private Goal <int[], actionType> selectGoal(int[] state, int maxLevel, List <actionType> availableActions)
{
Goal <int[], actionType> newGoal = new Goal <int[], actionType>(-1, null, default(actionType), null, double.NegativeInfinity, null, null);
double[][] values = new double[models.Length][];
for (int i = 0; i <= maxLevel; i++)
{
int[] thisState = stateTree.GetParentState(state, i);
values[i] = models[i].value(thisState, availableActions);
}
// the default new goal will be the best lowest-level goal
for (int i = 0; i < availableActions.Count(); i++)
{
if (values[0][i] > newGoal.value || newGoal == null)
{
int[] goalState = models[0].PredictNextState(state, availableActions.ElementAt(i)); /// might need to find best possible next state instead
newGoal = new Goal <int[], actionType>(0, state, availableActions.ElementAt(i), goalState, values[0][i], stateComparer, actionComparer);
}
}
// find the best action at any allowed level
for (int l = Math.Max(minLevel, 1); l <= maxLevel; l++)
{
int[] thisState = stateTree.GetParentState(state, l);
for (int i = 0; i < availableActions.Count(); i++)
{
int[] thisGoal = models[l].PredictNextState(thisState, availableActions.ElementAt(i));
if (thisGoal == null)
{
continue;
}
Goal <int[], actionType> candidateGoal = new Goal <int[], actionType>(l, thisState, availableActions.ElementAt(i), thisGoal, values[l][i], stateComparer, actionComparer);
// check if the goal is allowed
if ((currentGoal.goalState != null) && (l < currentGoal.level))
{
int[] temp = stateTree.GetParentState(thisGoal, currentGoal.level - l);
if (!stateComparer.Equals(temp, currentGoal.goalState))
{
continue;
}
}
else if ((currentGoal.goalState != null) && (l == currentGoal.level) && (candidateGoal.value < currentGoal.value))
{
continue;
}
if (candidateGoal.value > newGoal.value)
{
if (l > 0 && values[l][i] <= 0)//
{
continue;
}
newGoal = candidateGoal;
}
}
}
return(newGoal);
}
