public override double ObservationProbability(Action a, Observation o)
{
MazeObservation oTruth = m_mdMaze.GetWallConfiguration(this);
MazeObservation mo = (MazeObservation)o;
return(mo.ProbabilitySame(oTruth));
}
public override bool Equals(Object obj)
{
if (obj == null)
{
return(false);
}
else if (GetType() != obj.GetType())
{
return(false);
}
else
{
MazeObservation o = (MazeObservation)obj;
return(this.RightWall == o.RightWall && this.BackWall == o.BackWall && this.FrontWall == o.FrontWall && this.LeftWall == o.LeftWall);
}
}
public double ProbabilitySame(MazeObservation oTruth)
{
double dProb = 1.0;
if (FrontWall == oTruth.FrontWall)
{
dProb *= WALL_DETECTION_ACCURACY;
}
else
{
dProb *= (1 - WALL_DETECTION_ACCURACY);
}
if (RightWall == oTruth.RightWall)
{
dProb *= WALL_DETECTION_ACCURACY;
}
else
{
dProb *= (1 - WALL_DETECTION_ACCURACY);
}
if (LeftWall == oTruth.LeftWall)
{
dProb *= WALL_DETECTION_ACCURACY;
}
else
{
dProb *= (1 - WALL_DETECTION_ACCURACY);
}
if (BackWall == oTruth.BackWall)
{
dProb *= WALL_DETECTION_ACCURACY;
}
else
{
dProb *= (1 - WALL_DETECTION_ACCURACY);
}
return(dProb);
}