// 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);
}
}
// Stores and returns the objects within the agents FOV in a percept.
public static VisionPercept Perceive(char agtID, HashSet <Location> locs)
{
VisionPercept p = new VisionPercept
{
Locations = new HashSet <Location>(locs)
};
foreach (Location loc in locs)
{
foreach (char id in Manager.Board.Agents.Keys)
{
if (id == agtID)
{
continue;
}
if (Util.AgentAt(id, loc))
{
p.Agents[id] = new Subject(id, loc, Manager.Board.Agents[id].Direction);
}
}
if (Util.ObstacleAt(loc))
{
p.Obstacles.Add(loc, new Obstacle(loc));
}
if (Util.FoodAt(loc))
{
p.Foods.Add(loc, new Food(loc));
}
}
return(p);
}
public Beliefs()
{
Agents = new Dictionary <char, Subject>();
Obstacles = new Dictionary <Location, Obstacle>();
Foods = new Dictionary <Location, Food>();
Rooms = new Dictionary <char, Room>();
Sees = new VisionPercept();
Hears = new AudioPercept();
ToM = new Dictionary <char, Beliefs>();
}
// 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
});
}
// The percepts are passed to the belief-revision function, which updates
// the agent's beliefs.
protected virtual Beliefs BRF(Beliefs b, List <IPercept> p)
{
VisionPercept vp = new VisionPercept();
AudioPercept ap = new AudioPercept();
foreach (IPercept ip in p)
{
if (ip is VisionPercept)
{
vp = (VisionPercept)ip;
}
else
{
ap = (AudioPercept)ip;
}
}
b.Update(vp);
b.Update(ap);
return(b);
}
// This method receives a vision percept which updates the
// agent's beliefs about its surroundings.
public void Update(VisionPercept vp)
{
Sees = vp;
List <char> aIDs = new List <char>(vp.Agents.Keys);
foreach (char id in aIDs)
{
Agents[id] = vp.Agents[id];
}
List <Location> fLocs = new List <Location>(vp.Foods.Keys);
foreach (Location loc in fLocs)
{
Foods[loc] = vp.Foods[loc];
}
List <Location> oLocs = new List <Location>(vp.Obstacles.Keys);
foreach (Location loc in oLocs)
{
Obstacles[loc] = vp.Obstacles[loc];
}
List <char> rIDs = new List <char>(Rooms.Keys);
foreach (char id in rIDs)
{
Rooms[id].ExploreTiles(vp.Locations);
if (Rooms[id].IsExplored())
{
Rooms.Remove(id);
}
}
}
