protected override double GetProbability(BDDNode node, SamplingVector samplingVector, Dictionary <BDDNode, double> cache = null)
{
if (node.IsOne)
{
return(1.0);
}
if (node.IsZero)
{
return(0.0);
}
if (cache == null)
{
cache = new Dictionary <BDDNode, double> ();
}
else if (cache.TryGetValue(node, out double cached))
{
return(cached);
}
if (_rmapping[node.Index] is GoalException exception)
{
var v = 0;
double value = GetProbability(node.Low, samplingVector, cache) * (1 - v)
+ GetProbability(node.High, samplingVector, cache) * v;
cache[node] = value;
return(value);
}
else
{
return(base.GetProbability(node, samplingVector, cache));
}
}
protected override double GetProbability(BDDNode node, SamplingVector samplingVector, Dictionary <BDDNode, double> cache = null)
{
if (node.IsOne)
{
return(1.0);
}
if (node.IsZero)
{
return(0.0);
}
if (cache == null)
{
cache = new Dictionary <BDDNode, double> ();
}
else if (cache.TryGetValue(node, out double cached))
{
return(cached);
}
if (_rmapping[node.Index] is PrimitiveRefineeParameter <double> c)
{
double value = GetProbability(node.Low, samplingVector, cache) * (1 - c.Value)
+ GetProbability(node.High, samplingVector, cache) * c.Value;
cache[node] = value;
return(value);
}
else
{
return(base.GetProbability(node, samplingVector, cache));
}
}
protected virtual double GetProbability(BDDNode node, SamplingVector samplingVector, Dictionary <BDDNode, double> cache = null)
{
if (node.IsOne)
{
return(1.0);
}
if (node.IsZero)
{
return(0.0);
}
if (cache == null)
{
cache = new Dictionary <BDDNode, double> ();
}
else if (cache.TryGetValue(node, out double cached))
{
return(cached);
}
if (_rmapping[node.Index] is Obstacle obstacle)
{
//Console.WriteLine("Probability for " + obstacle.Identifier);
//Console.WriteLine("Obstacle resolved: " + obstacle.Resolved);
var v = samplingVector.ContainsKey(obstacle.Identifier) & !obstacle.Resolved ?
samplingVector.Sample(obstacle) : 0;
//Console.WriteLine(v);
double value = GetProbability(node.Low, samplingVector, cache) * (1 - v)
+ GetProbability(node.High, samplingVector, cache) * v;
cache[node] = value;
return(value);
}
else if (_rmapping[node.Index] is DomainProperty domProp)
{
var v = samplingVector.ContainsKey(domProp.Identifier) ?
samplingVector.Sample(domProp) : 0;
double value = GetProbability(node.Low, samplingVector, cache) * (1 - v)
+ GetProbability(node.High, samplingVector, cache) * v;
cache[node] = value;
return(value);
}
else if (_rmapping[node.Index] is DomainHypothesis domHyp)
{
var v = samplingVector.ContainsKey(domHyp.Identifier) ?
samplingVector.Sample(domHyp) : 0;
double value = GetProbability(node.Low, samplingVector, cache) * (1 - v)
+ GetProbability(node.High, samplingVector, cache) * v;
cache[node] = value;
return(value);
}
else
{
throw new NotImplementedException("Type " + _rmapping[node.Index].GetType() + " is not yet supported.");
}
}
public virtual ISatisfactionRate GetESR(Goal goal)
{
ObstructionCaseSuperset os;
if (!obstructionSupersets.ContainsKey(goal.Identifier))
{
os = new ObstructionCaseSuperset(goal);
}
else
{
os = obstructionSupersets[goal.Identifier];
}
var vector = new SamplingVector(_model);
return(new DoubleSatisfactionRate(1.0 - os.GetProbability(vector)));
}
public virtual ISatisfactionRate GetESR(Goal goal, IEnumerable <GoalException> activeResolutions)
{
ObstructionResolutionSuperset os;
if (!obstructionSupersets.ContainsKey(goal.Identifier))
{
os = new ObstructionResolutionSuperset(goal);
}
else
{
os = obstructionSupersets[goal.Identifier];
}
var vector = new SamplingVector(_model);
return(new DoubleSatisfactionRate(1.0 - os.GetProbability(vector, activeResolutions)));
}
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(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 double GetProbability(SamplingVector samplingVector, IEnumerable <GoalException> activeExceptions)
{
return(GetProbability(_root, samplingVector, activeExceptions));
}
public virtual double GetProbability(SamplingVector samplingVector)
{
return(GetProbability(_root, samplingVector));
}
