public ISatisfactionRate GetESR(Goal goal, IEnumerable <Obstacle> onlyObstacles)
{
if (obstructionSuperset == null || prebuilt_element != goal)
{
obstructionSuperset = new ObstructionSuperset(goal);
}
var random = new Random(_seed);
var s_sr = new double[_n_samples];
for (int i = 0; i < _n_samples; i++)
{
var vector = new RandomizedSamplingVector(_model, random, onlyObstacles?.Select(x => x.Identifier)?.ToHashSet());
s_sr[i] = 1.0 - obstructionSuperset.GetProbability(vector);
}
return(new SimulatedSatisfactionRate(s_sr));
}
public ISatisfactionRate GetESR(Goal goal, IEnumerable <Obstacle> onlyObstacles)
{
ObstructionSuperset os;
if (!obstructionSupersets.ContainsKey(goal.Identifier))
{
os = new ObstructionSuperset(goal);
}
else
{
os = obstructionSupersets[goal.Identifier];
}
var vector = new SamplingVector(_model, onlyObstacles?.Select(x => x.Identifier)?.ToHashSet());
var value = 1.0 - os.GetProbability(vector);
return(new DoubleSatisfactionRate(value));
}
public virtual ISatisfactionRate GetESR(Obstacle obstacle)
{
if (obstructionSuperset == null || prebuilt_element != obstacle)
{
obstructionSuperset = new ObstructionSuperset(obstacle);
}
var random = new Random(_seed);
var s_sr = new double[_n_samples];
for (int i = 0; i < _n_samples; i++)
{
var vector = new RandomizedSamplingVector(_model, random);
s_sr[i] = obstructionSuperset.GetProbability(vector);
}
return(new SimulatedSatisfactionRate(s_sr));
}
public virtual ISatisfactionRate GetESR(Goal goal)
{
ObstructionSuperset os;
if (!obstructionSupersets.ContainsKey(goal.Identifier))
{
//Console.WriteLine("Computing new OS for " + goal.Identifier);
os = new ObstructionSuperset(goal);
//Console.WriteLine("---");
//Console.WriteLine(os.ToDot());
//Console.WriteLine("---");
}
else
{
os = obstructionSupersets[goal.Identifier];
}
var vector = new SamplingVector(_model);
double v = os.GetProbability(vector);
//Console.WriteLine("Obstruction set probability: " + v);
return(new DoubleSatisfactionRate(1.0 - v));
}
public virtual void PreBuildObstructionSet(Goal goal)
{
prebuilt_element = goal;
obstructionSuperset = new ObstructionSuperset(goal);
}
