Environment.cpp

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#include <types/Environment.hpp>

namespace mic {
namespace environments {

Environment::Environment(std::string node_name_) : PropertyTree(node_name_),
        width("width", 4),
        height("height", 4),
        roi_size("roi_size", 0),
        environment_grid(new mic::types::TensorXf()),
        observation_grid(new mic::types::TensorXf())
{
    // Register properties - so their values can be overridden (read from the configuration file).
    registerProperty(width);
    registerProperty(height);
    registerProperty(roi_size);

    pomdp_flag = 0;
}

Environment::~Environment() {
    // TODO Auto-generated destructor stub
}


bool Environment::moveAgent (mic::types::Action2DInterface ac_) {
    mic::types::Position2D cur_pos = getAgentPosition();
    LOG(LDEBUG) << "Current agent position = " << cur_pos;
    LOG(LDEBUG) << "Move to be performed = " << ac_;
    // Compute destination.
    mic::types::Position2D new_pos = cur_pos + ac_;
    return moveAgentToPosition(new_pos);
}

void Environment::moveAgentToInitialPosition() {
    moveAgentToPosition(initial_position);
}


bool Environment::isStateAllowed(long x_, long y_) {
    return isStateAllowed(mic::types::Position2D(x_, y_));
}

bool Environment::isStateTerminal(long x_, long y_) {
    return isStateTerminal(mic::types::Position2D(x_, y_));
}

bool Environment::isActionAllowed(long x_, long y_, size_t action_) {
    mic::types::Position2D pos(x_,y_);
    mic::types::NESWAction ac(action_);
    // Compute the "destination" coordinates.
    mic::types::Position2D new_pos = pos + ac;
    return isStateAllowed(new_pos);
}


bool Environment::isActionAllowed(mic::types::Position2D pos_, mic::types::Action2DInterface ac_) {
    // Compute the "destination" coordinates.
    mic::types::Position2D new_pos = pos_ + ac_;
    return isStateAllowed(new_pos);
}

bool Environment::isActionAllowed(mic::types::Action2DInterface ac_) {
    // Get current player position.
    mic::types::Position2D pos = getAgentPosition();
    // Compute the "destination" coordinates.
    mic::types::Position2D new_pos = pos + ac_;
    return isStateAllowed(new_pos);
}


} /* namespace environments */
} /* namespace mic */