private void UpdateRequirementMaps(Sequence <CompoundTerm> actions, IState iState)
{
Set <string> yesStrings = new Set <string>();
foreach (Action a in actions)
{
System.Console.WriteLine(iState.GetHashCode() + a.ToString());
foreach (string s in this.modelProgram.GetEnablingConditionDescriptions(iState, a, false))
{
yesStrings = yesStrings.Add(s);
if (!requirementProperties.Contains(s))
{
requirementProperties = requirementProperties.AddLast(s);
requireEnabledStateMap = requireEnabledStateMap.Add(s, Set <int> .EmptySet);
}
requireEnabledStateMap = requireEnabledStateMap.Override(s, requireEnabledStateMap[s].Add(iState.GetHashCode()));
}
}
bdt = bdt.addState(yesStrings, iState.GetHashCode());
if (i == 0)
{
if (i < requirementProperties.Count)
{
string s1 = requirementProperties[i++];
bdt = bdt.Refine(s1, requireEnabledStateMap[s1]);
bdt.PrintTree(0);
}
}
}
private void UpdateRequirementMaps(Sequence<CompoundTerm> actions, IState iState)
{
Set<string> yesStrings = new Set<string>();
foreach (Action a in actions)
{
System.Console.WriteLine(iState.GetHashCode() + a.ToString());
foreach (string s in this.modelProgram.GetEnablingConditionDescriptions(iState, a, false))
{
yesStrings = yesStrings.Add(s);
if (!requirementProperties.Contains(s))
{
requirementProperties = requirementProperties.AddLast(s);
requireEnabledStateMap = requireEnabledStateMap.Add(s, Set<int>.EmptySet);
}
requireEnabledStateMap = requireEnabledStateMap.Override(s, requireEnabledStateMap[s].Add(iState.GetHashCode()));
}
}
bdt = bdt.addState(yesStrings, iState.GetHashCode());
if (i == 0)
{
if (i < requirementProperties.Count)
{
string s1 = requirementProperties[i++];
bdt = bdt.Refine(s1, requireEnabledStateMap[s1]);
bdt.PrintTree(0);
}
}
}
private CompoundTerm ChooseAction(Sequence <Action> actions, IState iState)
{
TransitionProperties tp;
int targetId = -1;
List <double> MaxV = bdt.ReturnValue(true);
List <double> MinV = bdt.ReturnValue(false);
List <Set <int> > abstractMap = bdt.ReturnLeaves();
Sequence <Pair <int, Action> > cumulActSum = Sequence <Pair <int, Action> > .EmptySequence;
double epsilon = 0.1;
Dictionary <int, int> sumTarget = new Dictionary <int, int>();
Action maxAct = null;
int targetAbsId = -1;
int sum = 0;
UpdateRequirementMaps(actions, iState);
Set <Action> newStateActs = new Set <Action>();
Set <Action> oldActs = new Set <Action>(actions.Head);
foreach (Action a in actions)
{
int tState = this.modelProgram.GetTargetState(iState, a, null, out tp).GetHashCode();
targetAbsId = findAbstractId(tState, abstractMap);
if (targetAbsId == -1)
{
newStateActs = newStateActs.Add(a);
}
else
{
sum = sum + (int)(MaxV[targetAbsId] * Math.Pow(10.0, 9.0));
Pair <int, Action> np = new Pair <int, Action>(sum, a);
sumTarget.Add(sum, targetAbsId);
cumulActSum = cumulActSum.AddLast(np);
}
}
if (!newStateActs.IsEmpty)
{
maxAct = newStateActs.Choose();
System.Console.WriteLine("new action in new state " + maxAct.ToString());
return(maxAct);
}
else
{
Random rndNumbers = new Random();
int rndNumber = rndNumbers.Next(sum);
System.Console.WriteLine(sum + " " + rndNumber);
foreach (Pair <int, Action> np in cumulActSum)
{
System.Console.WriteLine(np.First + " " + np.Second.ToString());
if (rndNumber <= np.First)
{
maxAct = np.Second;
targetId = sumTarget[np.First];
break;
}
targetId = sumTarget[np.First];
maxAct = np.Second;
}
System.Console.WriteLine("old action in old state " + maxAct.ToString());
}
// Adaptive Refinement
if (MaxV[targetId] - MinV[targetId] > epsilon)
{
if (i < requirementProperties.Count)
{
string s1 = requirementProperties[i++];
bdt = bdt.Refine(s1, requireEnabledStateMap[s1]);
bdt.PrintTree(0);
}
}
return(maxAct);
}
private CompoundTerm ChooseAction(Sequence<Action> actions, IState iState)
{
TransitionProperties tp;
int targetId = -1;
List<double> MaxV = bdt.ReturnValue(true);
List<double> MinV = bdt.ReturnValue(false);
List<Set<int>> abstractMap = bdt.ReturnLeaves();
Sequence<Pair<int, Action>> cumulActSum = Sequence<Pair<int, Action>>.EmptySequence;
double epsilon = 0.1;
Dictionary<int, int> sumTarget = new Dictionary<int, int>();
Action maxAct = null;
int targetAbsId = -1;
int sum = 0;
UpdateRequirementMaps(actions, iState);
Set<Action> newStateActs = new Set<Action>();
Set<Action> oldActs = new Set<Action>(actions.Head);
foreach (Action a in actions)
{
int tState = this.modelProgram.GetTargetState(iState, a, null, out tp).GetHashCode();
targetAbsId = findAbstractId(tState, abstractMap);
if (targetAbsId == -1)
{
newStateActs = newStateActs.Add(a);
}
else
{
sum = sum + (int)(MaxV[targetAbsId] * Math.Pow(10.0, 9.0));
Pair<int, Action> np = new Pair<int, Action>(sum, a);
sumTarget.Add(sum, targetAbsId);
cumulActSum = cumulActSum.AddLast(np);
}
}
if (!newStateActs.IsEmpty)
{
maxAct = newStateActs.Choose();
System.Console.WriteLine("new action in new state " + maxAct.ToString());
return maxAct;
}
else
{
Random rndNumbers = new Random();
int rndNumber = rndNumbers.Next(sum);
System.Console.WriteLine(sum + " " + rndNumber);
foreach (Pair<int, Action> np in cumulActSum)
{
System.Console.WriteLine(np.First + " " + np.Second.ToString());
if (rndNumber <= np.First)
{
maxAct = np.Second;
targetId = sumTarget[np.First];
break;
}
targetId = sumTarget[np.First];
maxAct = np.Second;
}
System.Console.WriteLine("old action in old state " + maxAct.ToString());
}
// Adaptive Refinement
if (MaxV[targetId] - MinV[targetId] > epsilon)
{
if (i < requirementProperties.Count)
{
string s1 = requirementProperties[i++];
bdt = bdt.Refine(s1, requireEnabledStateMap[s1]);
bdt.PrintTree(0);
}
}
return maxAct;
}