public int ComputeProbabilisticDestinationFloor(int currentFloor, int floorBound)
{
double[] distrib = new double[floorBound + 1];
ProbabilityHelper.SetUniformDistribution(distrib);
int expected = currentFloor + RelativeFloor;
if (expected <= floorBound && expected >= 0)
{
distrib[expected] = SuccessProb;
ProbabilityHelper.NormalizePdf(distrib, 0);
}
ProbabilityHelper.PdfToCdf(distrib);
return(ProbabilityHelper.Sample(distrib));
}
public NavigationSystem(World world)
{
Point upper = world.UpperBound;
WorldShape = new int[] { upper.X + 1, upper.Y + 1, upper.Z + 1, 4 };
_strides = MathHelper.GetIndexStrides(WorldShape);
int length = WorldShape[0] * WorldShape[1] * WorldShape[2] * WorldShape[3];
_belief = new double[length];
_viewMap = new int[length];
_occupancyMap = new int[length / 4];
_tempPdf = new double[length];
_gaussianKernel = ProbabilityHelper.NormalDistribution(0, _translationStd);
//Инициализация убеждения равномерным распределением
ProbabilityHelper.SetUniformDistribution(_belief);
FillMaps(world);
}