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Minigrid2PRISM
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added turn propabilty

pull/3/head
Thomas Knoll 11 months ago
parent
dfb882edb3
commit
aa01214097
2 changed files with 23 additions and 18 deletions
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  1. 3
      util/Grid.cpp
  2. 38
      util/PrismModulesPrinter.cpp

3
util/Grid.cpp
View File

@ -249,8 +249,9 @@ void Grid::printToPrism(std::ostream& os, std::vector<Configuration>& configurat
}
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_displacement_half = prop_discplacement * 1/2;",
"const double prop_turn_displacement = 3/9;",
};
printer.printConstants(os, constants);

38
util/PrismModulesPrinter.cpp
View File

@ -730,28 +730,28 @@ namespace prism {
actionName = "\t[" + agentName + "turn_at_slip_north";
positionGuard = "\t" + agentName + "IsOnSlipperyNorth";
prob_piece_dir = { 0, 0, 0, 0, 1, 0, 0, 0, 0 /* <- R */ };
prob_piece_dir_constants = { "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_displacement" /* <- R */, "prop_zero", "prop_zero", "prop_zero","prop_zero" };
prob_piece_dir_constants = { "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_turn_displacement" /* <- R */, "prop_zero", "prop_zero", "prop_zero","prop_zero" };
break;
case SlipperyType::South:
actionName = "\t[" + agentName + "turn_at_slip_south";
positionGuard = "\t" + agentName + "IsOnSlipperySouth";
prob_piece_dir = { 1, 0, 0, 0, 0, 0, 0, 0, 0 /* <- R */ };
prob_piece_dir_constants = { "prop_displacement", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" };
prob_piece_dir_constants = { "prop_turn_displacement", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" };
break;
case SlipperyType::East:
actionName = "\t[" + agentName + "turn_at_slip_east";
positionGuard = "\t" + agentName + "IsOnSlipperyEast";
prob_piece_dir = { 0, 0, 0, 0, 0, 0, 1, 0, 0 /* <- R */ };
prob_piece_dir_constants = { "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_displacement", "prop_zero", "prop_zero" };
prob_piece_dir_constants = { "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_turn_displacement", "prop_zero", "prop_zero" };
break;
case SlipperyType::West:
actionName = "\t[" + agentName + "turn_at_slip_west";
positionGuard = "\t" + agentName + "IsOnSlipperyWest";
prob_piece_dir = { 0, 0, 1, 0, 0, 0, 0, 0, 0 /* <- R */ };
prob_piece_dir_constants = { "prop_zero", "prop_zero", "prop_displacement", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" };
prob_piece_dir_constants = { "prop_zero", "prop_zero", "prop_turn_displacement", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" };
break;
}
@ -768,7 +768,7 @@ namespace prism {
// determine residual probability (R) by replacing 0 with (1 - overall sum)
prob_piece_dir.at(remainPosIndex) = PROB_PIECES - std::accumulate(prob_piece_dir.begin(), prob_piece_dir.end(), 0);
prob_piece_dir_constants.at(remainPosIndex) = "prop_intended";
prob_piece_dir_constants.at(remainPosIndex) = "prop_turn_intended";
// <DEBUG_AREA>
{
assert(prob_piece_dir.at(remainPosIndex) <= 9 && prob_piece_dir.at(remainPosIndex) >= 6 && "Value not in Range!");
@ -780,7 +780,11 @@ namespace prism {
for (std::size_t v = 0; v < viewTransition.size(); v++) {
os << actionName << std::get<2>(viewTransition.at(v)) << moveGuard(agentIndex) << " x" << agentName << "=" << c.second << " & y" << agentName << "=" << c.first << std::get<0>(viewTransition.at(v));
for (std::size_t i = 0; i < ALL_POSS_DIRECTIONS; i++) {
if (i == remainPosIndex) {
os << (i == 0 ? " -> " : " + ") << prob_piece_dir_constants.at(i) << " : " << positionTransition.at(i) << std::get<1>(viewTransition.at(v)) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n");
} else {
os << (i == 0 ? " -> " : " + ") << prob_piece_dir_constants.at(i) << " : " << positionTransition.at(i) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n");
}
}
}
@ -830,9 +834,9 @@ namespace prism {
prob_piece_dir_agent_north = { 0 /*n <- R */, 0, 0, 0, 2 , 0, 0, 0 };
prob_piece_dir_agent_west = { 0, 0, 0, 0, 0, 2, 0 /* <- R */, 0 };
prob_piece_dir_constants = { "prop_zero", "prop_zero", "prop_displacement_half", "prop_displacement", "prop_zero" /* <- R */, "prop_displacement", "prop_displacement_half", "prop_zero" };
prob_piece_dir_constants = { "prop_zero", "prop_zero", "prop_displacement * 1/2", "prop_displacement", "prop_zero" /* <- R */, "prop_displacement", "prop_displacement * 1/2", "prop_zero" };
prob_piece_dir_constants_agent_north = { "prop_zero", "prop_zero", "prop_zero", "prop_displacement_half", "prop_zero" /* <- R */, "prop_displacement_half", "prop_zero", "prop_zero" };
prob_piece_dir_constants_agent_north = { "prop_zero", "prop_zero", "prop_zero", "prop_displacement * 1/2", "prop_zero" /* <- R */, "prop_displacement * 1/2", "prop_zero", "prop_zero" };
prob_piece_dir_constants_agent_east = { "prop_zero", "prop_zero", "prop_zero", "prop_displacement", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" };
prob_piece_dir_constants_agent_south = { "prop_displacement", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" } ;
prob_piece_dir_constants_agent_west ={ "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_displacement", "prop_zero", "prop_zero" } ;
@ -858,9 +862,9 @@ namespace prism {
prob_piece_dir_agent_south = { 2, 0, 0, 0, 0 /*s <- R */, 0, 0, 0 };
prob_piece_dir_agent_west = { 0, 0, 0, 0, 0, 0, 0 /* <- R */, 2 };
prob_piece_dir_constants = { "prop_zero" /* <- R */, "prop_displacement", "prop_displacement_half", "prop_zero", "prop_zero", "prop_zero", "prop_displacement_half", "prop_displacement" };
prob_piece_dir_constants = { "prop_zero" /* <- R */, "prop_displacement", "prop_displacement * 1/2", "prop_zero", "prop_zero", "prop_zero", "prop_displacement * 1/2", "prop_displacement" };
prob_piece_dir_constants_agent_north = { "prop_zero", "prop_displacement_half", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_displacement_half" };
prob_piece_dir_constants_agent_north = { "prop_zero", "prop_displacement * 1/2", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_displacement * 1/2" };
prob_piece_dir_constants_agent_east = { "prop_zero", "prop_displacement", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" };
prob_piece_dir_constants_agent_south = { "prop_displacement", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" } ;
prob_piece_dir_constants_agent_west ={ "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_displacement" } ;
@ -886,12 +890,12 @@ namespace prism {
prob_piece_dir_agent_south = { 2, 0, 0, 0, 0 /*s <- R */, 0, 0, 0 };
prob_piece_dir_agent_west = { 0, 0, 0, 0, 0, 0, 0 /* <- R */, 2 };
prob_piece_dir_constants = { "prop_displacement_half", "prop_zero", "prop_zero", "prop_zero", "prop_displacement_half", "prop_displacement", "prop_zero" /* <- R */, "prop_displacement" };
prob_piece_dir_constants = { "prop_displacement * 1/2", "prop_zero", "prop_zero", "prop_zero", "prop_displacement * 1/2", "prop_displacement", "prop_zero" /* <- R */, "prop_displacement" };
prob_piece_dir_constants_agent_north = { "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_displacement_half", "prop_displacement_half" };
prob_piece_dir_constants_agent_north = { "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_displacement * 1/2", "prop_displacement * 1/2" };
prob_piece_dir_constants_agent_east = { "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_displacement", "prop_zero" };
prob_piece_dir_constants_agent_south = { "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_displacement_half", "prop_displacement_half", "prop_zero" } ;
prob_piece_dir_constants_agent_west ={ "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_displacement_half", "prop_zero", "prop_displacement_half" } ;
prob_piece_dir_constants_agent_south = { "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_displacement * 1/2", "prop_displacement * 1/2", "prop_zero" } ;
prob_piece_dir_constants_agent_west ={ "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_displacement * 1/2", "prop_zero", "prop_displacement * 1/2" } ;
straightPosIndex = 6;
@ -915,11 +919,11 @@ namespace prism {
prob_piece_dir_agent_south = { 2, 0, 0, 0, 0 /*s <- R */, 0, 0, 0 };
prob_piece_dir_agent_west = { 0, 0, 0, 0, 0, 0, 0 /* <- R */, 2 };
prob_piece_dir_constants = {"prop_displacement_half", "prop_displacement", "prop_zero" /* <- R */, "prop_displacement", "prop_displacement_half", "prop_zero","prop_zero", "prop_zero" };
prob_piece_dir_constants = {"prop_displacement * 1/2", "prop_displacement", "prop_zero" /* <- R */, "prop_displacement", "prop_displacement * 1/2", "prop_zero","prop_zero", "prop_zero" };
prob_piece_dir_constants_agent_north = { "prop_zero", "prop_displacement_half", "prop_displacement_half", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" };
prob_piece_dir_constants_agent_east = { "prop_zero", "prop_displacement_half", "prop_zero", "prop_displacement_half", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" };
prob_piece_dir_constants_agent_south = { "prop_zero", "prop_zero", "prop_displacement_half", "prop_displacement_half", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" } ;
prob_piece_dir_constants_agent_north = { "prop_zero", "prop_displacement * 1/2", "prop_displacement * 1/2", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" };
prob_piece_dir_constants_agent_east = { "prop_zero", "prop_displacement * 1/2", "prop_zero", "prop_displacement * 1/2", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" };
prob_piece_dir_constants_agent_south = { "prop_zero", "prop_zero", "prop_displacement * 1/2", "prop_displacement * 1/2", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" } ;
prob_piece_dir_constants_agent_west ={ "prop_zero", "prop_zero", "prop_displacement", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" } ;

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