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faultyProbability is float

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sp 11 months ago
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13974739d9
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14e6375877
2 changed files with 81 additions and 130 deletions
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  1. 201
      util/Grid.cpp
  2. 2
      util/Grid.h

201
util/Grid.cpp
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@ -8,18 +8,17 @@ prism::ModelType GridOptions::getModelType() const
if (agentsWithView.size() > 1) { if (agentsWithView.size() > 1) {
return prism::ModelType::SMG; return prism::ModelType::SMG;
} }
return prism::ModelType::MDP; return prism::ModelType::MDP;
} }
Grid::Grid(cells gridCells, cells background, const GridOptions &gridOptions, const std::map<coordinates, float> &stateRewards, const double faultyProbability)
Grid::Grid(cells gridCells, cells background, const GridOptions &gridOptions, const std::map<coordinates, float> &stateRewards, const float faultyProbability)
: allGridCells(gridCells), background(background), gridOptions(gridOptions), stateRewards(stateRewards), faultyProbability(faultyProbability) : allGridCells(gridCells), background(background), gridOptions(gridOptions), stateRewards(stateRewards), faultyProbability(faultyProbability)
{ {
cell max = allGridCells.at(allGridCells.size() - 1); cell max = allGridCells.at(allGridCells.size() - 1);
maxBoundaries = std::make_pair(max.row - 1, max.column - 1); maxBoundaries = std::make_pair(max.row - 1, max.column - 1);
std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(walls), [](cell c) { return c.type == Type::Wall; }); std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(walls), [](cell c) { return c.type == Type::Wall; });
std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(lava), [](cell c) { return c.type == Type::Lava; }); std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(lava), [](cell c) { return c.type == Type::Lava; });
std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(floor), [](cell c) { return c.type == Type::Floor; }); // TODO Add agent cells to floor
std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(floor), [](cell c) { return c.type == Type::Floor; }); // TODO CHECK IF ALL AGENTS ARE ADDED TO FLOOR
std::copy_if(background.begin(), background.end(), std::back_inserter(slipperyNorth), [](cell c) { return c.type == Type::SlipperyNorth; }); std::copy_if(background.begin(), background.end(), std::back_inserter(slipperyNorth), [](cell c) { return c.type == Type::SlipperyNorth; });
std::copy_if(background.begin(), background.end(), std::back_inserter(slipperyEast), [](cell c) { return c.type == Type::SlipperyEast; }); std::copy_if(background.begin(), background.end(), std::back_inserter(slipperyEast), [](cell c) { return c.type == Type::SlipperyEast; });
std::copy_if(background.begin(), background.end(), std::back_inserter(slipperySouth), [](cell c) { return c.type == Type::SlipperySouth; }); std::copy_if(background.begin(), background.end(), std::back_inserter(slipperySouth), [](cell c) { return c.type == Type::SlipperySouth; });
@ -130,151 +129,103 @@ void Grid::applyOverwrites(std::string& str, std::vector<Configuration>& configu
str.replace(start_pos, end_pos - start_pos , expression); str.replace(start_pos, end_pos - start_pos , expression);
} }
} }
void Grid::printToPrism(std::ostream& os, std::vector<Configuration>& configuration ,const prism::ModelType& modelType) { void Grid::printToPrism(std::ostream& os, std::vector<Configuration>& configuration ,const prism::ModelType& modelType) {
cells northRestriction;
cells eastRestriction;
cells southRestriction;
cells westRestriction;
cells walkable = floor;
cells conditionallyWalkable;
cells northRestriction, eastRestriction, southRestriction, westRestriction;
cells walkable = floor;
walkable.insert(walkable.end(), goals.begin(), goals.end()); walkable.insert(walkable.end(), goals.begin(), goals.end());
walkable.insert(walkable.end(), boxes.begin(), boxes.end()); walkable.insert(walkable.end(), boxes.begin(), boxes.end());
walkable.push_back(agent);
walkable.insert(walkable.end(), adversaries.begin(), adversaries.end()); walkable.insert(walkable.end(), adversaries.begin(), adversaries.end());
walkable.insert(walkable.end(), lava.begin(), lava.end()); walkable.insert(walkable.end(), lava.begin(), lava.end());
conditionallyWalkable.insert(conditionallyWalkable.end(), keys.begin(), keys.end());
conditionallyWalkable.insert(conditionallyWalkable.end(), lockedDoors.begin(), lockedDoors.end());
conditionallyWalkable.insert(conditionallyWalkable.end(), unlockedDoors.begin(), unlockedDoors.end());
walkable.insert(walkable.end(), keys.begin(), keys.end());
walkable.insert(walkable.end(), balls.begin(), balls.end());
for(auto const& c : walkable) { for(auto const& c : walkable) {
if(isBlocked(c.getNorth())) northRestriction.push_back(c);
if(isBlocked(c.getEast())) eastRestriction.push_back(c);
if(isBlocked(c.getSouth())) southRestriction.push_back(c);
if(isBlocked(c.getWest())) westRestriction.push_back(c);
}
// TODO Add doors here (list of doors keys etc)
// walkable.insert(walkable.end(), lockedDoors.begin(), lockedDoors.end());
// walkable.insert(walkable.end(), unlockedDoors.begin(), unlockedDoors.end());
for(auto const& c : conditionallyWalkable) {
if(isBlocked(c.getNorth())) northRestriction.push_back(c);
if(isBlocked(c.getEast())) eastRestriction.push_back(c);
if(isBlocked(c.getSouth())) southRestriction.push_back(c);
if(isBlocked(c.getWest())) westRestriction.push_back(c);
std::cout << "checking: " << c << " south of c: " << c.getSouth().first << " " << c.getSouth().second << std::endl;
if(isWall(c.getNorth())) northRestriction.push_back(c);
if(isWall(c.getEast())) eastRestriction.push_back(c);
if(isWall(c.getSouth())) southRestriction.push_back(c);
if(isWall(c.getWest())) westRestriction.push_back(c);
} }
prism::PrismModulesPrinter printer(modelType, agentNameAndPositionMap.size(), configuration, gridOptions.enforceOneWays);
printer.printModel(os, modelType);
if(modelType == prism::ModelType::SMG) {
printer.printGlobalMoveVariable(os, agentNameAndPositionMap.size());
}
for(auto const &backgroundTilesOfColor : backgroundTiles) {
for(auto agentNameAndPosition = agentNameAndPositionMap.begin(); agentNameAndPosition != agentNameAndPositionMap.end(); ++agentNameAndPosition) {
printer.printBackgroundLabels(os, agentNameAndPosition->first, backgroundTilesOfColor);
}
}
cells noTurnFloor;
if(gridOptions.enforceOneWays) {
for(auto const& c : floor) {
cell east = c.getEast(allGridCells);
cell south = c.getSouth(allGridCells);
cell west = c.getWest(allGridCells);
cell north = c.getNorth(allGridCells);
if( (east.type == Type::Wall && west.type == Type::Wall) or
(north.type == Type::Wall && south.type == Type::Wall) ) {
noTurnFloor.push_back(c);
}
}
}
cells doors;
doors.insert(doors.end(), lockedDoors.begin(), lockedDoors.end());
doors.insert(doors.end(), unlockedDoors.begin(), unlockedDoors.end());
for(auto agentNameAndPosition = agentNameAndPositionMap.begin(); agentNameAndPosition != agentNameAndPositionMap.end(); ++agentNameAndPosition) {
printer.printFormulas(os, agentNameAndPosition->first, northRestriction, eastRestriction, southRestriction, westRestriction, { slipperyNorth, slipperyEast, slipperySouth, slipperyWest }, lava, walls, noTurnFloor, slipperyNorth, slipperyEast, slipperySouth, slipperyWest, keys, doors);
printer.printGoalLabel(os, agentNameAndPosition->first, goals);
printer.printKeysLabels(os, agentNameAndPosition->first, keys);
}
std::vector<std::string> constants {"const double prop_zero = 0/9;",
"const double prop_intended = 6/9;",
"const double prop_turn_intended = 6/9;",
"const double prop_displacement = 3/9;",
"const double prop_turn_displacement = 3/9;",
"const int width = " + std::to_string(maxBoundaries.first) + ";",
"const int height = " + std::to_string(maxBoundaries.second) + ";"
};
printer.printConstants(os, constants);
std::map<std::string, cells> wallRestrictions = {{"North", northRestriction}, {"East", eastRestriction}, {"South", southRestriction}, {"West", westRestriction}};
std::map<std::string, cells> slipperyTiles = {{"North", slipperyNorth}, {"East", slipperyEast}, {"South", slipperySouth}, {"West", slipperyWest}};
std::vector<AgentName> agentNames; std::vector<AgentName> agentNames;
std::transform(agentNameAndPositionMap.begin(), std::transform(agentNameAndPositionMap.begin(),
agentNameAndPositionMap.end(), agentNameAndPositionMap.end(),
std::back_inserter(agentNames), std::back_inserter(agentNames),
[](const std::map<AgentNameAndPosition::first_type,AgentNameAndPosition::second_type>::value_type &pair){return pair.first;}); [](const std::map<AgentNameAndPosition::first_type,AgentNameAndPosition::second_type>::value_type &pair){return pair.first;});
if(modelType == prism::ModelType::SMG) {
printer.printCrashLabel(os, agentNames);
}
size_t agentIndex = 0;
printer.printInitStruct(os, agentNameAndPositionMap, keyNameAndPositionMap, lockedDoors, unlockedDoors, modelType);
for(auto agentNameAndPosition = agentNameAndPositionMap.begin(); agentNameAndPosition != agentNameAndPositionMap.end(); ++agentNameAndPosition, agentIndex++) {
AgentName agentName = agentNameAndPosition->first;
//std::cout << "Agent Name: " << agentName << std::endl;
bool agentWithView = std::find(gridOptions.agentsWithView.begin(), gridOptions.agentsWithView.end(), agentName) != gridOptions.agentsWithView.end();
bool agentWithProbabilisticBehaviour = std::find(gridOptions.agentsWithProbabilisticBehaviour.begin(), gridOptions.agentsWithProbabilisticBehaviour.end(), agentName) != gridOptions.agentsWithProbabilisticBehaviour.end();
std::set<std::string> slipperyActions; // TODO AGENT POSITION INITIALIZATIN
if(agentWithProbabilisticBehaviour) printer.printModule(os, agentName, agentIndex, maxBoundaries, agentNameAndPosition->second, keys, backgroundTiles, agentWithView, gridOptions.probabilitiesForActions);
else printer.printModule(os, agentName, agentIndex, maxBoundaries, agentNameAndPosition->second, keys, backgroundTiles, agentWithView, {} ,faultyProbability);
for(auto const& c : slipperyNorth) {
printer.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::North);
if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::North);
}
for(auto const& c : slipperyEast) {
printer.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::East);
if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::East);
}
for(auto const& c : slipperySouth) {
printer.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::South);
if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::South);
}
for(auto const& c : slipperyWest) {
printer.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::West);
if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::West);
}
printer.printEndmodule(os);
std::string agentName = agentNames.at(0);
if(modelType == prism::ModelType::SMG) {
if(agentWithProbabilisticBehaviour) printer.printPlayerStruct(os, agentNameAndPosition->first, agentWithView, gridOptions.probabilitiesForActions, slipperyActions);
else printer.printPlayerStruct(os, agentNameAndPosition->first, agentWithView, {}, slipperyActions);
}
//if(!stateRewards.empty()) {
printer.printRewards(os, agentName, stateRewards, lava, goals, backgroundTiles);
//}
prism::PrismFormulaPrinter formulas(os, wallRestrictions, boxes, balls, lockedDoors, unlockedDoors, keys, slipperyTiles, lava, goals);
prism::PrismModulesPrinter modules(os, modelType, maxBoundaries, boxes, balls, lockedDoors, unlockedDoors, keys, slipperyTiles, agentNameAndPositionMap, configuration, faultyProbability);
modules.printModelType(modelType);
for(const auto &agentName : agentNames) {
formulas.print(agentName);
} }
if(modelType == prism::ModelType::SMG) modules.printGlobalMoveVariable(os, agentNameAndPositionMap.size());
std::vector<std::string> constants {"const double prop_zero = 0/9;",
"const double prop_intended = 6/9;",
"const double prop_turn_intended = 6/9;",
"const double prop_displacement = 3/9;",
"const double prop_turn_displacement = 3/9;",
"const int width = " + std::to_string(maxBoundaries.first) + ";",
"const int height = " + std::to_string(maxBoundaries.second) + ";"
};
modules.printConstants(os, constants);
modules.print();
//modules.printInitStruct(os, agentNameAndPositionMap, keyNameAndPositionMap, lockedDoors, unlockedDoors, modelType);
//size_t agentIndex = 0;
//for(auto agentNameAndPosition = agentNameAndPositionMap.begin(); agentNameAndPosition != agentNameAndPositionMap.end(); ++agentNameAndPosition, agentIndex++) {
// AgentName agentName = agentNameAndPosition->first;
// //std::cout << "Agent Name: " << agentName << std::endl;
// bool agentWithView = std::find(gridOptions.agentsWithView.begin(), gridOptions.agentsWithView.end(), agentName) != gridOptions.agentsWithView.end();
// bool agentWithProbabilisticBehaviour = std::find(gridOptions.agentsWithProbabilisticBehaviour.begin(), gridOptions.agentsWithProbabilisticBehaviour.end(), agentName) != gridOptions.agentsWithProbabilisticBehaviour.end();
// std::set<std::string> slipperyActions; // TODO AGENT POSITION INITIALIZATIN
// if(agentWithProbabilisticBehaviour) modules.printModule(os, agentName, agentIndex, maxBoundaries, agentNameAndPosition->second, keys, backgroundTiles, agentWithView, gridOptions.probabilitiesForActions);
// else modules.printModule(os, agentName, agentIndex, maxBoundaries, agentNameAndPosition->second, keys, backgroundTiles, agentWithView, {} ,faultyProbability);
// for(auto const& c : slipperyNorth) {
// modules.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::North);
// if(!gridOptions.enforceOneWays) modules.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::North);
// }
// for(auto const& c : slipperyEast) {
// modules.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::East);
// if(!gridOptions.enforceOneWays) modules.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::East);
// }
// for(auto const& c : slipperySouth) {
// modules.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::South);
// if(!gridOptions.enforceOneWays) modules.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::South);
// }
// for(auto const& c : slipperyWest) {
// modules.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::West);
// if(!gridOptions.enforceOneWays) modules.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::West);
// }
// modules.printEndmodule(os);
// if(modelType == prism::ModelType::SMG) {
// if(agentWithProbabilisticBehaviour) modules.printPlayerStruct(os, agentNameAndPosition->first, agentWithView, gridOptions.probabilitiesForActions, slipperyActions);
// else modules.printPlayerStruct(os, agentNameAndPosition->first, agentWithView, {}, slipperyActions);
// }
//if(!stateRewards.empty()) {
// modules.printRewards(os, agentName, stateRewards, lava, goals, backgroundTiles);
//}
//}
if (!configuration.empty()) { if (!configuration.empty()) {
printer.printConfiguration(os, configuration);
modules.printConfiguration(os, configuration);
} }
// TODO CHANGE HANDLING
std::string agentName = agentNames.at(0);
for (auto const & key : keys) {
os << "\n";
printer.printKeyModule(os, key, maxBoundaries, agentName);
printer.printEndmodule(os);
}
for (auto const& door : lockedDoors) {
os << "\n";
printer.printDoorModule(os, door, maxBoundaries, agentName);
printer.printEndmodule(os);
}
} }

2
util/Grid.h
View File

@ -65,5 +65,5 @@ class Grid {
std::map<Color, cells> backgroundTiles; std::map<Color, cells> backgroundTiles;
std::map<coordinates, float> stateRewards; std::map<coordinates, float> stateRewards;
float faultyProbability;
const float faultyProbability;
}; };
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