private void button1_Click_1(object sender, EventArgs e)
{
char test = 'a';
StateTree<string> tree = new StateTree<string>(EqualityComparer<string>.Default);
for (int i=0; i<26; i++)
{
char test2 = (char)(test + i);
tree.AddState(test2.ToString());
}
MessageBox.Show(String.Join(",",tree.GetLevel0Children("a", 3)));
MessageBox.Show(String.Join(",",tree.GetChildren("a", 3)));
}
public override double[] value(int[] state, List <actionType> actions)
{
if (currentGoal.goalState == null)
{
currentGoal = selectGoal(state, models.Length - 1, actions);
subgoals[currentGoal.level].Clear();
subgoals[currentGoal.level].Add(currentGoal);
}
for (int l = currentGoal.level - 1; l >= 0; l--)
{
if (subgoals[l].Count == 0)
{
// plan the route to the goal
List <int[]> goalStates = stateTree.GetChildren(subgoals[l + 1][0].goalState, l + 1);
int[] startState = stateTree.GetParentState(state, l);
List <Tuple <int[], actionType, double> > path = pathFinder.AStar(startState, goalStates, models[l], actions, false);// l!=0);
subgoals[l] = path2subgoals(path, l, models[l]);
if (subgoals[l].Count == 0) // if no path is known, pass control to lowest level
{
goalStates = stateTree.GetChildren(subgoals[l + 1][0].goalState, l + 1);
int[] currentGoalLevelState = stateTree.GetParentState(state, currentGoal.level);
Console.WriteLine("couldn't find a path to level " + currentGoal.level + ": " + String.Join(",", currentGoal.goalState) + " at level " + l);
throw new ApplicationException("Pathfinding failed");
currentGoal.goalState = null;
for (int i = 0; i < subgoals.Length; i++)
{
subgoals[i].Clear();
}
currentGoal = selectGoal(state, 0, actions);
subgoals[0].Clear();
subgoals[0].Add(currentGoal);
break;
}
// no local path should be more than 2 steps
if (subgoals[l].Count > 3)
{
int[] thisOldState = subgoals[l + 1][0].startState;
actionType thisAction = subgoals[l + 1][0].action;
int[] thisNewState = subgoals[l + 1][0].goalState;
StateTransition <int[], actionType> t = new StateTransition <int[], actionType>(thisOldState, thisAction, -10, thisNewState); // size of negative reward?
models[l + 1].update(t);
}
}
//System.IO.StreamWriter w = new System.IO.StreamWriter("log.txt", false);
////w.WriteLine("Goal: Level " + currentGoal.level + ", at " + String.Join(",", currentGoal.goalState));
//for (int k = 0; k <= currentGoal.level; k++)
//{
// foreach (Goal<int[], actionType> step in subgoals[k])
// {
// if (step.goalState != null)
// {
// foreach (int[] s in stateTree.GetLevel0Children(step.goalState, k))
// {
// w.WriteLine(string.Join(",", s) + "," + (k == currentGoal.level ? "g" : "p"));
// }
// //w.WriteLine("Goal: Level " + Math.Max(0, l) + ", at " + String.Join(",", step.goalState));
// }
// }
//}
//w.Flush(); w.Close();
}
if (minLevel > 0) // for simulating dH lesion
{
double[] vals = new double[availableActions.Count];
if (currentGoal.level >= minLevel)
{
vals[availableActions.IndexOf(currentGoal.action)] = 1;
}
else
{
return(models[0].value(state, availableActions));
}
return(vals);
}
double[] response = new double[actions.Count()];
for (int i = 0; i < availableActions.Count; i++)
{
if (actionComparer.Equals(subgoals[0][0].action, availableActions.ElementAt(i)))
{
response[i] = 1;
}
}
return(response);
}
