コード例 #1
0
        public override double TransitionProbability(Action a, State sTag)
        {
            MazeAction ma = (MazeAction)a;

            if (m_mdMaze.IsTargetSqaure(this) && ma.Name == "Forward")
            {
                if (m_mdMaze.IsGoalState(sTag))
                {
                    return(1.0);
                }
                return(0.0);
            }

            double dProb = 0.0;

            if (sTag.Equals(this))
            {
                dProb += 1 - ActionSuccessProbability;
            }
            MazeState s = Apply(ma, true);

            if (s.Equals(sTag))
            {
                dProb += ActionSuccessProbability;
            }
            return(dProb);
        }
コード例 #2
0
ファイル: MazeViewer.cs プロジェクト: abadied/AI_POMDP
 internal MazeViewer(MazeDomain maze)
 {
     InitializeComponent();
     m_mdMaze            = maze;
     Size                = new Size(m_mdMaze.Width * SCALE + 50, 100 + (m_mdMaze.Height + 3) * SCALE);
     MazePictureBox.Size = new Size(m_mdMaze.Width * SCALE, (m_mdMaze.Height + 3) * SCALE);
     RefreshForm         = new RefreshDelegate(RefreshFormMethod);
     HideForm            = new HideDelegate(HideFormMethod);
     CurrentState        = null;
     SetStyle(ControlStyles.OptimizedDoubleBuffer | ControlStyles.UserPaint | ControlStyles.SupportsTransparentBackColor | ControlStyles.AllPaintingInWmPaint, true);
     Active             = false;
     m_bThreadRunning   = false;
     CurretnUpdateState = null;
 }
コード例 #3
0
        public MazeObservation GetWallConfiguration(MazeState s)
        {
            MazeState.Direction d = s.CurrentDirection;
            int iObservation      = 0;
            int iDirection        = 0;

            for (iDirection = 0; iDirection < 4; iDirection++)
            {
                iObservation *= 2;
                if (WallInDirection(s.X, s.Y, d))
                {
                    iObservation++;
                }
                d = s.TurnRight(d);
            }
            return(new MazeObservation(iObservation));
        }
コード例 #4
0
        public override IEnumerable <State> Successors(Action a)
        {
            MazeAction ma = (MazeAction)a;

            if (m_mdMaze.IsTargetSqaure(this) && ma.Name == "Forward")
            {
                yield return(new MazeState(-1, -1, Direction.North, m_mdMaze));
            }
            else
            {
                yield return(this);

                MazeState sTag = Apply(ma, true);
                if (sTag != this)
                {
                    yield return(sTag);
                }
            }
        }
コード例 #5
0
        public override bool IsGoalState(State s)
        {
            MazeState ms = (MazeState)s;

            return(ms.X == -1 && ms.Y == -1);
        }
コード例 #6
0
 public bool IsTargetSqaure(MazeState ms)
 {
     return(ms.X == m_iGoalSquareX && ms.Y == m_iGoalSquareY);
 }
コード例 #7
0
        public override bool Equals(object obj)
        {
            MazeState s = (MazeState)obj;

            return(s.X == X && s.Y == Y && s.CurrentDirection == CurrentDirection);
        }
コード例 #8
0
ファイル: MazeViewer.cs プロジェクト: abadied/AI_POMDP
        private void DrawTrial(Graphics g)
        {
            Pen pThin = new Pen(Color.Black, 2);
            Pen pThick = new Pen(Color.Black, 5);
            int iX = 0, iY = 0;
            int iStartX = 0, iStartY = 0;
            int iEndX = iStartX, iEndY = iStartY;

            //g.FillRegion(Brushes.Gray, MazePictureBox.Region);

            for (iX = 0; iX < m_mdMaze.Width; iX++)
            {
                for (iY = 0; iY < m_mdMaze.Height; iY++)
                {
                    if (!m_mdMaze.BlockedSquare(iX, iY))
                    {
                        if (m_mdMaze.IsTargetSqaure(iX, iY))
                        {
                            g.FillRectangle(Brushes.Green, iX * SCALE, iY * SCALE, SCALE, SCALE);
                        }
                        else
                        {
                            g.FillRectangle(Brushes.White, iX * SCALE, iY * SCALE, SCALE, SCALE);
                        }
                        g.DrawRectangle(pThin, iX * SCALE, iY * SCALE, SCALE, SCALE);
                    }
                }
            }
            g.FillEllipse(Brushes.Yellow, CurrentState.X * SCALE + 2, CurrentState.Y * SCALE + 2, SCALE - 4, SCALE - 4);

            foreach (KeyValuePair <State, double> pair in CurrentBelief.Beliefs(0.01))
            {
                MazeState ms = (MazeState)pair.Key;
                Pen       p1 = new Pen(Color.Blue, (float)Math.Max(1, 20 * pair.Value));
                iStartX = (int)((ms.X + 0.5) * SCALE);
                iStartY = (int)((ms.Y + 0.5) * SCALE);
                iEndX   = iStartX;
                iEndY   = iStartY;
                if (ms.CurrentDirection == MazeState.Direction.North)
                {
                    iEndY -= SCALE / 2;
                }
                if (ms.CurrentDirection == MazeState.Direction.South)
                {
                    iEndY += SCALE / 2;
                }
                if (ms.CurrentDirection == MazeState.Direction.East)
                {
                    iEndX += SCALE / 2;
                }
                if (ms.CurrentDirection == MazeState.Direction.West)
                {
                    iEndX -= SCALE / 2;
                }
                g.DrawLine(p1, iStartX, iStartY, iEndX, iEndY);
            }
            if (CurrentState != null)
            {
                iStartX = (int)((CurrentState.X + 0.5) * SCALE);
                iStartY = (int)((CurrentState.Y + 0.5) * SCALE);
                iEndX   = iStartX;
                iEndY   = iStartY;
                if (CurrentState.CurrentDirection == MazeState.Direction.North)
                {
                    iEndY -= SCALE / 2;
                }
                if (CurrentState.CurrentDirection == MazeState.Direction.South)
                {
                    iEndY += SCALE / 2;
                }
                if (CurrentState.CurrentDirection == MazeState.Direction.East)
                {
                    iEndX += SCALE / 2;
                }
                if (CurrentState.CurrentDirection == MazeState.Direction.West)
                {
                    iEndX -= SCALE / 2;
                }
                g.DrawLine(pThick, iStartX, iStartY, iEndX, iEndY);
            }
            Text = CurrentState.ToString();
            if (CurrentObservation.FrontWall)
            {
                iStartX = 0;
                iStartY = (m_mdMaze.Height + 1) * SCALE;
                iEndX   = SCALE;
                iEndY   = iStartY;
                g.DrawLine(pThick, iStartX, iStartY, iEndX, iEndY);
            }
            if (CurrentObservation.RightWall)
            {
                iStartX = SCALE;
                iStartY = (m_mdMaze.Height + 1) * SCALE;
                iEndX   = iStartX;
                iEndY   = iStartY + SCALE;
                g.DrawLine(pThick, iStartX, iStartY, iEndX, iEndY);
            }
            if (CurrentObservation.BackWall)
            {
                iStartX = 0;
                iStartY = (m_mdMaze.Height + 2) * SCALE;
                iEndX   = SCALE;
                iEndY   = iStartY;
                g.DrawLine(pThick, iStartX, iStartY, iEndX, iEndY);
            }
            if (CurrentObservation.LeftWall)
            {
                iStartX = 0;
                iStartY = (m_mdMaze.Height + 1) * SCALE;
                iEndX   = 0;
                iEndY   = iStartY + SCALE;
                g.DrawLine(pThick, iStartX, iStartY, iEndX, iEndY);
            }
        }