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);
}
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;
}
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));
}
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);
}
}
}
public override bool IsGoalState(State s)
{
MazeState ms = (MazeState)s;
return(ms.X == -1 && ms.Y == -1);
}
public bool IsTargetSqaure(MazeState ms)
{
return(ms.X == m_iGoalSquareX && ms.Y == m_iGoalSquareY);
}
public override bool Equals(object obj)
{
MazeState s = (MazeState)obj;
return(s.X == X && s.Y == Y && s.CurrentDirection == CurrentDirection);
}
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);
}
}
