public double Update(HexaPath path, double[,] entropy)
{
double deltaScore = 0.0;
double deltaStepScore = 0.0;
List <HexaPos> neighbors;
List <HexaPos> .Enumerator e;
for (int t = 0; t < path.Length; t++)
{
deltaStepScore = entropy[path[t].X, path[t].Y];
entropy[path[t].X, path[t].Y] -= deltaStepScore;
deltaScore += deltaStepScore;
neighbors = _map.GetHexes(path[t].X, path[t].Y, GetObservationRange());
e = neighbors.GetEnumerator();
while (e.MoveNext())
{
deltaStepScore = confidenceFactor * entropy[e.Current.X, e.Current.Y];
deltaScore += deltaStepScore;
entropy[e.Current.X, e.Current.Y] -= deltaStepScore;
}
}
return(deltaScore);
}
public void Update(Agent agent, HexaPos currentPos)
{
int radius = agent.GetObservationRange();
SetProbability(currentPos.X, currentPos.Y, 0);
List <HexaPos> hexes = _map.GetHexes(currentPos.X, currentPos.Y, radius, false);
List <HexaPos> .Enumerator e = hexes.GetEnumerator();
while (e.MoveNext())
{
double prob = _probability[currentPos.X, currentPos.Y];
prob = prob * agent.confidenceFactor;
SetProbability(currentPos.X, currentPos.Y, prob);
}
}
public double GetEstimation(Agent agent, double[,] entropy, HexaPos pos, HexagonalMap map)
{
double estimation = entropy[pos.X, pos.Y];
List <HexaPos> neighbors = map.GetHexes(pos.X, pos.Y, agent.GetObservationRange());
List <HexaPos> .Enumerator e = neighbors.GetEnumerator();
while (e.MoveNext())
{
estimation += agent.confidenceFactor * entropy[e.Current.X, e.Current.Y];
}
return(estimation);
/*
* double[,] localEntropy = (double[,])entropy.Clone();
* HexaPath localPath = new HexaPath();
* localPath.AddPos(pos);
* return agent.Score(localPath, localEntropy);
*/
}
private void ShowSearchSpace(object sender, EventArgs e)
{
if (_formState == FormState.SHOWING_SEARCHSPACE)
{
if (transitCurrentCnt >= _human.path.Length)
{
transitCurrentCnt = 0;
}
HexaPos currentPos = _human.path[transitCurrentCnt];
List <HexaPos> neighbors = _map.GetHexes(currentPos.X, currentPos.Y, _human.WingmanToleranceRange, true);
_map.MapState.ActiveHexSet = _map.Convert(neighbors);
Refresh();
transitCurrentCnt++;
}
}
void Init()
{
for (int i = 0; i < _map.mapWidth; i++)
{
for (int j = 0; j < _map.mapHeight; j++)
{
_hexes[i, j] = new HexaAdjacentList(new HexaPos(i, j));
List <HexaPos> adjacent = _map.GetHexes(i, j, 1);
List <HexaPos> .Enumerator e = adjacent.GetEnumerator();
while (e.MoveNext())
{
_hexes[i, j].Add(e.Current);
AddEdge(_hexes[i, j].GetHexaPos(), e.Current);
}
}
}
}