// The recursive higher-order observation method as described in the thesis.
// It has a height limiter to specify the desired max order of observation.
public void UpdateToM(Subject s, Beliefs b, HashSet <Location> fov, int height)
{
if (height == 0 || b.Sees.Agents.Count == 0)
{
return;
}
foreach (KeyValuePair <char, Subject> kvp in b.Sees.Agents)
{
HashSet <Location> intersectFov = FOV.GetSharedFov(kvp.Value, s);
VisionPercept vp = Sight.Perceive(kvp.Key, intersectFov);
AudioPercept ap = Hearing.Perceive(kvp.Key, kvp.Value.Location);
if (!b.ToM.ContainsKey(kvp.Key))
{
b.ToM.Add(kvp.Key, new Beliefs());
}
b.ToM[kvp.Key].Update(vp);
b.ToM[kvp.Key].Update(ap);
UpdateToM(kvp.Value, b.ToM[kvp.Key], intersectFov, height - 1);
}
}
// The agent generates audio and vision percept from the locations
// within the agent's field of view.
protected List <IPercept> Perceive()
{
HashSet <Location> fov = FOV.GetFov(Direction, Location);
VisionPercept p = Sight.Perceive(ID, fov);
AudioPercept p2 = Hearing.Perceive(ID, Location);
Piece.DisplayFeature(fov.ToList(), Feature.Vision);
Piece.DisplayFeature(fov.Intersect(Manager.Board.Obstacles.Keys).ToList(), Feature.Obstacle);
Piece.DisplayFeature(fov.Intersect(Manager.Board.Foods.Keys).ToList(), Feature.Food);
return(new List <IPercept>()
{
p, p2
});
}