public void DrawRace(Policy p, RaceViewer form)
{
form.StateValues = null;
form.Start();
//form.ShowDialog();
while (form.Active)
{
Thread.Sleep(100);
RaceCarState s = (RaceCarState)StartState;
VelocityAction a = null;
while (form.Active && !IsGoalState(s))
{
a = (VelocityAction)p.GetAction(s);
if (a == null)
{
break;
}
form.CarState = s;
//form.Invoke(form.RefreshForm);
//form.SetCarState(s);
Thread.Sleep(100);
RaceCarState sTag = (RaceCarState)s.Apply(a);
s = sTag;
}
}
}
public override IEnumerable <State> Successors(Action a)
{
RaceCarState sTagNoApply = new RaceCarState(this);
RaceCarState sTagApply = new RaceCarState(this);
sTagApply.Apply((VelocityAction)a, true);
sTagNoApply.Apply((VelocityAction)a, false);
yield return(sTagApply);
yield return(sTagNoApply);
}
public override double TransitionProbability(Action a, State sTag)
{
RaceCarState sTagApply = new RaceCarState(this);
sTagApply.Apply((VelocityAction)a, true);
if (sTag.Equals(sTagApply))
{
return(RaceTrack.ACTION_SUCCESS_PROBABILITY);
}
RaceCarState sTagNoApply = new RaceCarState(this);
sTagNoApply.Apply((VelocityAction)a, false);
if (sTag.Equals(sTagNoApply))
{
return(1 - RaceTrack.ACTION_SUCCESS_PROBABILITY);
}
return(0.0);
}
public override double Reward(Action a)
{
if (m_rtTrack.IsRaceEnd(this))
{
return(m_rtTrack.MaxReward);
}
if (m_rtTrack.IsGoalState(this))
{
return(0.0);
}
RaceCarState sTagApply = new RaceCarState(this);
bool bNoCollision = sTagApply.Apply((VelocityAction)a, true);
if (bNoCollision)
{
return(-0.01);
}
else
{
return(-sTagApply.Velocity);
}
}
public override State Apply(Action a)
{
RaceCarState sTag = new RaceCarState(this);
sTag.Apply((VelocityAction)a, RandomGenerator.NextDouble() < RaceTrack.ACTION_SUCCESS_PROBABILITY);
return sTag;
}
public override double TransitionProbability(Action a, State sTag)
{
RaceCarState sTagApply = new RaceCarState(this);
sTagApply.Apply((VelocityAction)a, true);
if (sTag.Equals(sTagApply))
return RaceTrack.ACTION_SUCCESS_PROBABILITY;
RaceCarState sTagNoApply = new RaceCarState(this);
sTagNoApply.Apply((VelocityAction)a, false);
if (sTag.Equals(sTagNoApply))
return 1 - RaceTrack.ACTION_SUCCESS_PROBABILITY;
return 0.0;
}
public override IEnumerable<State> Successors(Action a)
{
RaceCarState sTagNoApply = new RaceCarState(this);
RaceCarState sTagApply = new RaceCarState(this);
sTagApply.Apply((VelocityAction)a, true);
sTagNoApply.Apply((VelocityAction)a, false);
yield return sTagApply;
yield return sTagNoApply;
}
public override double Reward(Action a)
{
if (m_rtTrack.IsRaceEnd(this))
return m_rtTrack.MaxReward;
if (m_rtTrack.IsGoalState(this))
return 0.0;
RaceCarState sTagApply = new RaceCarState(this);
bool bNoCollision = sTagApply.Apply((VelocityAction)a, true);
if (bNoCollision)
return -0.01;
else
return -sTagApply.Velocity;
}
