/// <summary>
/// Dot between this and another specified vector. (based on normalized vectors)
/// </summary>
/// <param name="vector">Vector.</param>
public float dot(UtilityVector vector){
if (this.magnitude == 0 || vector.magnitude == 0)
return -2;
UtilityVector a = this.normalize ();
UtilityVector b = vector.normalize ();
float val = 0;
for (int i = 0; i < this.values.Length; i++)
val += a.values [i] * b.values [i];
return val;
}
/// <summary>
/// Return a new vector based on the normalization of this instance.
/// </summary>
public UtilityVector normalize(){
if (this.values.Length <= 0)
return null;
UtilityVector vec = new UtilityVector();
vec.values = new float[this.values.Length];
this.values.CopyTo (vec.values, 0);
float mag = vec.magnitude;
for (int i = 0; i < vec.values.Length; i++)
vec.values [i] = vec.values [i] / mag;
return vec;
}
/// <summary>
/// Dot between this and another specified vector. (based on normalized vectors)
/// </summary>
/// <param name="vector">Vector.</param>
public float dot(UtilityVector vector)
{
if (this.magnitude == 0 || vector.magnitude == 0)
{
return(-2);
}
UtilityVector a = this.normalize();
UtilityVector b = vector.normalize();
float val = 0;
for (int i = 0; i < this.values.Length; i++)
{
val += a.values [i] * b.values [i];
}
return(val);
}
/// <summary>
/// Return a new vector based on the normalization of this instance.
/// </summary>
public UtilityVector normalize()
{
if (this.values.Length <= 0)
{
return(null);
}
UtilityVector vec = new UtilityVector();
vec.values = new float[this.values.Length];
this.values.CopyTo(vec.values, 0);
float mag = vec.magnitude;
for (int i = 0; i < vec.values.Length; i++)
{
vec.values [i] = vec.values [i] / mag;
}
return(vec);
}
public override BehaviorReturnCode Behave()
{
try{
UtilityVector func_vector = this._utility_function.Invoke();
float min = -2.0f;
UtilityPair best_match = null;
//find max pair match
foreach (UtilityPair pair in this._utility_pairs)
{
float val = func_vector.dot(pair.vector);
if (val > min)
{
min = val;
best_match = pair;
}
}
//make sure we found a match
if (best_match == null)
{
#if DEBUG
Console.WriteLine("best_match not defined...");
#endif
this.ReturnCode = BehaviorReturnCode.Failure;
return(this.ReturnCode);
}
//execute best pair match and return result
this.ReturnCode = best_match.behavior.Behave();
return(this.ReturnCode);
}catch (Exception e) {
#if DEBUG
Console.WriteLine(e.ToString());
#endif
ReturnCode = BehaviorReturnCode.Failure;
return(BehaviorReturnCode.Failure);
}
}
public UtilityPair(UtilityVector vector, BehaviorComponent behavior)
{
this.vector = vector;
this.behavior = behavior;
}
public UtilityPair(UtilityVector vector, BehaviorComponent behavior)
{
this.vector = vector;
this.behavior = behavior;
}