@Override
public double weight(Observable observable) {
// Shape/stack.
if (!(observable instanceof Shape || observable instanceof Stack)) {
return 0;
}
Position p1 = observable.referencePoint();
// Landmarks.
for (ObservableHypothesis hypothesis : landmarkDistribution) {
Observable landmark = hypothesis.observable();
double weight = hypothesis.weight();
// Gripper / active position.
if (landmark instanceof Gripper || landmark instanceof ActivePosition) {
Position p2 = landmark.referencePoint();
if (p1.x() == p2.x() && p1.y() == p2.y()) {
return weight;
}
continue;
}
// Not supported.
throw new RoboticException("%s below %s is not supported.", observable, landmark);
}
return 0;
}
@Override
public DestinationDistribution destinations(PlannerContext context) {
DestinationDistribution destinations = new DestinationDistribution(layout);
for (ObservableHypothesis hypothesis : landmarkDistribution) {
Observable landmark = hypothesis.observable();
double weight = hypothesis.weight();
// Gripper / active position.
if (landmark instanceof Gripper || landmark instanceof ActivePosition) {
destinations.add(
new DestinationHypothesis(
(context.simulator().dropPosition(landmark.referencePoint())), null, weight));
}
// Not supported.
else {
throw new RoboticException(
"Below destination is not supported with landmark %s.", landmark);
}
}
destinations.normalize();
return destinations;
}