public BeliefState(Problem p)
{
Problem = p;
m_sPredecessor = null;
m_lObserved = new HashSet<Predicate>();
Unknown = new HashSet<Predicate>();
m_lHiddenFormulas = new List<CompoundFormula>();
m_lOriginalHiddenFormulas = new List<CompoundFormula>();
m_dMapPredicatesToFormulas = new Dictionary<GroundedPredicate, List<int>>();
m_lEfficientHidden = new List<EfficientFormula>();
m_dMapPredicatesToIndexes = new Dictionary<GroundedPredicate, int>();
m_dMapIndexToPredicate = new List<GroundedPredicate>();
m_dMapPredicateToEfficientFormula = new List<List<int>>();
AvailableActions = new List<Action>();
UnderlyingEnvironmentState = null;
m_cfCNFHiddenState = new CompoundFormula("and");
FunctionValues = new Dictionary<string, double>();
foreach (string sFunction in Problem.Domain.Functions)
{
FunctionValues[sFunction] = 0.0;
}
bsCOUNT++;
ID = bsCOUNT;
}
public BeliefState(BeliefState sToCopy)
: this(sToCopy.Problem)
{
m_lHiddenFormulas = new List<CompoundFormula>(sToCopy.Hidden);
m_lOriginalHiddenFormulas = new List<CompoundFormula>(sToCopy.m_lOriginalHiddenFormulas);
m_dMapPredicatesToFormulas = new Dictionary<GroundedPredicate, List<int>>();
foreach (KeyValuePair<GroundedPredicate, List<int>> pair in sToCopy.m_dMapPredicatesToFormulas)
{
m_dMapPredicatesToFormulas[pair.Key] = new List<int>();
foreach (int i in pair.Value)
{
m_dMapPredicatesToFormulas[pair.Key].Add(i);
}
}
m_dMapPredicatesToIndexes = new Dictionary<GroundedPredicate, int>(sToCopy.m_dMapPredicatesToIndexes);
m_dMapPredicateToEfficientFormula = new List<List<int>>();
foreach (List<int> list in sToCopy.m_dMapPredicateToEfficientFormula)
{
List<int> newList = new List<int>();
foreach (int i in list)
{
newList.Add(i);
}
m_dMapPredicateToEfficientFormula.Add(newList);
}
m_lObserved = new HashSet<Predicate>(sToCopy.Observed);
Unknown = new HashSet<Predicate>(sToCopy.Unknown);
m_cfCNFHiddenState = sToCopy.m_cfCNFHiddenState;
/*m_sPredecessor = sToCopy.m_sPredecessor;
AvailableActions = new List<Action>(sToCopy.AvailableActions);
m_dMapIndexToPredicate = new List<GroundedPredicate>(sToCopy.m_dMapIndexToPredicate);
UnderlyingEnvironmentState = sToCopy.UnderlyingEnvironmentState;
if (sToCopy.m_lProblematicTag != null) m_lProblematicTag = new List<Predicate>(sToCopy.m_lProblematicTag);
m_lCurrentTags = new List<List<Predicate>>();
foreach (List<Predicate> lp in sToCopy.m_lCurrentTags)
{
m_lCurrentTags.Add(new List<Predicate>(lp));
}*/
m_dSATVariables = sToCopy.m_dSATVariables;
m_lSATVariables = sToCopy.m_lSATVariables;
bsCOUNT++;
ID = bsCOUNT;
}
public void WriteKnowledgeProblem(string sFileName, BeliefState bs)
{
StreamWriter sw = new StreamWriter(sFileName);
sw.WriteLine("(define (problem K" + Problem.Name + ")");
sw.WriteLine("(:domain K" + Problem.Domain.Name + ")");
sw.WriteLine("(:init"); //ff doesn't like the and (and");
/*
foreach (GroundedPredicate gpKnow in Problem.Known)
{
sw.Write("(K" + gpKnow.Name);
foreach (Constant c in gpKnow.Constants)
sw.Write(" " + c.Name);
sw.WriteLine(")");
}
* */
foreach (GroundedPredicate gp in bs.Observed)
{
sw.Write("(K" + gp.Name);
foreach (Constant c in gp.Constants)
sw.Write(" " + c.Name);
sw.WriteLine(")");
}
foreach (GroundedPredicate gp in Predicates)
{
sw.Write("(" + gp.Name);
foreach (Constant c in gp.Constants)
sw.Write(" " + c.Name);
sw.WriteLine(")");
}
sw.WriteLine(")");
HashSet<Predicate> lGoalPredicates = new HashSet<Predicate>();
Problem.Goal.GetAllPredicates(lGoalPredicates);
string sGoal = Problem.Goal.ToString();
sw.WriteLine("(:goal " + sGoal + ")");
/* Not sure whether we have to KNOW that we have the goal
sw.Write("(:goal (and " + sGoal);
foreach (Predicate p in lGoalPredicates)
Problem.Domain.WriteKnowledgePredicate(sw, p);
sw.WriteLine("))");
*/
sw.WriteLine(")");
sw.Close();
}
public abstract void UpdateState(BeliefState bs);
public virtual PartiallySpecifiedState Clone()
{
BeliefState bsCopy = new BeliefState(m_bsInitialBelief);
PartiallySpecifiedState bsClone = new PartiallySpecifiedState(this, bsCopy);
return bsClone;
}
public PartiallySpecifiedState(PartiallySpecifiedState original, BeliefState bsInitial)
{
ID = STATE_COUNT++;
m_nPlan = original.m_nPlan;
m_lHistory = new List<string>(original.m_lHistory);
ChildCount = original.ChildCount;
if (original.m_lObserved != null)
{
m_lObserved = new HashSet<Predicate>();
foreach (Predicate p in original.m_lObserved)
{
m_lObserved.Add(p);
}
}
else m_lObserved = null;
if (original.m_lHidden != null)
{
m_lHidden = new HashSet<Predicate>();
foreach (Predicate p in original.m_lHidden)
{
m_lHidden.Add(p);
}
}
else m_lHidden = null;
if (original.AvailableActions != null)
{
AvailableActions = new List<Action>();
foreach (Action p in original.AvailableActions)
{
AvailableActions.Add(p);
}
}
else AvailableActions = null;
if (bsInitial == null)
m_bsInitialBelief = new BeliefState(original.m_bsInitialBelief);
else
m_bsInitialBelief = bsInitial;
if (original.m_sPredecessor != null)
m_sPredecessor = new PartiallySpecifiedState(original.m_sPredecessor, m_bsInitialBelief);
/*PartiallySpecifiedState tempPredecessorOriginal = original.m_sPredecessor;
PartiallySpecifiedState tempPredecessorNew = m_sPredecessor;
//m_sPredecessor
while (tempPredecessorOriginal != null)
{
tempPredecessorNew = new PartiallySpecifiedState()
}*/
if (original.GeneratingAction != null) GeneratingAction = original.GeneratingAction.Clone();
else GeneratingAction = null;
if (original.GeneratingObservation != null) GeneratingObservation = original.GeneratingObservation.Clone();
else GeneratingObservation = null;
Problem = original.Problem;
if (original.UnderlyingEnvironmentState != null) UnderlyingEnvironmentState = original.UnderlyingEnvironmentState.Clone();
else UnderlyingEnvironmentState = null;
//m_bsInitialBelief = original.m_bsInitialBelief;
Time = original.Time;
if (original.m_cfCNFBelief != null) m_cfCNFBelief = new CompoundFormula(original.m_cfCNFBelief);
else m_cfCNFBelief = null;
if (original.m_lFailureTag != null) m_lFailureTag = new List<Predicate>(original.m_lFailureTag);
else m_lFailureTag = null;
if (original.m_lPreviousTags != null) m_lPreviousTags = new List<List<Predicate>>(original.m_lPreviousTags);
else m_lPreviousTags = null;
if (original.FunctionValues != null) FunctionValues = new Dictionary<string, double>(original.FunctionValues);
else FunctionValues = null;
}
public PartiallySpecifiedState(PartiallySpecifiedState sPredecessor, Action aGeneratingAction)
{
ID = STATE_COUNT++;
ChildCount = 0;
m_bsInitialBelief = new BeliefState(sPredecessor.m_bsInitialBelief);
Problem = m_bsInitialBelief.Problem;
AvailableActions = new List<Action>();
UnderlyingEnvironmentState = null;
if (Problem.Domain.IsSimple)
{
m_sPredecessor = sPredecessor;
}
else
{
m_sPredecessor = new PartiallySpecifiedState(sPredecessor, m_bsInitialBelief); //recursively copies the entire history
}
GeneratingAction = aGeneratingAction;
m_lObserved = new HashSet<Predicate>(sPredecessor.Observed);
m_lHidden = new HashSet<Predicate>(sPredecessor.m_lHidden);
ForgetPotentialEffects();
FunctionValues = new Dictionary<string, double>();
Time = sPredecessor.Time + 1;
foreach (KeyValuePair<string, double> p in sPredecessor.FunctionValues)
FunctionValues[p.Key] = p.Value;
m_lHistory = new List<string>(sPredecessor.m_lHistory);
m_lHistory.Add( GeneratingAction.Name);
}
public PartiallySpecifiedState(BeliefState bs)
{
ID = STATE_COUNT++;
Problem = bs.Problem;
m_sPredecessor = null;
m_lObserved = new HashSet<Predicate>(bs.Observed);
AvailableActions = new List<Action>();
UnderlyingEnvironmentState = bs.UnderlyingEnvironmentState;
m_bsInitialBelief = bs;
ChildCount = 0;
m_lHidden = new HashSet<Predicate>();
foreach (CompoundFormula cf in bs.Hidden)
{
HashSet<Predicate> lCurrent = new HashSet<Predicate>();
cf.GetAllPredicates(lCurrent);
foreach (Predicate p in lCurrent)
{
if (p.Negation)
{
if (!m_lHidden.Contains(p.Negate()))
m_lHidden.Add(p.Negate());
}
else if (!m_lHidden.Contains(p))
m_lHidden.Add(p);
}
}
/* as long as there are no non-deterministic effects there is no need to maintain all knowledge
foreach (Predicate p in bs.Observed)
{
if (!Problem.Domain.AlwaysKnown(p))
cfBelief.AddOperand(p);
}
* */
FunctionValues = new Dictionary<string, double>();
foreach (string sFunction in Problem.Domain.Functions)
{
FunctionValues[sFunction] = m_bsInitialBelief.FunctionValues[sFunction];
}
m_lHistory = new List<string>();
}
//public string agentMove(Kernel.Point pLoc, Kernel.Point cLoc)
//{
// switch (cLoc.Column - pLoc.Column)
// {
// case 1:
// return "Agent Moves Right";
// case -1:
// return "Agent Moves Loft";
// }
// switch (cLoc.Row - pLoc.Row)
// {
// case 1:
// return "Agent Moves Up";
// case -1:
// return "Agent Moves Down";
// }
// return "Agent Didnt Move";
//}
public override void UpdateState(BeliefState bs)
{
Belief = bs;
int iSize = GetGridSize();
//your code here
Kernel.Matrix bMatrix = new Kernel.Matrix(new Kernel.Point((byte)iSize, (byte)iSize));
delay();
int iX = 0, iY = 0;
GetAgentLocation(out iX, out iY);
for (int i = 1; i <= iSize; i++)
for (int j = 1; j <= iSize; j++)
{
if (IsLocationBlocked(i, j))
{
Console.WriteLine("Blocked " + i + "," + j);
// if (board.Created) board.addConsoleText("Blocked " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.LCellType.Fix);
}
else if (IsPossibleLocation(i, j))
{
Console.WriteLine("Agent might be at " + i + "," + j);
// if (board.Created) board.addConsoleText("Agent might be at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.LCellType.PAgent);
}
else bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.LCellType.None);
}
Console.WriteLine("Agent at " + iX + "," + iY);
// if (board.Created)
board.addConsoleText(idx + ") Observation: " + obs + "\r\n Action: " + act + "\r\n Agent at: " + iX + "," + iY + "\r\n ----------------------------------------");
obs = "";
act = "";
//if (board.Created) board.addConsoleText(idx + ") " + "Observed:" + GetObservation(bs) + "\r\n Action:" + agentMove(cLoc, new Kernel.Point((byte)iY, (byte)iX)) + "\r\n(Agent at " + iX + "," + iY + ")\r\n ----------------------------------------");
//if (locFlg) { if (board.Created) board.addConsoleText(idx+ ") " + agentMove(cLoc, new Kernel.Point((byte)iY, (byte)iX)) + " (Agent at " + iX + "," + iY+ ")\r\n ----------------------------------------"); }
//else
//{
// locFlg = true;
// if (board.Created) board.addConsoleText(idx + ") Agent at " + iX + "," + iY + "\r\n ----------------------------------------");
//}
idx++;
cLoc = new Kernel.Point((byte)iY, (byte)iX);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - iY), (byte)(iX - 1)), Kernel.LCellType.Agent);
//if (board.Created)
// {
board.setMatrix(bMatrix);
if (board.fF == true)
{
board.fF = false;
board.stopSpeed();
}
// }
}
//public string agentMove(Kernel.Point pLoc, Kernel.Point cLoc)
//{
// switch (cLoc.Column - pLoc.Column)
// {
// case 1:
// return "Agent Moves Right";
// case -1:
// return "Agent Moves Loft";
// }
// switch (cLoc.Row - pLoc.Row)
// {
// case 1:
// return "Agent Moves Up";
// case -1:
// return "Agent Moves Down";
// }
// return "Agent Didnt Move";
//}
public override void UpdateState(BeliefState bs)
{
Belief = bs;
int iSize = GetGridSize();
//your code here
Kernel.Matrix bMatrix = new Kernel.Matrix(new Kernel.Point((byte)iSize, (byte)iSize));
delay();
int iX = 0, iY = 0;
GetAgentLocation(out iX, out iY);
for (int i = 1; i <= iSize; i++)
for (int j = 1; j <= iSize; j++)
{
if (IsUnNone(i, j) && !IsWall(i, j) && !IsDoor(i, j))
{
//Console.WriteLine("UnNone " + i + "," + j);
// if (board.Created) board.addConsoleText("Blocked " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.DCellType.UnNone);
}
else if (IsWall(i, j))
{
if (i == iX && j == iY)
{
//Console.WriteLine("Breeze and Stench at " + i + "," + j);
//if (board.Created) board.addConsoleText("Feeling Breeze at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.DCellType.AWall);
}
else
{
//Console.WriteLine("Breeze at " + i + "," + j);
//if (board.Created) board.addConsoleText("Feeling Breeze at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.DCellType.Wall);
}
}
else if (IsDoor(i, j))
{
if (i == iX && j == iY)
{
//Console.WriteLine("Breeze and Stench at " + i + "," + j);
//if (board.Created) board.addConsoleText("Feeling Breeze at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.DCellType.ADoor);
}
else
{
//Console.WriteLine("Breeze at " + i + "," + j);
//if (board.Created) board.addConsoleText("Feeling Breeze at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.DCellType.Door);
}
}
else if (IsGoal(i, j))
{
if (i == iX && j == iY)
{
//Console.WriteLine("Breeze and Stench at " + i + "," + j);
//if (board.Created) board.addConsoleText("Feeling Breeze at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.DCellType.AGoal);
}
else
{
//Console.WriteLine("Breeze at " + i + "," + j);
//if (board.Created) board.addConsoleText("Feeling Breeze at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.DCellType.Goal);
}
}
else if (i == iX && j == iY) bMatrix.addCellValue(new Kernel.Point((byte)(iSize - iY), (byte)(iX - 1)), Kernel.LCellType.Agent);
else
{
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.DCellType.None);
}
}
Console.WriteLine("Agent at " + iX + "," + iY);
// if (board.Created)
board.addConsoleText(idx + ") Observation: " + obs + "\r\n Action: " + act + "\r\n Agent at: " + iX + "," + iY + "\r\n ----------------------------------------");
obs = "";
act = "";
//if (board.Created) board.addConsoleText(idx + ") " + "Observed:" + GetObservation(bs) + "\r\n Action:" + agentMove(cLoc, new Kernel.Point((byte)iY, (byte)iX)) + "\r\n(Agent at " + iX + "," + iY + ")\r\n ----------------------------------------");
//if (locFlg) { if (board.Created) board.addConsoleText(idx+ ") " + agentMove(cLoc, new Kernel.Point((byte)iY, (byte)iX)) + " (Agent at " + iX + "," + iY+ ")\r\n ----------------------------------------"); }
//else
//{
// locFlg = true;
// if (board.Created) board.addConsoleText(idx + ") Agent at " + iX + "," + iY + "\r\n ----------------------------------------");
//}
idx++;
cLoc = new Kernel.Point((byte)iY, (byte)iX);
//if (board.Created)
// {
board.setMatrix(bMatrix);
if (board.fF == true)
{
board.fF = false;
board.stopSpeed();
}
// }
}
//public string agentMove(Kernel.Point pLoc, Kernel.Point cLoc)
//{
// switch (cLoc.Column - pLoc.Column)
// {
// case 1:
// return "Agent Moves Right";
// case -1:
// return "Agent Moves Loft";
// }
// switch (cLoc.Row - pLoc.Row)
// {
// case 1:
// return "Agent Moves Up";
// case -1:
// return "Agent Moves Down";
// }
// return "Agent Didnt Move";
//}
public override void UpdateState(BeliefState bs)
{
Belief = bs;
int iSize = GetGridSize();
//your code here
Kernel.Matrix bMatrix = new Kernel.Matrix(new Kernel.Point((byte)iSize,(byte)iSize));
delay();
int iX = 0, iY = 0;
GetAgentLocation(out iX, out iY);
cLoc = new Kernel.Point((byte)iY, (byte)iX);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - iY), (byte)(iX - 1)), Kernel.MCellType.Agent);
for (int i = 1; i <= iSize; i++)
for (int j = 1; j <= iSize; j++)
{
//if (IsUnNone(i, j))
//{
// Console.WriteLine("UnNone " + i + "," + j);
// // if (board.Created) board.addConsoleText("Blocked " + i + "," + j);
// bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.UnNone);
// bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j+1), (byte)(i - 1)), Kernel.MCellType.Pfeeling);
// //bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i)), Kernel.MCellType.Pfeeling);
// bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j - 1), (byte)(i - 1)), Kernel.MCellType.Pfeeling);
// bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 2)), Kernel.MCellType.Pfeeling);
//}
if (IsPossibaleFeeling(i, j)&&!((i==iX)&&(j==iY)))
{
//Console.WriteLine("Breeze and Stench at " + i + "," + j);
// if (board.Created) board.addConsoleText("Agent might be at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.Pfeeling);
}
if (IsUnSafe(i,j))
{
//Console.WriteLine("Breeze and Stench at " + i + "," + j);
// if (board.Created) board.addConsoleText("Agent might be at " + i + "," + j);
if (j > i) bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.UnNoneUp);
if (j < i) bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.UnNoneDown);
}
else if (IsSafe(i, j))
{
if (i == iX && j == iY)
{
//Console.WriteLine("Breeze and Stench at " + i + "," + j);
// if (board.Created) board.addConsoleText("Agent might be at " + i + "," + j);
if (j > i) bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.ANoneUp);
if (j < i) bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.ANoneDown);
}
else
{
//Console.WriteLine("Breeze and Stench at " + i + "," + j);
// if (board.Created) board.addConsoleText("Agent might be at " + i + "," + j);
if (j > i) bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.NoneUp);
if (j < i) bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.NoneDown);
}
}
else if ((IsFeelingBreeze(i, j))&&(IsFeelingStench(i, j)))
{
if (i == iX && j == iY)
{
//Console.WriteLine("Breeze and Stench at " + i + "," + j);
//if (board.Created) board.addConsoleText("Feeling Breeze & Stench at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.AbreezeStench);
}
else
{
Console.WriteLine("Breeze and Stench at " + i + "," + j);
//if (board.Created) board.addConsoleText("Feeling Breeze & Stench at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.Feeling);
}
}
else if (IsFeelingStench(i, j))
{
if (i == iX && j == iY)
{
//Console.WriteLine("Breeze and Stench at " + i + "," + j);
//if (board.Created) board.addConsoleText("Feeling Stench at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.Astench);
}
else
{
Console.WriteLine("Stench at " + i + "," + j);
//if (board.Created) board.addConsoleText("Feeling Stench at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.Stench);
}
}
else if (IsFeelingBreeze(i, j))
{
if (i == iX && j == iY)
{
//Console.WriteLine("Breeze and Stench at " + i + "," + j);
//if (board.Created) board.addConsoleText("Feeling Breeze at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.Abreeze);
}
else
{
Console.WriteLine("Breeze at " + i + "," + j);
//if (board.Created) board.addConsoleText("Feeling Breeze at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.Breeze);
}
}
if (IsWumpus(i, j) && (IsPit(i, j)))
{
Console.WriteLine("wumpus & pit at " + i + "," + j);
//if (board.Created) board.addConsoleText("Wumpus & Pit at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.WumpusPit);
}
else if (IsWumpus(i,j))
{
Console.WriteLine("wumpus at " + i + "," + j);
//if (board.Created) board.addConsoleText("wumpus at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.Wumpus);
}
else if (IsPit(i, j))
{
Console.WriteLine("pit at " + i + "," + j);
//if (board.Created) board.addConsoleText("Pit at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.Pit);
}
if (IsCrown(i, j))
{
if (i == iX && j == iY)
{
//Console.WriteLine("Breeze and Stench at " + i + "," + j);
// if (board.Created) board.addConsoleText("Agent might be at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.Acrown);
}
else
{
Console.WriteLine("gold at " + i + "," + j);
//if (board.Created) board.addConsoleText("Gold at at " + i + "," + j);
bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.MCellType.Crown);
}
}
//else bMatrix.addCellValue(new Kernel.Point((byte)(iSize - j), (byte)(i - 1)), Kernel.LCellType.None);
}
Console.WriteLine("Agent at " + iX + "," + iY);
//if (board.Created)
board.addConsoleText(idx + ") Observation: " + obs + "\r\n Action: " +act+"\r\n Agent at: " + iX + "," + iY + "\r\n ----------------------------------------");
obs = "";
act = "";
//if (board.Created) board.addConsoleText(idx + ") " +(GetObservation()!=""?"Observed:\r\n"+GetObservation():"No Observation\r\n") +"Action:\r\n"+ agentMove(cLoc, new Kernel.Point((byte)iY, (byte)iX)) + " (Agent at " + iX + "," + iY + ")\r\n ----------------------------------------");
//if (locFlg) { if (board.Created) board.addConsoleText(idx+ ") " + agentMove(cLoc, new Kernel.Point((byte)iY, (byte)iX)) + " (Agent at " + iX + "," + iY+ ")\r\n ----------------------------------------"); }
//else
//{
// locFlg = true;
// if (board.Created) board.addConsoleText(idx + ") Agent at " + iX + "," + iY + "\r\n ----------------------------------------");
//}
idx++;
//if (board.Created)
//{
board.setMatrix(bMatrix);
if (board.fF == true)
{
board.fF = false;
board.stopSpeed();
}
// }
}
internal void WriteTaggedProblem(string p, BeliefState bsCurrent)
{
throw new NotImplementedException();
}