// The recursive higher-order observation method as described in the thesis.
// It has a height limiter to specify the desired max order of observation.
public void UpdateToM(Subject s, Beliefs b, HashSet <Location> fov, int height)
{
if (height == 0 || b.Sees.Agents.Count == 0)
{
return;
}
foreach (KeyValuePair <char, Subject> kvp in b.Sees.Agents)
{
HashSet <Location> intersectFov = FOV.GetSharedFov(kvp.Value, s);
VisionPercept vp = Sight.Perceive(kvp.Key, intersectFov);
AudioPercept ap = Hearing.Perceive(kvp.Key, kvp.Value.Location);
if (!b.ToM.ContainsKey(kvp.Key))
{
b.ToM.Add(kvp.Key, new Beliefs());
}
b.ToM[kvp.Key].Update(vp);
b.ToM[kvp.Key].Update(ap);
UpdateToM(kvp.Value, b.ToM[kvp.Key], intersectFov, height - 1);
}
}
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);
}