/// <summary>
/// Build a new belief node with an empty belief
/// </summary>
/// <param name="observation">Observation that characterize the node</param>
/// <param name="parentNode">Parent of the node</param>
public BeliefNode(Observation observation, ActionNode parentNode, MarkovModel markovModel)
{
Observation = observation;
Parent = parentNode;
MarkovModel = markovModel;
Belief = new Distribution <State>();
Children = new List <ActionNode>();
}
/// <summary>
/// Build a new belief node with a given starting distribution
/// </summary>
/// <param name="d">Starting distribution</param>
/// <param name="o">Observation that characterize the node</param>
/// <param name="n">Parent of the node</param>
public BeliefNode(Distribution <State> d, Observation o, ActionNode n, MarkovModel markovModel) : base()
{
Observation = o;
Parent = n;
MarkovModel = markovModel;
Belief = d;
Children = new List <ActionNode>();
}
/// <summary>
/// Initialize a sampling tree with an existing belief node
/// </summary>
/// <param name="n"></param>
/// <param name="sampleNumber"></param>
/// <param name="maxDepth"></param>
/// <param name="markovModel"></param>
public SamplingTree(BeliefNode n, MarkovModel markovModel, int sampleNumber, int maxDepth, float gama, float C)
{
// The root is an existing beliefNode, useful to conserve the previous explorations
Root = n;
_markovModel = markovModel;
for (int i = 0; i < sampleNumber; i++)
{
GrowTree(maxDepth, gama, C);
}
}
//
/// <summary>
/// Create the Sampling tree of potential events
/// </summary>
/// <param name="d">Actual distribution of states of the system</param>
/// <param name="sampleNumber">number of samples in the tree</param>
/// <param name="maxDepth">maximum depth for each branch</param>
/// <param name="markovModel">model</param>
public SamplingTree(Distribution <State> d, MarkovModel markovModel, int sampleNumber, int maxDepth, float gama, float C)
{
// The root is the given distribution
_markovModel = markovModel;
Root = new BeliefNode(d, null, null, markovModel);
for (int i = 0; i < sampleNumber; i++)
{
GrowTree(maxDepth, gama, C);
}
}