MazeHistogramFilter.hpp

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#ifndef SRC_ALGORITHMS_MAZEHISTOGRAMFILTER_HPP_
#define SRC_ALGORITHMS_MAZEHISTOGRAMFILTER_HPP_

#include <vector>
#include <types/MatrixTypes.hpp>

#include<logger/Log.hpp>
#include<utils/RandomGenerator.hpp>

#include <types/Action2D.hpp>


namespace mic {
namespace algorithms {

class MazeHistogramFilter {
public:
    MazeHistogramFilter();


    void setMazes(std::vector<mic::types::MatrixXiPtr> & mazes_, unsigned int number_of_distinctive_patches_);

    void setHiddenPose(int hidden_maze_number_, int hidden_x_, int hidden_y_);

    virtual ~MazeHistogramFilter() { }

    void assignInitialProbabilities();

    void sense (double hit_factor_, double miss_factor_);

    void move (mic::types::Action2DInterface ac_);

    void probabilisticMove (mic::types::Action2DInterface ac_, double exact_move_probability_, double overshoot_move_probability_, double undershoot_move_probability_);

    void updateAggregatedProbabilities();

    mic::types::Action2DInterface mostUniquePatchActionSelection();


    mic::types::Action2DInterface sumOfMostUniquePatchesActionSelection();


    //void exportStatisticsToCsv()

private:
    std::vector<mic::types::MatrixXiPtr> mazes;

    unsigned int number_of_mazes;

    unsigned int number_of_distinctive_patches;

    unsigned int maze_width;

    unsigned int maze_height;

    unsigned  int problem_dimensions;

public:

    std::vector<mic::types::MatrixXdPtr> maze_position_probabilities;

    std::vector<double> maze_probabilities;

    std::vector<double> maze_x_coordinate_probilities;

    std::vector<double> maze_y_coordinate_probilities;

    std::vector<double> maze_patch_probabilities;

    int hidden_maze_number;

    int hidden_x;

    int hidden_y;

    short obs;
};

} /* namespace algorithms */
} /* namespace mic */

#endif /* SRC_ALGORITHMS_MAZEHISTOGRAMFILTER_HPP_ */