public static Observation makeObservationFor(POMDPDomain d, GroundedAction a, POMDPState s) {
ObjectInstance indexer = s.getObject(Names.OBJ_INDEXER);
int index = indexer.getDiscValForAttribute(Names.ATTR_INDEX);
if (index == iterations) {
return d.getObservation(Names.OBS_COMPLETE);
}
ObjectInstance leftDoor = s.getObject(Names.OBJ_LEFT_DOOR);
ObjectInstance rightDoor = s.getObject(Names.OBJ_RIGHT_DOOR);
int leftDoorTiger = leftDoor.getDiscValForAttribute(Names.ATTR_TIGERNESS);
java.util.Random random = new java.util.Random();
if (a.action.getName().equals(Names.ACTION_LISTEN)) {
Observation left =
d.getObservation(Names.OBS_LEFT_DOOR + random.nextInt(observationsPerState));
Observation right =
d.getObservation(Names.OBS_RIGHT_DOOR + random.nextInt(observationsPerState));
if (leftDoorTiger == 1) {
return random.nextDouble() < 1 - noise ? left : right;
} else {
return random.nextDouble() < 1 - noise ? right : left;
}
} else {
return d.getObservation(Names.OBS_NULL);
}
}
@Override
public State performActionHelper(State st, String[] params) {
POMDPState ps = new POMDPState(st);
int index = ps.getObject(Names.OBJ_INDEXER).getDiscValForAttribute(Names.ATTR_INDEX);
ps.getObject(Names.OBJ_INDEXER).setValue(Names.ATTR_INDEX, index + 1);
boolean doorChoice = new java.util.Random().nextBoolean();
ps.getObject(Names.OBJ_LEFT_DOOR).setValue(Names.ATTR_TIGERNESS, doorChoice ? 0 : 1);
ps.getObject(Names.OBJ_RIGHT_DOOR).setValue(Names.ATTR_TIGERNESS, doorChoice ? 1 : 0);
return ps;
}
