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);
}
private MazeState Apply(MazeAction ma, bool bSuccess)
{
if (m_mdMaze.IsTargetSqaure(this) && ma.Name == "Forward")
{
return(new MazeState(-1, -1, Direction.North, m_mdMaze));
}
if (X == -1 && Y == -1)
{
return(this);
}
if (!bSuccess)
{
return(this);
}
if (ma.Name == "TurnLeft")
{
return(new MazeState(X, Y, TurnLeft(CurrentDirection), m_mdMaze));
}
if (ma.Name == "TurnRight")
{
return(new MazeState(X, Y, TurnRight(CurrentDirection), m_mdMaze));
}
if (ma.Name == "Forward")
{
int iEndX = 0, iEndY = 0;
Forward(X, Y, out iEndX, out iEndY);
if (iEndX != X || iEndY != Y)
{
return(new MazeState(iEndX, iEndY, CurrentDirection, m_mdMaze));
}
}
return(this);
}
public override State Apply(Action a)
{
MazeAction ma = (MazeAction)a;
if (RandomGenerator.NextDouble() < ActionSuccessProbability)
{
return(Apply(ma, true));
}
else
{
return(Apply(ma, false));
}
}
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);
}
}
}
