static void Main(string[] args)
{
string path = System.IO.Directory.GetCurrentDirectory();
FileStream fs = new FileStream(path + "Debug.txt", FileMode.Create);
Debug.Listeners.Add(new TextWriterTraceListener(Console.Out));
Debug.Listeners.Add(new TextWriterTraceListener(fs));
MazeDomain maze = new MazeDomain(path + "/Maze3.txt");
PointBasedValueIteration pbvi = new PointBasedValueIteration(maze);
pbvi.PointBasedVI(100, 20);
//MDPValueFunction v = new MDPValueFunction(maze);
//v.ValueIteration(0.5);
//RandomPolicy p0 = new RandomPolicy(maze);
//MostLikelyStatePolicy p1 = new MostLikelyStatePolicy(v);
//VotingPolicy p2 = new VotingPolicy(v);
//QMDPPolicy p3 = new QMDPPolicy(v, maze);
//double dADR1 = maze.ComputeAverageDiscountedReward(p1, 100, 100);
//double dADR2 = maze.ComputeAverageDiscountedReward(p2, 100, 100);
//double dADR3 = maze.ComputeAverageDiscountedReward(p3, 100, 100);
double dADR4 = maze.ComputeAverageDiscountedReward(pbvi, 100, 100);
MazeViewer viewer = new MazeViewer(maze);
viewer.Start();
maze.SimulatePolicy(pbvi, 10, viewer);
Debug.Close();
}
public void SimulatePolicy(Policy p, int cTrials, MazeViewer viewer)
{
int iTrial = 0;
for (iTrial = 0; iTrial < cTrials; iTrial++)
{
SimulateTrial(p, viewer);
}
}
private void SimulateTrial(Policy p, MazeViewer viewer)
{
BeliefState bsCurrent = InitialBelief, bsNext = null;
State sCurrent = bsCurrent.sampleState(), sNext = null;
Action a = null;
Observation o = null;
viewer.CurrentState = (MazeState)sCurrent;
viewer.CurrentBelief = bsCurrent;
while (!IsGoalState(sCurrent))
{
a = p.GetAction(bsCurrent);
sNext = sCurrent.Apply(a);
o = sNext.RandomObservation(a);
bsNext = bsCurrent.Next(a, o);
bsCurrent = bsNext;
sCurrent = sNext;
viewer.CurrentState = (MazeState)sCurrent;
viewer.CurrentBelief = bsCurrent;
viewer.CurrentObservation = (MazeObservation)o;
Thread.Sleep(500);
}
}