public Model UpdateModel(State currentState, AIAction action, State resultState, double reward)
{
if (currentState.IsEqual(resultState))
{
return(this);
}
List <KeyValuePair <StateAction, StateReward> > result = new List <KeyValuePair <StateAction, StateReward> >(ModelWorld);
StateAction stateAction;
StateReward stateReward;
stateAction.state = currentState;
stateAction.action = action;
stateReward = result.Find(x => x.Key.action.IsEqual(action) &&
x.Key.state.IsEqual(currentState) &&
x.Value.state.IsEqual(resultState)).Value;
if (stateReward == null)
{
stateReward = new StateReward();
stateReward.reward = reward;
stateReward.state = resultState;
result.Add(new KeyValuePair <StateAction, StateReward>(stateAction, stateReward));
return(new Model(result));
}
if (Math.Abs(stateReward.reward) <= reward)
{
stateReward.reward = reward;
}
return(new Model(result));
}
private void BackwardUpdatePriorityQueue(Model model, StateAction currentStateAction)
{
foreach (var item in model.FindPreviousStateActions(currentStateAction.state))
{
StateReward stateReward = model.GetStateReward(currentStateAction);
if (stateReward == null)
{
return;
}
double priority = getPriority(currentStateAction.state, item.state, item.action, stateReward.reward);
if (Math.Abs(priority) > 0.0001)
{
priorityQueue.Push(priority, item);
}
}
}
public void Plan(PlanningDetails details)
{
double priority = getPriority(details.currentState, details.nextState, details.action, details.reward);
if (Math.Abs(priority) > 0.0001)
{
priorityQueue.Push(priority, details.CurrentStateAction);
}
for (int i = 0; i < details.cycleRate && !priorityQueue.IsEmpty(); i++)
{
StateAction currentStateAction = priorityQueue.Pop();
StateReward nextStateReward = details.model.GetStateReward(currentStateAction);
if (nextStateReward != null)
{
StepDetails stepDetails;
stepDetails.currentState = currentStateAction.state;
stepDetails.action = currentStateAction.action;
stepDetails.nextState = nextStateReward.state;
stepDetails.reward = nextStateReward.reward;
updateValues(stepDetails);
}
BackwardUpdatePriorityQueue(details.model, currentStateAction);
}
}
