RewardAtGoal.cpp

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#include "RewardAtGoal.h"
#include "VariableValue.h"


RewardAtGoal::RewardAtGoal(SharedPointer<Variable> rewardVar, SharedPointer<Map2DPosVar> auvPos, SharedPointer<Map2DPath> path, SharedPointer<ProblemParams> params)
{
        this->auvPos = auvPos;
        this->rewardVar = rewardVar;
        this->params = params;
        this->path = path;

        this->addSourceVar(auvPos);
        this->setDestVariable(rewardVar);
}

RewardAtGoal::~RewardAtGoal(void)
{
}

vector<SharedPointer<RelEntry> > RewardAtGoal::getProb(map<string, SharedPointer<IVariableValue> > sourceVals)
{
        vector<SharedPointer<Map2DPosValue> > pathSteps = path->getPath();
        SharedPointer<Map2DPosValue> lastStep = pathSteps[pathSteps.size() - 1];
        SharedPointer<IVariableValue> curPos = sourceVals[auvPos->getVariableName()];

        vector<SharedPointer<RelEntry> > result;
        
        if(lastStep->equals(curPos))
        {
                SharedPointer<RelEntry> newEntry ( new RelEntry());
                //newEntry->sourceValues[lastStep->getVariableName()] = lastStep;
                newEntry->prob = params->OnGoalReward;
                result.push_back(newEntry);
        }
    return result;
}