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helper.h
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helper.h
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#include "rosa/config/version.h"
#include "rosa/support/log.h"
#include "rosa/agent/CrossReliability.h"
#include "rosa/agent/RangeConfidence.hpp"
#include "rosa/agent/Reliability.h"
#include "rosa/deluxe/DeluxeContext.hpp"
#include <map>
#include <vector>
using namespace rosa::agent;
using namespace rosa;
using namespace rosa::deluxe;
using namespace rosa::terminal;
auto create_lowlevel_func() {
std::unique_ptr<RangeConfidence<ReliabilityType, StateType, SensorValueType>>
Confidence(new RangeConfidence<ReliabilityType, StateType,
SensorValueType>(
{{0, PartialFunction<double, double>(
{
{{0, 3},
std::make_shared<LinearFunction<double, double>>(
0, 1.0 / 3)},
{{3, 6},
std::make_shared<LinearFunction<double, double>>(1, 0)},
{{6, 9},
std::make_shared<LinearFunction<double, double>>(
3.0, -1.0 / 3)},
},
0)},
{1, PartialFunction<double, double>(
{
{{6, 9},
std::make_shared<LinearFunction<double, double>>(
-2, 1.0 / 3)},
{{9, 12},
std::make_shared<LinearFunction<double, double>>(1, 0)},
{{12, 15},
std::make_shared<LinearFunction<double, double>>(
5, -1.0 / 3)},
},
0)},
{2, PartialFunction<double, double>(
{
{{12, 15},
std::make_shared<LinearFunction<double, double>>(
-4, 1.0 / 3)},
{{15, 18},
std::make_shared<LinearFunction<double, double>>(1, 0)},
{{18, 21},
std::make_shared<LinearFunction<double, double>>(
7, -1.0 / 3)},
},
0)}}));
std::unique_ptr<Abstraction<SensorValueType, ReliabilityType>> Reliability(
new LinearFunction<SensorValueType, ReliabilityType>(1, -1.0 / 3));
std::unique_ptr<Abstraction<SensorValueType, ReliabilityType>>
ReliabilitySlope(
new LinearFunction<SensorValueType, ReliabilityType>(1, -1.0 / 3));
std::unique_ptr<Abstraction<std::size_t, ReliabilityType>> TimeConfidence(
new LinearFunction<std::size_t, ReliabilityType>(1, -1.0 / 3));
auto lowlevel = new ReliabilityForLowLevelAgents<SensorValueType, StateType,
ReliabilityType>();
std::vector<long> states;
states.push_back(0);
states.push_back(1);
states.push_back(2);
lowlevel->setConfidenceFunction(Confidence);
lowlevel->setReliabilityFunction(Reliability);
lowlevel->setReliabilitySlopeFunction(ReliabilitySlope);
lowlevel->setTimeConfidenceFunction(TimeConfidence);
lowlevel->setStates(states);
lowlevel->setHistoryLength(2);
lowlevel->setValueSetCounter(1);
return lowlevel;
}
auto create_highlevel_func(){
std::vector<long> states;
states.push_back(0);
states.push_back(1);
states.push_back(2);
ReliabilityForHighLevelAgents<StateType, ReliabilityType> *highlevel =
new ReliabilityForHighLevelAgents<StateType, ReliabilityType>();
std::unique_ptr<CrossReliability<StateType, ReliabilityType>>
CrossReliability1(new CrossReliability<StateType, ReliabilityType>());
std::unique_ptr<Abstraction<long, double>> func1(
new PartialFunction<long, double>(
{
{{0, 1}, std::make_shared<LinearFunction<long, double>>(1, 0)},
{{1, 2}, std::make_shared<LinearFunction<long, double>>(2, -1.0)},
},
0));
std::unique_ptr<Abstraction<long, double>> func2(
new PartialFunction<long, double>(
{
{{0, 1}, std::make_shared<LinearFunction<long, double>>(1, 0)},
{{1, 2}, std::make_shared<LinearFunction<long, double>>(2, -1.0)},
},
0));
std::unique_ptr<Abstraction<long, double>> func3(
new PartialFunction<long, double>(
{
{{0, 1}, std::make_shared<LinearFunction<long, double>>(1, 0)},
{{1, 2}, std::make_shared<LinearFunction<long, double>>(2, -1.0)},
},
0));
CrossReliability1->addCrossReliabilityProfile(0, 1, func1);
CrossReliability1->addCrossReliabilityProfile(0, 2, func2);
CrossReliability1->addCrossReliabilityProfile(2, 1, func3);
CrossReliability1->setCrossReliabilityMethod(
CrossReliability<StateType, ReliabilityType>::AVERAGE);
CrossReliability1->setCrossReliabilityParameter(1);
std::unique_ptr<CrossConfidence<StateType, ReliabilityType>> CrossConfidence1(
new CrossConfidence<StateType, ReliabilityType>());
std::unique_ptr<Abstraction<long, double>> func4(
new PartialFunction<long, double>(
{
{{0, 1}, std::make_shared<LinearFunction<long, double>>(1, 0)},
{{1, 2}, std::make_shared<LinearFunction<long, double>>(2, -1.0)},
},
0));
std::unique_ptr<Abstraction<long, double>> func5(
new PartialFunction<long, double>(
{
{{0, 1}, std::make_shared<LinearFunction<long, double>>(1, 0)},
{{1, 2}, std::make_shared<LinearFunction<long, double>>(2, -1.0)},
},
0));
std::unique_ptr<Abstraction<long, double>> func6(
new PartialFunction<long, double>(
{
{{0, 1}, std::make_shared<LinearFunction<long, double>>(1, 0)},
{{1, 2}, std::make_shared<LinearFunction<long, double>>(2, -1.0)},
},
0));
CrossConfidence1->addCrossReliabilityProfile(0, 1, func4);
CrossConfidence1->addCrossReliabilityProfile(0, 2, func5);
CrossConfidence1->addCrossReliabilityProfile(2, 1, func6);
CrossConfidence1->setCrossReliabilityMethod(
CrossConfidence<StateType, ReliabilityType>::AVERAGE);
CrossConfidence1->setCrossReliabilityParameter(1);
highlevel->setCrossConfidence(CrossConfidence1);
highlevel->setCrossReliability(CrossReliability1);
highlevel->addStates(0, states);
highlevel->addStates(1, states);
highlevel->addStates(2, states);
return highlevel;
}

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