Package eu.iv4xr.framework.goalsAndTactics

Class Sa1Solver<NavgraphNode>

java.lang.Object

eu.iv4xr.framework.goalsAndTactics.Sa1Solver<NavgraphNode>

public class Sa1Solver<NavgraphNode>
extends Object

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Sa1Solver.Policy	Perform exploration for the given budget.

Field Summary

Fields

Modifier and Type	Field	Description
Function<Iv4xrAgentState<NavgraphNode>,BiFunction<WorldEntity,WorldEntity,Float>>	distanceBetweenEntities
BiFunction<Iv4xrAgentState<NavgraphNode>,WorldEntity,Float>	distanceToAgent	A function that returns the "distance" between an entity and the agent.
Predicate<Iv4xrAgentState<NavgraphNode>>	explorationExhausted
Function<Integer,GoalStructure>	exploring
Function<String,GoalStructure>	gCandidateIsInteracted
Function<String,GoalStructure>	gTargetIsRefreshed
BiFunction<Iv4xrAgentState<NavgraphNode>,WorldEntity,Boolean>	reachabilityChecker	A function to check if an entity is reachable from the agent's position.
(package private) Random	rnd

Constructor Summary

Constructors

Constructor	Description
Sa1Solver()
Sa1Solver(BiFunction<Iv4xrAgentState<NavgraphNode>,WorldEntity,Boolean> reachabilityChecker, BiFunction<Iv4xrAgentState<NavgraphNode>,WorldEntity,Float> distanceToAgent, Function<Iv4xrAgentState<NavgraphNode>,BiFunction<WorldEntity,WorldEntity,Float>> distanceFunction, Function<String,GoalStructure> gCandidateIsInteracted, Function<String,GoalStructure> gTargetIsRefreshed, Predicate<Iv4xrAgentState<NavgraphNode>> explorationExhausted, Function<Integer,GoalStructure> exploring)

Method Summary

Modifier and Type	Method	Description
(package private) WorldEntity	nextCandidate(Iv4xrAgentState<NavgraphNode> belief, List<String> visited, Predicate<WorldEntity> selector, String tId, Sa1Solver.Policy policy)
GoalStructure	solver(BasicAgent agent, String tId, Predicate<WorldEntity> selector, Predicate<Iv4xrAgentState> phi, Sa1Solver.Policy policy, int incrementalExplorationBudget)	This tries to make the environment to move to a state where the entity tId satisfies the predicate phi as a goal.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

reachabilityChecker

public BiFunction<Iv4xrAgentState<NavgraphNode>,WorldEntity,Boolean> reachabilityChecker

A function to check if an entity is reachable from the agent's position. The agent is not specified explicitly, but instead the function takes an agent-state as input. "The agent" is the agent that "owns" this state, and its id is embedded in that state.

distanceToAgent

public BiFunction<Iv4xrAgentState<NavgraphNode>,WorldEntity,Float> distanceToAgent

A function that returns the "distance" between an entity and the agent.

distanceBetweenEntities

public Function<Iv4xrAgentState<NavgraphNode>,BiFunction<WorldEntity,WorldEntity,Float>> distanceBetweenEntities

gCandidateIsInteracted

public Function<String,GoalStructure> gCandidateIsInteracted

gTargetIsRefreshed

public Function<String,GoalStructure> gTargetIsRefreshed

explorationExhausted

public Predicate<Iv4xrAgentState<NavgraphNode>> explorationExhausted

exploring

public Function<Integer,GoalStructure> exploring

rnd

Random rnd

Constructor Details

Sa1Solver

public Sa1Solver()

Sa1Solver

public Sa1Solver(BiFunction<Iv4xrAgentState<NavgraphNode>,WorldEntity,Boolean> reachabilityChecker,
 BiFunction<Iv4xrAgentState<NavgraphNode>,WorldEntity,Float> distanceToAgent,
 Function<Iv4xrAgentState<NavgraphNode>,BiFunction<WorldEntity,WorldEntity,Float>> distanceFunction,
 Function<String,GoalStructure> gCandidateIsInteracted,
 Function<String,GoalStructure> gTargetIsRefreshed,
 Predicate<Iv4xrAgentState<NavgraphNode>> explorationExhausted,
 Function<Integer,GoalStructure> exploring)

Method Details

nextCandidate

WorldEntity nextCandidate(Iv4xrAgentState<NavgraphNode> belief,
 List<String> visited,
 Predicate<WorldEntity> selector,
 String tId,
 Sa1Solver.Policy policy)

solver

public GoalStructure solver(BasicAgent agent,
 String tId,
 Predicate<WorldEntity> selector,
 Predicate<Iv4xrAgentState> phi,
 Sa1Solver.Policy policy,
 int incrementalExplorationBudget)

This tries to make the environment to move to a state where the entity tId satisfies the predicate phi as a goal. The algorithm is as follows:

1. The agent moves to tId until it can see it.
2. It checks the predicate phi. If it is satisfied we are done.
3. Else, the agent check if there is a reachable entity e whose properties satisfy the given selector, and not yet tried before. If there is such an e, the agent moves to it and interacts with it. Then it repeats from step-1.
4. If there is no such e in step-3, the agent checks if the world has some unvisited place (has some area to explore). If so, the agent explores for some budget, then we go back to step-3.
5. If there is no more place to explore, the search fails.