public override Queue <Location> ExtractPlan(Subject s, Intention i, Beliefs b, List <Location> path)
{
Queue <Location> plan = new Queue <Location>();
Location dest = new Location();
HashSet <Location> fov = FOV.GetFov(b.Agents[i.ID].Direction, b.Agents[i.ID].Location);
if (fov.Except(FOV.GetSharedFov(s, b.Agents[i.ID])).Count() > 0)
{
dest = Util.RandomElement(fov.Except(FOV.GetSharedFov(s, b.Agents[i.ID])).ToList(), s.Location);
}
else
{
dest = Util.RandomElement(fov.ToList(), s.Location);
}
FlankNode fNode = new FlankNode(null, dest, b.Agents[i.ID].Location)
{
CurLocation = new Location(s.Location),
Obstacles = new HashSet <Location>(b.Obstacles.Keys)
};
fNode.Obstacles.UnionWith(Util.GetDynamicObstacles(s.ID, s.Location, b));
plan = Planner.Search(fNode);
return(plan);
}
// The agent generates audio and vision percept from the locations
// within the agent's field of view.
protected List <IPercept> Perceive()
{
HashSet <Location> fov = FOV.GetFov(Direction, Location);
VisionPercept p = Sight.Perceive(ID, fov);
AudioPercept p2 = Hearing.Perceive(ID, Location);
Piece.DisplayFeature(fov.ToList(), Feature.Vision);
Piece.DisplayFeature(fov.Intersect(Manager.Board.Obstacles.Keys).ToList(), Feature.Obstacle);
Piece.DisplayFeature(fov.Intersect(Manager.Board.Foods.Keys).ToList(), Feature.Food);
return(new List <IPercept>()
{
p, p2
});
}