InRangeAllNto1VarRel.cpp

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#include "InRangeAllNto1VarRel.h"



InRangeAllNto1VarRel::InRangeAllNto1VarRel(SharedPointer<BooleanVariable> resultVar, SharedPointer<Map2DPosVar> mapDestVar, double range)
{
        this->resultVar = resultVar;
        this->mapDestVar = mapDestVar;
        this->range = range;
        this->addSourceVar(mapDestVar);
        this->setDestVariable(resultVar);
}

InRangeAllNto1VarRel::~InRangeAllNto1VarRel(void)
{
}
void InRangeAllNto1VarRel::addSrcVar(SharedPointer<Map2DPosVar> srcVar)
{
    mapSrcVars.push_back(srcVar);
    this->addSourceVar(srcVar);
}

vector<SharedPointer<RelEntry> > InRangeAllNto1VarRel::getProb(map<string, SharedPointer<IVariableValue> > sourceVals)
{
        //string action = sourceVals[destVar->getVariableName()];
        
        bool inRange = true;
        SharedPointer<Map2DPosValue> destVarPos = dynamic_pointer_cast<Map2DPosValue>(sourceVals[mapDestVar->getVariableName()]);
        for(int i = 0 ; i < mapSrcVars.size() ; i ++ )
        {
                SharedPointer<Map2DPosVar> srcVar = mapSrcVars[i];
                
                SharedPointer<Map2DPosValue> srcVarPos = dynamic_pointer_cast<Map2DPosValue>(sourceVals[srcVar->getVariableName()]);
                double dist = srcVarPos->distanceTo(destVarPos);
                if(dist > range)
                {
                        inRange = false;
                        break;
                }
        }

        

        vector<SharedPointer<RelEntry> > result;
        {
                SharedPointer<IVariableValue> resultValue;
                if(inRange)
                {
                         resultValue = resultVar->getTrueValue();
                }
                else
                {
                        resultValue = resultVar->getFalseValue();
                }
                
                SharedPointer<RelEntry> newEntry (new RelEntry());
                /*for(int i = 0 ; i < srcVars.size(); i++)
                {
                        SharedPointer<IVariable>& sourceVar = srcVars[i];
                        newEntry->sourceValues[sourceVar->getVariableName()] = sourceVals[sourceVar->getVariableName()];
                }*/
                newEntry->destValues[this->getDestVariable()->getVariableName()] = resultValue;
                newEntry->prob = 1; // noisy value
                result.push_back(newEntry);
        }
        return result;
}