List <OptionN> createOptFromSubGoals(List <SubGoal> subgoals)
{
List <OptionN> options = new List <OptionN>();
for (int i = 0; i < subgoals.Count; i++)
{
SubGoal s = subgoals[i];
OptionN o = new OptionN(s.State, this);
options.Add(o);
for (int j = 0; j < Model[s.State].Count; j++)
{
if (Model[s.State][j] == null)
{
continue;
}
if (Q[s.State].Actions[j].O != null)
{
continue;
}
o.AddSASp(s.State, j, Model[s.State][j].sP);
constOptionN(subgoals, s, o, Model[s.State][j].sP);
}
}
return(options);
}
private void m_comboOptions_SelectedIndexChanged(object sender, EventArgs e)
{
OptionN o = (OptionN)m_comboOptions.SelectedItem;
if (o == null)
{
return;
}
List <int> used = new List <int>();
Bitmap bmp = new Bitmap(m_graph.Width * 2, m_graph.Height * 2);
Graphics g = Graphics.FromImage(bmp);
draw(o, used, o.SubgoalState, g, new PointF(m_graph.Width + offsetX, m_graph.Height + offsetY));
g.Dispose();
m_graph.BackgroundImageLayout = ImageLayout.Stretch;
m_graph.BackgroundImage = bmp;
}
void constOptionN(List <SubGoal> subgoals, SubGoal s, OptionN o, int state)
{
if (o.initSet.Keys.Contains(state))
{
return;
}
if (isSubgoal(state))
{
return;
}
Q[state].Actions.Add(new Action(o));
for (int i = 0; i < Model[state].Count; i++)
{
if (Model[state][i] != null && Q[state].Actions[i].O == null)
{
o.AddSASp(state, i, Model[state][i].sP);
constOptionN(subgoals, s, o, Model[state][i].sP);
}
}
}
void draw(OptionN o, List <int> used, int state, Graphics g, PointF pos)
{
Color colArrow = Color.Black, colNode = Color.LightGray, colValue = Color.Black, colState = Color.Black;
float arrow = 5, node = 20, space = 60, hnode = 10;
arrow *= size;
node *= size;
space *= size;
hnode *= size;
Font f = new Font(this.Font.FontFamily, this.Font.Size * size);
if (!o.V.Keys.Contains(state))
{
return;
}
if (used.Contains(state))
{
return;
}
used.Add(state);
g.FillEllipse(new SolidBrush(colNode), new RectangleF(pos, new SizeF(node, node)));
g.DrawString(state.ToString(), f, new SolidBrush(colState), pos);
g.DrawString(o.V[state].ToString("0.00"), f, new SolidBrush(colValue), new PointF(pos.X + node, pos.Y + node));
foreach (int i in o.initSet[state].aSp.Keys)
{
PointF p = new PointF(0, 0);
if (i == 0)
{
p = new PointF(pos.X, pos.Y - space);
}
else if (i == 1)
{
p = new PointF(pos.X, pos.Y + space);
}
else if (i == 2)
{
p = new PointF(pos.X - space, pos.Y);
}
else if (i == 3)
{
p = new PointF(pos.X + space, pos.Y);
}
if (o.initSet[state].aSp[i] != null)
{
PointF pA = new PointF();
PointF pB = new PointF();
Pen pn = new Pen(colArrow);
if (pos.X == p.X)
{
pA.X = pos.X + hnode;
pB.X = p.X + hnode;
if (pos.Y > p.Y)
{
pA.Y = pos.Y;
pB.Y = p.Y + node;
g.DrawLine(pn, pB, new PointF(pB.X - arrow, pB.Y + arrow));
g.DrawLine(pn, pB, new PointF(pB.X + arrow, pB.Y + arrow));
}
else
{
pA.Y = pos.Y + node;
pB.Y = p.Y;
g.DrawLine(pn, pB, new PointF(pB.X - arrow, pB.Y - arrow));
g.DrawLine(pn, pB, new PointF(pB.X + arrow, pB.Y - arrow));
}
}
if (pos.Y == p.Y)
{
pA.Y = pos.Y + hnode;
pB.Y = p.Y + hnode;
if (p.X > pos.X)
{
pA.X = pos.X + node;
pB.X = p.X;
g.DrawLine(pn, pB, new PointF(pB.X - arrow, pB.Y - arrow));
g.DrawLine(pn, pB, new PointF(pB.X - arrow, pB.Y + arrow));
}
else
{
pA.X = pos.X;
pB.X = p.X + node;
g.DrawLine(pn, pB, new PointF(pB.X + arrow, pB.Y - arrow));
g.DrawLine(pn, pB, new PointF(pB.X + arrow, pB.Y + arrow));
}
}
g.DrawLine(Pens.Blue, pA, pB);
draw(o, used, o.initSet[state].aSp[i], g, p);
}
}
}
public void RunResult()
{
double oldRho = Agent.rho;
Agent.rho = 0.1;
if (Agent == null)
{
MessageBox.Show("Learn first!");
return;
}
for (int i = 0; i < Agent.contexts.Count; i++)
{
Agent.contexts[i].Em = 0;
}
while (true)
{
Point p = new Point(m_mouseLocation.X, m_mouseLocation.Y);
int s = locationToState(p);
int a = Agent.Q[s].GetMaxAction();
int flow = data.getFlow(p.X, p.Y);
if (a < 4)
{
if (flow == 5)
{
if (a == 1) //UP
{
p.Y--;
}
if (a == 0) //Down
{
p.Y++;
}
if (a == 3) //Left
{
p.X--;
}
if (a == 2) //Right
{
p.X++;
}
}
else if (flow == 6)
{
if (a == 2)
{
p.Y--;
}
if (a == 3)
{
p.Y++;
}
if (a == 1)
{
p.X--;
}
if (a == 0)
{
p.X++;
}
}
else if (flow == 7)
{
if (a == 3)
{
p.Y--;
}
if (a == 2)
{
p.Y++;
}
if (a == 0)
{
p.X--;
}
if (a == 1)
{
p.X++;
}
}
else
{
if (a == 0) //UP
{
p.Y--;
}
if (a == 1) //Down
{
p.Y++;
}
if (a == 2) //Left
{
p.X--;
}
if (a == 3) //Right
{
p.X++;
}
}
if (p.X < 0)
{
p.X = 0;
}
if (p.Y < 0)
{
p.Y = 0;
}
if (p.X >= GridSize)
{
p.X = GridSize - 1;
}
if (p.Y >= GridSize)
{
p.Y = GridSize - 1;
}
if (isBlock(p))
{
p = new Point(m_mouseLocation.X, m_mouseLocation.Y);
}
Point pTmp = p;
if (flow > 0)
{
if (flow == 1 && a != 1)
{
p.Y--;
}
if (flow == 2 && a != 0)
{
p.Y++;
}
if (flow == 3 && a != 3)
{
p.X--;
}
if (flow == 4 && a != 2)
{
p.X++;
}
if (p.X < 0 || p.Y < 0 || p.X >= GridSize || p.Y >= GridSize)
{
p = pTmp;
}
if (isBlock(p))
{
p = pTmp;
}
}
if (checkSwitchContext)
{
Agent.checkAndSwitchContextNoNew(s, a, locationToState(p), 0);
}
if (StepPassed != null)
{
StepPassed();
}
}
else if (a >= 4)
{
OptionN op = Agent.Q[s].Actions[a].O;
int sP = locationToState(p);
while (sP != op.SubgoalState)
{
flow = data.getFlow(p.X, p.Y);
Point pr = p;
if (!op.initSet.Keys.Contains(sP))
{
break;
}
int[] temp = op.maxA(sP);
if (flow == 5)
{
if (temp[1] == 1) //UP
{
p.Y--;
}
if (temp[1] == 0) //Down
{
p.Y++;
}
if (temp[1] == 3) //Left
{
p.X--;
}
if (temp[1] == 2) //Right
{
p.X++;
}
}
else if (flow == 6)
{
if (temp[1] == 2)
{
p.Y--;
}
if (temp[1] == 3)
{
p.Y++;
}
if (temp[1] == 1)
{
p.X--;
}
if (temp[1] == 0)
{
p.X++;
}
}
else if (flow == 7)
{
if (temp[1] == 3)
{
p.Y--;
}
if (temp[1] == 2)
{
p.Y++;
}
if (temp[1] == 0)
{
p.X--;
}
if (temp[1] == 1)
{
p.X++;
}
}
else
{
if (temp[1] == 0) //UP
{
p.Y--;
}
if (temp[1] == 1) //Down
{
p.Y++;
}
if (temp[1] == 2) //Left
{
p.X--;
}
if (temp[1] == 3) //Right
{
p.X++;
}
}
if (p.X < 0)
{
p.X = 0;
}
if (p.Y < 0)
{
p.Y = 0;
}
if (p.X >= GridSize)
{
p.X = GridSize - 1;
}
if (p.Y >= GridSize)
{
p.Y = GridSize - 1;
}
if (isBlock(p))
{
p = pr;
}
m_mouseLocation = p;
if (checkSwitchContext)
{
if (Agent.checkAndSwitchContextNoNew(sP, temp[1], locationToState(p), 0))
{
break;
}
}
if (StepPassed != null)
{
StepPassed();
}
sP = locationToState(p);
drawMe();
Thread.Sleep(100);
}
}
if (!(p.X < 0 || p.Y < 0 || p.X >= GridSize || p.Y >= GridSize || isBlock(p)))
{
m_mouseLocation = p;
}
drawMe();
if (data.goalLocation == m_mouseLocation)
{
break;
}
Thread.Sleep(100);
}
if (RunFinished != null)
{
RunFinished();
}
Agent.rho = oldRho;
}
public Action(OptionN o)
{
O = o;
}
