RewardOnPath.cpp

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#include "RewardOnPath.h"
#include "VariableValue.h"
#include <set>

using namespace std;


RewardOnPath::RewardOnPath(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);
}

RewardOnPath::~RewardOnPath(void)
{
}

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

        vector<SharedPointer<RelEntry> > result;
        //set<string> visitedPos;

    FOREACH_NOCONST(SharedPointer<Map2DPosValue>,  pCurStep , pathSteps)
    {
                SharedPointer<Map2DPosValue> curStep = *pCurStep;
                if(curStep->equals(curPos))
                {
                        SharedPointer<RelEntry> newEntry ( new RelEntry());
                        //newEntry->sourceValues[curStep->getVariableName()] = curStep;
                        newEntry->prob = params->OnPathReward;
                        result.push_back(newEntry);
                }
                //visitedPos.insert(curStep->ToString());
        }
    //vector<SharedPointer<IVariableValue> > auvPosVals = auvPos->getValues();

        //FOREACH_NOCONST(SharedPointer<IVariableValue>,  pCurStep , auvPosVals)
        //{
        //      SharedPointer<Map2DPosValue> curStep = dynamic_pointer_cast<Map2DPosValue>(*pCurStep);
        //      if(visitedPos.find(curStep->ToString()) == visitedPos.end())
        //      {
        //              // not visited, therefore, is off path
        //              SharedPointer<RelEntry> newEntry ( new RelEntry());
        //              //newEntry->sourceValues[curStep->getVariableName()] = curStep;
        //              newEntry->prob = params->OffPathPenalty;
        //              result.push_back(newEntry);
        //              visitedPos.insert(curStep->ToString());
        //      }
        //}
    return result;
}