// case 1:
// return "Agent Moves Up";
// case -1:
// return "Agent Moves Down";
// }
// return "Agent Didnt Move";
//}
public override void UpdateState(BeliefState bs)
{
Belief = bs;
int iSize = GetGridSize();
//your code here
Kernel.Matrix bMatrix = new Kernel.Matrix(new Kernel.Point((byte)iSize, (byte)iSize));
delay();
int iX = 0, iY = 0;
GetAgentLocation(out iX, out iY);
for (int i = 1; i <= iSize; i++)
{
for (int j = 1; j <= iSize; j++)
{
if (IsLocationBlocked(i, j))
{
Console.WriteLine("Blocked " + i + "," + j);
// if (board.Created) board.addConsoleText("Blocked " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.LCellType.Fix);
}
else if (IsPossibleLocation(i, j))
{
Console.WriteLine("Agent might be at " + i + "," + j);
// if (board.Created) board.addConsoleText("Agent might be at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.LCellType.PAgent);
}
else
{
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.LCellType.None);
}
}
}
Console.WriteLine("Agent at " + iX + "," + iY);
// if (board.Created)
board.addConsoleText(idx + ") Observation: " + obs + "\r\n Action: " + act + "\r\n Agent at: " + iX + "," + iY + "\r\n ----------------------------------------");
obs = "";
act = "";
//if (board.Created) board.addConsoleText(idx + ") " + "Observed:" + GetObservation(bs) + "\r\n Action:" + agentMove(cLoc, new Kernel.Point((byte)iY, (byte)iX)) + "\r\n(Agent at " + iX + "," + iY + ")\r\n ----------------------------------------");
//if (locFlg) { if (board.Created) board.addConsoleText(idx+ ") " + agentMove(cLoc, new Kernel.Point((byte)iY, (byte)iX)) + " (Agent at " + iX + "," + iY+ ")\r\n ----------------------------------------"); }
//else
//{
// locFlg = true;
// if (board.Created) board.addConsoleText(idx + ") Agent at " + iX + "," + iY + "\r\n ----------------------------------------");
//}
idx++;
cLoc = new Kernel.Point((byte)iY, (byte)iX);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - iY), (byte)(iX - 1)), Kernel.LCellType.Agent);
//if (board.Created)
// {
board.setMatrix(bMatrix);
if (board.fF == true)
{
board.fF = false;
board.stopSpeed();
}
// }
}
public void WriteKnowledgeProblem(string sFileName, BeliefState bs)
{
StreamWriter sw = new StreamWriter(sFileName);
sw.WriteLine("(define (problem K" + Problem.Name + ")");
sw.WriteLine("(:domain K" + Problem.Domain.Name + ")");
sw.WriteLine("(:init"); //ff doesn't like the and (and");
/*
* foreach (GroundedPredicate gpKnow in Problem.Known)
* {
* sw.Write("(K" + gpKnow.Name);
* foreach (Constant c in gpKnow.Constants)
* sw.Write(" " + c.Name);
* sw.WriteLine(")");
* }
* */
foreach (GroundedPredicate gp in bs.Observed)
{
sw.Write("(K" + gp.Name);
foreach (Constant c in gp.Constants)
{
sw.Write(" " + c.Name);
}
sw.WriteLine(")");
}
foreach (GroundedPredicate gp in Predicates)
{
sw.Write("(" + gp.Name);
foreach (Constant c in gp.Constants)
{
sw.Write(" " + c.Name);
}
sw.WriteLine(")");
}
sw.WriteLine(")");
HashSet <Predicate> lGoalPredicates = new HashSet <Predicate>();
Problem.Goal.GetAllPredicates(lGoalPredicates);
string sGoal = Problem.Goal.ToString();
sw.WriteLine("(:goal " + sGoal + ")");
/* Not sure whether we have to KNOW that we have the goal
* sw.Write("(:goal (and " + sGoal);
* foreach (Predicate p in lGoalPredicates)
* Problem.Domain.WriteKnowledgePredicate(sw, p);
* sw.WriteLine("))");
*/
sw.WriteLine(")");
sw.Close();
}
internal void WriteTaggedProblem(string p, BeliefState bsCurrent)
{
throw new NotImplementedException();
}
//public string agentMove(Kernel.Point pLoc, Kernel.Point cLoc)
//{
// switch (cLoc.Column - pLoc.Column)
// {
// case 1:
// return "Agent Moves Right";
// case -1:
// return "Agent Moves Loft";
// }
// switch (cLoc.Row - pLoc.Row)
// {
// case 1:
// return "Agent Moves Up";
// case -1:
// return "Agent Moves Down";
// }
// return "Agent Didnt Move";
//}
public override void UpdateState(BeliefState bs)
{
Belief = bs;
int iSize = GetGridSize();
//your code here
Kernel.Matrix bMatrix = new Kernel.Matrix(new Kernel.Point((byte)iSize, (byte)iSize));
delay();
int iX = 0, iY = 0;
GetAgentLocation(out iX, out iY);
cLoc = new Kernel.Point((byte)iY, (byte)iX);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - iY), (byte)(iX - 1)), Kernel.MCellType.Agent);
for (int i = 1; i <= iSize; i++)
{
for (int j = 1; j <= iSize; j++)
{
//if (IsUnNone(i, j))
//{
// Console.WriteLine("UnNone " + i + "," + j);
// // if (board.Created) board.addConsoleText("Blocked " + i + "," + j);
// bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.UnNone);
// bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j+1), (byte)(i - 1)), Kernel.MCellType.Pfeeling);
// //bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i)), Kernel.MCellType.Pfeeling);
// bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j - 1), (byte)(i - 1)), Kernel.MCellType.Pfeeling);
// bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 2)), Kernel.MCellType.Pfeeling);
//}
if (IsPossibaleFeeling(i, j) && !((i == iX) && (j == iY)))
{
//Console.WriteLine("Breeze and Stench at " + i + "," + j);
// if (board.Created) board.addConsoleText("Agent might be at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.Pfeeling);
}
if (IsUnSafe(i, j))
{
//Console.WriteLine("Breeze and Stench at " + i + "," + j);
// if (board.Created) board.addConsoleText("Agent might be at " + i + "," + j);
if (j > i)
{
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.UnNoneUp);
}
if (j < i)
{
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.UnNoneDown);
}
}
else if (IsSafe(i, j))
{
if (i == iX && j == iY)
{
//Console.WriteLine("Breeze and Stench at " + i + "," + j);
// if (board.Created) board.addConsoleText("Agent might be at " + i + "," + j);
if (j > i)
{
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.ANoneUp);
}
if (j < i)
{
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.ANoneDown);
}
}
else
{
//Console.WriteLine("Breeze and Stench at " + i + "," + j);
// if (board.Created) board.addConsoleText("Agent might be at " + i + "," + j);
if (j > i)
{
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.NoneUp);
}
if (j < i)
{
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.NoneDown);
}
}
}
else if ((IsFeelingBreeze(i, j)) && (IsFeelingStench(i, j)))
{
if (i == iX && j == iY)
{
//Console.WriteLine("Breeze and Stench at " + i + "," + j);
//if (board.Created) board.addConsoleText("Feeling Breeze & Stench at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.AbreezeStench);
}
else
{
Console.WriteLine("Breeze and Stench at " + i + "," + j);
//if (board.Created) board.addConsoleText("Feeling Breeze & Stench at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.Feeling);
}
}
else if (IsFeelingStench(i, j))
{
if (i == iX && j == iY)
{
//Console.WriteLine("Breeze and Stench at " + i + "," + j);
//if (board.Created) board.addConsoleText("Feeling Stench at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.Astench);
}
else
{
Console.WriteLine("Stench at " + i + "," + j);
//if (board.Created) board.addConsoleText("Feeling Stench at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.Stench);
}
}
else if (IsFeelingBreeze(i, j))
{
if (i == iX && j == iY)
{
//Console.WriteLine("Breeze and Stench at " + i + "," + j);
//if (board.Created) board.addConsoleText("Feeling Breeze at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.Abreeze);
}
else
{
Console.WriteLine("Breeze at " + i + "," + j);
//if (board.Created) board.addConsoleText("Feeling Breeze at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.Breeze);
}
}
if (IsWumpus(i, j) && (IsPit(i, j)))
{
Console.WriteLine("wumpus & pit at " + i + "," + j);
//if (board.Created) board.addConsoleText("Wumpus & Pit at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.WumpusPit);
}
else if (IsWumpus(i, j))
{
Console.WriteLine("wumpus at " + i + "," + j);
//if (board.Created) board.addConsoleText("wumpus at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.Wumpus);
}
else if (IsPit(i, j))
{
Console.WriteLine("pit at " + i + "," + j);
//if (board.Created) board.addConsoleText("Pit at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.Pit);
}
if (IsCrown(i, j))
{
if (i == iX && j == iY)
{
//Console.WriteLine("Breeze and Stench at " + i + "," + j);
// if (board.Created) board.addConsoleText("Agent might be at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.Acrown);
}
else
{
Console.WriteLine("gold at " + i + "," + j);
//if (board.Created) board.addConsoleText("Gold at at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.Crown);
}
}
//else bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.LCellType.None);
}
}
Console.WriteLine("Agent at " + iX + "," + iY);
//if (board.Created)
board.addConsoleText(idx + ") Observation: " + obs + "\r\n Action: " + act + "\r\n Agent at: " + iX + "," + iY + "\r\n ----------------------------------------");
obs = "";
act = "";
//if (board.Created) board.addConsoleText(idx + ") " +(GetObservation()!=""?"Observed:\r\n"+GetObservation():"No Observation\r\n") +"Action:\r\n"+ agentMove(cLoc, new Kernel.Point((byte)iY, (byte)iX)) + " (Agent at " + iX + "," + iY + ")\r\n ----------------------------------------");
//if (locFlg) { if (board.Created) board.addConsoleText(idx+ ") " + agentMove(cLoc, new Kernel.Point((byte)iY, (byte)iX)) + " (Agent at " + iX + "," + iY+ ")\r\n ----------------------------------------"); }
//else
//{
// locFlg = true;
// if (board.Created) board.addConsoleText(idx + ") Agent at " + iX + "," + iY + "\r\n ----------------------------------------");
//}
idx++;
//if (board.Created)
//{
board.setMatrix(bMatrix);
if (board.fF == true)
{
board.fF = false;
board.stopSpeed();
}
// }
}
public State WriteKReplannerProblem(string sFileName, BeliefState bsInitial)
{
StreamWriter sw = new StreamWriter(sFileName);
sw.WriteLine("(define (problem " + Name + ")");
sw.WriteLine("(:domain " + Domain.Name + ")");
sw.WriteLine("(:init"); //ff doesn't like the and (and");
string sP = "";
foreach (GroundedPredicate gp in m_lKnown)
{
if (!gp.Negation)
{
sP = "(" + gp.Name;
foreach (Constant c in gp.Constants)
{
sP += " " + c.Name;
}
sw.WriteLine("\t" + sP + ")");
}
}
//write invariants
foreach (CompoundFormula cf in m_lHidden)
{
sw.WriteLine("\t" + cf.ToInvariant());
}
sw.WriteLine(")");
//write hidden state
sw.WriteLine("(:hidden");
State s = bsInitial.ChooseState(false);
foreach (GroundedPredicate gp in s.Predicates)
{
if (!m_lKnown.Contains(gp))
{
sP = "";
if (gp.Negation)
{
sP = "(not ";
}
sP += "(" + gp.Name;
foreach (Constant c in gp.Constants)
{
sP += " " + c.Name;
}
if (gp.Negation)
{
sP += ")";
}
sw.WriteLine("\t" + sP + ")");
}
}
sw.WriteLine(")");
sw.WriteLine("(:goal " + Goal + ")");
//sw.WriteLine("))");
sw.WriteLine(")");
sw.Close();
return(s);
}
public abstract void UpdateState(BeliefState bs);
