public override ACTION_TYPE decideAction(MDPPerception <STATE_TYPE> perception)
{
if (!(utilityFunction.hasUtilityFor(perception.getState()))) // if
// perceptionState
// is
// new
{
utilityFunction.setUtility(perception.getState(), perception
.getReward());
mdp.setReward(perception.getState(), perception.getReward());
}
if (!(previousState == null))
{
stateCount.incrementFor(previousState);
utilityFunction = updateUtilityFunction(1.0);
}
if (mdp.isTerminalState(currentState))
{
previousState = default(STATE_TYPE);
previousAction = default(ACTION_TYPE);
previousReward = double.MinValue;
}
else
{
previousState = currentState;
previousAction = policy.getAction(currentState);
previousReward = currentReward;
}
return(previousAction);
}
public override ACTION_TYPE decideAction(MDPPerception <STATE_TYPE> perception)
{
if (!(utilityFunction.hasUtilityFor(perception.getState())))
{ // if
// perceptionState
// is
// new
utilityFunction.setUtility(perception.getState(), perception
.getReward());
mdp.setReward(perception.getState(), perception.getReward());
}
if (!(previousState == null))
{
Pair <STATE_TYPE, ACTION_TYPE> prevState = new Pair <STATE_TYPE, ACTION_TYPE>(previousState, previousAction);
if (!nsa.ContainsKey(prevState))
{
nsa.Add(prevState, 1.0);
}
else
{
nsa[prevState]++;
}
MDPTransition <STATE_TYPE, ACTION_TYPE> prevTransition = new MDPTransition <STATE_TYPE, ACTION_TYPE>(
previousState, previousAction, currentState);
if (!nsasdash.ContainsKey(prevTransition))
{
nsasdash.Add(prevTransition, 1.0);
}
else
{
nsasdash[prevTransition]++;
}
foreach (MDPTransition <STATE_TYPE, ACTION_TYPE> transition in nsasdash
.Keys)
{
if (nsasdash[transition] != 0.0)
{
double newValue = nsasdash[transition]
/ nsa[new Pair <STATE_TYPE, ACTION_TYPE>(
transition.getInitialState(), transition
.getAction())];
mdp.setTransitionProbability(transition, newValue);
}
}
List <MDPTransition <STATE_TYPE, ACTION_TYPE> > validTransitions = mdp
.getTransitionsWith(previousState, policy
.getAction(previousState));
utilityFunction = valueDetermination(validTransitions, 1);
}
if (mdp.isTerminalState(currentState))
{
previousState = default(STATE_TYPE);
previousAction = default(ACTION_TYPE);
}
else
{
previousState = currentState;
previousAction = policy.getAction(currentState);
}
return(previousAction);
}
