// 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);
}
}
public Beliefs()
{
Agents = new Dictionary <char, Subject>();
Obstacles = new Dictionary <Location, Obstacle>();
Foods = new Dictionary <Location, Food>();
Rooms = new Dictionary <char, Room>();
Sees = new VisionPercept();
Hears = new AudioPercept();
ToM = new Dictionary <char, Beliefs>();
}
// 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
});
}
// Hearing is determined by checking for sound at the agents current
// location.
public static AudioPercept Perceive(char agtID, Location loc)
{
AudioPercept p = new AudioPercept();
foreach (Agent a in Manager.Board.Agents.Values)
{
if (a.Noise == null || a.ID == agtID)
{
continue;
}
if (a.Noise.Contains(Manager.Board.Agents[agtID].Location))
{
p.Agents.Add(a.ID, new Subject(a.ID, a.Location));
}
}
return(p);
}
// The percepts are passed to the belief-revision function, which updates
// the agent's beliefs.
protected virtual Beliefs BRF(Beliefs b, List <IPercept> p)
{
VisionPercept vp = new VisionPercept();
AudioPercept ap = new AudioPercept();
foreach (IPercept ip in p)
{
if (ip is VisionPercept)
{
vp = (VisionPercept)ip;
}
else
{
ap = (AudioPercept)ip;
}
}
b.Update(vp);
b.Update(ap);
return(b);
}
// Updates the beliefs according to what the agent hears.
public void Update(AudioPercept ap)
{
Hears = ap;
}
