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bs_file.h
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bs_file.h
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class Reliability_LowLevel : public Functionality {
float Agent::getInputReliability(SensorSlotOfAgent *mountedAgent,
float actualSensorValue) {
float inputReliability;
float previousSensorValue;
// calculate input reliability
#ifdef PRINT
printf("%s - ", name.c_str());
#endif // PRINT
if (mountedAgent->getPreviousSensorValue(&previousSensorValue)) {
inputReliability = reliabilityModule->getRelibility(
actualSensorValue, previousSensorValue,
mountedAgent->getValueSetCounter());
} else {
inputReliability =
reliabilityModule->getAbsoluteReliability(actualSensorValue);
}
#ifdef PRINT
printf("rel = %f\n", inputReliability);
#endif // PRINT
return inputReliability;
}
void Agent::combineConfidenceAndReliabilityOfActualPossibleScores(
vector<PossibleScore *> *actualPossibleScores, float inputReliability) {
for (auto &pS : *actualPossibleScores) {
// combine input reliability with score confidence
// NOTE: multiplication, AND, or average would be alternatives (best to
// worst: AND = Multiplication >> Avg) pS->confOrRel = pS->confOrRel *
// inputReliability; pS->confOrRel = (pS->confOrRel + inputReliability) /
// 2;
pS->confOrRel = std::min(pS->confOrRel, inputReliability);
combineConfidenceAndReliabilityOfActualPossibleScores(
actualPossibleScores, inputReliability);
for (auto &sS : *suggestedScores) {
for (auto &aPs : *actualPossibleScores) {
if (aPs->score == sS->score) {
// combine suggested score with actual score
// NOTE: multiplication, AND, or average would be alternatives (best
// to worst: AND > multiplication >> average) aPs->confOrRel =
// std::min(aPs->confOrRel, sS->confOrRel);
aPs->confOrRel = (aPs->confOrRel + sS->confOrRel);
// aPs->confOrRel = aPs->confOrRel * sS->confOrRel;
}
}
}
// save actual possible scores in history
saveActualPossibleScoresInHistory(actualPossibleScores);
// evaluate all possible scores (based on the history)
vector<PossibleScore *> possibleScores;
// printf("SIZE BEFORE: %u\n", possibleScores.size());
getAllPossibleScoresBasedOnHistory(&possibleScores);
// printf("SIZE AFTER: %u\n", possibleScores.size());
// sort all possible scores so that outputRel_i >= outputRel_i+1
std::sort(possibleScores.begin(), possibleScores.end(), compareByConfRel);
// send possible scores to high level agent
// sendPossibleScoresToMaster(&possibleScores);
for (auto &pS : possibleScores) {
#ifdef PRINT
printf(" > possible Score %i / %f\n", pS->score, pS->confOrRel);
#endif // PRINT
}
// send most likely score to high level agent
sendMostLikelyScoreToMaster(&possibleScores);
}
}
void run() { mountedAgent->get_sensorValue(&actualSensorValue);
vector<PossibleScore *> *actualPossibleScores =
scoreConfidenceModule->getScoresWithConfidences(actualSensorValue);
inputReliability = getInputReliability(mountedAgent, actualSensorValue);
masterAgentHandlerOfAgent->clearSuggestedScores();
masterAgentHandlerOfAgent->read_masterAgentValues();
vector<PossibleScore *> *suggestedScores =
masterAgentHandlerOfAgent->getSuggestedScores();
}
};

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