/// <summary>
/// Updates the model on the basis of a new operator and a new state.
/// </summary>
/// <param name="newAction">Last action.</param>
/// <param name="newState">Resulting state.</param>
public void UpdateModel(IOperator newAction, List <IPredicate> newState)
{
// If the action is observed,
if (RobertsonMicrotheory.Observes(this.agentName, newAction, newState))
{
// Add its operator to the model if it isn't already there.
if (!this.KnowsOperator(newAction))
{
this.knownOperators.Add(newAction.Template() as Operator);
}
// If the model has an active knownCurrentState
if (this.knownCurrentState.Predicates.Count != 0)
{
// Apply the action to the state with the current known objects (the latter is for the case of axioms)
this.knownCurrentState = (this.knownCurrentState as State).NewState((newAction as Operator), this.KnownObjects);
}
// Expand the chronology with the observed action.
this.knownChronology.Add(newAction);
}
// Delegate the rest to the other method.
UpdateModel(newState);
}
/// <summary>
/// Updates the model on the basis of a new state.
/// </summary>
/// <param name="newState">The new state that is known to the model.</param>
public void UpdateModel(List <IPredicate> newState)
{
// For every object in the domain,
foreach (IObject domainObject in this.planningProblem.Objects)
{
// If it is observed and unknown, add the object to the model.
if (RobertsonMicrotheory.Observes(this.agentName, domainObject, newState) && !this.KnowsObject(domainObject))
{
this.knownObjects.Add(domainObject);
}
}
// For every observed literal of the given state,
List <IPredicate> newStateKnowledge = RobertsonMicrotheory.KnowledgeState(newState, this.agentName);
foreach (IPredicate literal in newStateKnowledge)
{
// inform the model of it.
InformLiteral(literal);
}
}
