Move2DVarRel.cpp

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#include "Move2DVarRel.h"


Move2DVarRel::Move2DVarRel(SharedPointer<Variable> actionVar, SharedPointer<Map2DPosVar> robotPosVar)
{
        this->actionVar = actionVar;
        this->posVar = robotPosVar;
        this->addSourceVar(actionVar);
        this->addSourceVar(robotPosVar);
        this->setDestVariable(robotPosVar);
}

Move2DVarRel::~Move2DVarRel(void)
{
}

vector<SharedPointer<RelEntry> > Move2DVarRel::getProb(map<string, SharedPointer<IVariableValue> > sourceVals)
{
        string action = sourceVals[actionVar->getVariableName()]->getValueName();
        SharedPointer<Map2DPosValue> curPos = dynamic_pointer_cast<Map2DPosValue>(sourceVals[posVar->getVariableName()]);
        SharedPointer<Map2DPosValue> nextPos = curPos->duplicate();
        if(action == "left")
        {
                if(nextPos->x >0 )
                {
                        nextPos->x --;
                }
        }
        else if(action == "right")
        {
                if(nextPos->x < posVar->width - 1)
                {
                        nextPos->x ++;
                }
        }
        else if(action == "up")
        {
                if(nextPos->y >0 )
                {
                        nextPos->y --;
                }
        }
        else if(action == "down")
        {
                if(nextPos->y < posVar->height - 1 )
                {
                        nextPos->y ++;
                }
        }
        else if(action == "noop")
        {
        }
        else
        {
                cout << "Error: unkonwn action " << action << endl;
                throw runtime_error("Error: unkonwn action ");
        }

        vector<SharedPointer<RelEntry> > result;

        {
                SharedPointer<RelEntry> newEntry (new RelEntry());
                //newEntry->sourceValues[actionVar->getVariableName()] = sourceVals[actionVar->getVariableName()];
                //newEntry->sourceValues[posVar->getVariableName()] = sourceVals[posVar->getVariableName()];
                newEntry->destValues[this->getDestVariable()->getVariableName()] = nextPos;
                newEntry->prob = 1; // noisy value
                result.push_back(newEntry);
        }

        return result;
}