public State<double> updateBelief(CS8803AGA.PsychSim.State.Action a, double evidance)
{
setBelief();
State<Double> temp = new State<Double>(3, 3, 0);
foreach (var s in mdp.GetStates())
{
foreach (var sDelta in mdp.GetStates())
{
var t = temp.getCellAt(sDelta.getX(), sDelta.getY());
Double x = t.getContent();
x += mdp.transitionProbability(sDelta, s, a) * (belief.getCellAt(sDelta.getX(), sDelta.getY()).getContent());
t.setContent(x);
}
}
double alpha = 1.56;
foreach (var s in mdp.GetStates())
{
var b = belief.getCellAt(s.getX(), s.getY());
Double x = alpha * (sensor.senses(evidance, s)) * (temp.getCellAt(s.getX(), s.getY()).getContent());
b.setContent(x);
}
return belief;
}
public override void act(CS8803AGA.collision.Collider mover, bool shouting)
{
setFlags();
GameplayManager.say(getDialogue(shouting));
if (hasForm && !hasSignature)
{
GameplayManager.Game.Keys[GameState.GameFlag.REGISTRAR_SIGNED_FORM] = true;
}
}
private List<Cell<Double>> possibleOutcomes(Cell<Double> c, CS8803AGA.PsychSim.State.Action a)
{
List<Cell<Double>> outcomes = new List<Cell<Double>>();
outcomes.Add(state.result(c, a));
outcomes.Add(state.result(c, a.getFirstRightAngledAction()));
outcomes.Add(state.result(c, a.getSecondRightAngledAction()));
return outcomes;
}
public double probability(Cell<Double> sDelta, Cell<Double> s, CS8803AGA.PsychSim.State.Action a)
{
double prob = 0;
List<Cell<Double>> outcomes = possibleOutcomes(s, a);
for (int i = 0; i < outcomes.Count; i++)
{
if (sDelta.Equals(outcomes[i]))
{
prob += distribution[i];
}
}
return prob;
}
public Cell<Double> getNextState(CS8803AGA.PsychSim.State.Action a, Cell<Double> c)
{
int x = a.getXResult(c.getX());
int y = a.getYResult(c.getY());
return this.mdp.S.cellLookup[x][y];
}
public override void handleImpact(CS8803AGA.collision.Collider mover)
{
// don't actually care about things moving through it, just what it's touching while it's alive
}
public double transitionProbability(Cell<Double> sDelta, Cell<Double> s, CS8803AGA.PsychSim.State.Action a)
{
return transitionProbabilityFunction.probability(sDelta, s, a);
}
