/// <summary>
/// We update the beliefbase
/// </summary>
/// <param name="percepts">The percepts we retrieved for this agent from the environment</param>
protected override void UpdateBeliefs(Dictionary <string, object> percepts)
{
var beliefSetTowns = BeliefBase.GetBeliefSet("towns").Values;
var beliefSetMines = BeliefBase.GetBeliefSet("mines").Values;
foreach (var town in (percepts["towns"] as List <Town>))
{
if (!beliefSetTowns.Contains(town))
{
beliefSetTowns.Add(town);
}
}
foreach (var goldMine in beliefSetMines.Select(x => (GoldMine)x).ToList())
{
if (!(percepts["mines"] as List <GoldMine>).Contains(goldMine) &&
Math.Pow(CurrentX - goldMine.X, 2) + Math.Pow(CurrentY - goldMine.Y, 2) < 4)
{
beliefSetMines.Remove(goldMine);
}
}
foreach (var goldMine in (percepts["mines"] as List <GoldMine>))
{
if (!beliefSetMines.Contains(goldMine))
{
beliefSetMines.Add(goldMine);
}
}
BeliefBase.UpdateBelief(new Belief("inx", CurrentX));
BeliefBase.UpdateBelief(new Belief("iny", CurrentY));
BeliefBase.UpdateBelief(new Belief("hasgold", HasGold));
}
/// <summary>
/// The beliefbase of the agent is updated through the received percepts
/// </summary>
/// <param name="percepts">The percepts as a list of keyvalue pairs</param>
protected override void UpdateBeliefs(Dictionary <string, object> percepts)
{
var perceptedTable = (Table)percepts["table"];
BeliefBase.UpdateBelief(new Belief("table", perceptedTable));
BeliefBase.UpdateBelief(new Belief("inarm", InArm));
var beliefsetBlocks = BeliefBase.GetBeliefSet("blocks");
var newBeliefSetBlocks = new BeliefSet("blocks");
foreach (var block in perceptedTable.Blocks)
{
UpdateFactForOneBlock(beliefsetBlocks, newBeliefSetBlocks, block);
}
BeliefBase.UpdateBeliefSet(newBeliefSetBlocks);
}
/// <summary>
/// Extracts facts for STRIPS from the current beliefbase
/// </summary>
/// <returns>A list of STRIP facts</returns>
protected override List <Fact> ExtractFactsFromBeliefBase()
{
var facts = new List <Fact> {
new Fact("ArmHolds", new ValueParameter(BeliefBase.GetBelief("inarm").Value))
};
var blocks = BeliefBase.GetBeliefSet("blocks").Values;
foreach (Block block in blocks)
{
if (block.Lower != null)
{
facts.Add(new Fact("On", new ValueParameter(block), new ValueParameter(block.Lower)));
}
if (block.Upper == null)
{
facts.Add(new Fact("Clear", new ValueParameter(block)));
}
}
return(facts);
}
/// <summary>
/// Extracts facts from a beliefbase
/// </summary>
/// <returns>A list of facts</returns>
protected override List <Fact> ExtractFactsFromBeliefBase()
{
var lstFact = new List <Fact>();
lstFact.Add(new Fact(Definitions.HasGold, new ValueParameter(BeliefBase.GetBelief("hasgold").GetValue <bool>())));
lstFact.Add(new Fact(Definitions.In, new ValueParameter(BeliefBase.GetBelief("inx").Value),
new ValueParameter(BeliefBase.GetBelief("iny").Value)));
foreach (Town town in BeliefBase.GetBeliefSet("towns").Values)
{
lstFact.Add(new Fact(Definitions.Town, new ValueParameter(town.X), new ValueParameter(town.Y)));
}
foreach (GoldMine mine in BeliefBase.GetBeliefSet("mines").Values)
{
lstFact.Add(new Fact(Definitions.Mine, new ValueParameter(mine.X), new ValueParameter(mine.Y)));
}
return(lstFact);
}
