public virtual ISatisfactionRate GetESR(Goal goal, IEnumerable <GoalException> activeResolutions)
{
ObstructionResolutionSuperset os;
if (!obstructionSupersets.ContainsKey(goal.Identifier))
{
os = new ObstructionResolutionSuperset(goal);
}
else
{
os = obstructionSupersets[goal.Identifier];
}
var vector = new SamplingVector(_model);
return(new DoubleSatisfactionRate(1.0 - os.GetProbability(vector, activeResolutions)));
}
public ISatisfactionRate GetESR(Goal goal, IEnumerable <Obstacle> onlyObstacles)
{
ObstructionResolutionSuperset os;
if (!obstructionSupersets.ContainsKey(goal.Identifier))
{
os = new ObstructionResolutionSuperset(goal);
}
else
{
os = obstructionSupersets[goal.Identifier];
}
var vector = new SamplingVector(_model, onlyObstacles?.Select(x => x.Identifier)?.ToHashSet());
var value = 1.0 - os.GetProbability(vector);
return(new DoubleSatisfactionRate(value));
}