// 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);
}