int main(int argc, char* argv[]) {
store_map();
init_position(0);
display();
printf("prediction\n");
prediction(1);// we move from one meter to the right
display();
printf("estimation\n");
estimation(wall,wall);
normalization();
display();
printf("prediction\n");
prediction(1);// we move from one meter to the right
display();
printf("estimation\n");
estimation(wall,wall);
normalization();
display();
printf("prediction\n");
prediction(1);// we move from one meter to the right
display();
printf("estimation\n");
estimation(wall,wall);
normalization();
display();
printf("prediction\n");
prediction(1);// we move from one meter to the right
display();
printf("estimation\n");
estimation(wall,wall);
normalization();
display();
printf("prediction\n");
prediction(1);// we move from one meter to the right
display();
printf("estimation\n");
estimation(wall,wall);
normalization();
display();
return 0;
}// main
void GazeTrackerHistogramFeatures::draw() {
if (!Application::Components::pointTracker->isTrackingSuccessful())
return;
cv::Mat image = Application::Components::videoInput->debugFrame;
// If not blinking, draw the estimations to debug window
if (isActive() && !Application::Components::eyeExtractor->isBlinking()) {
Point estimation(0, 0);
/*
//Utils::mapToVideoCoordinates(Application::Data::gazePointGP, Application::Components::videoInput->getResolution(), estimation);
cv::circle(image,
Utils::mapFromMainScreenToDebugCoordinates(cv::Point(Application::Data::gazePointHistFeaturesGP.x, Application::Data::gazePointHistFeaturesGP.y)),
8, cv::Scalar(0, 255, 0), -1, 8, 0);
//Utils::mapToVideoCoordinates(Application::Data::gazePointGPLeft, Application::Components::videoInput->getResolution(), estimation);
cv::circle(image,
Utils::mapFromMainScreenToDebugCoordinates(cv::Point(Application::Data::gazePointHistFeaturesGPLeft.x, Application::Data::gazePointHistFeaturesGPLeft.y)),
8, cv::Scalar(255, 0, 0), -1, 8, 0);
*/
// MIXED ESTIMATION
//Utils::mapToVideoCoordinates(Application::Data::gazePointGP, Application::Components::videoInput->getResolution(), estimation);
cv::circle(image,
Utils::mapFromMainScreenToDebugCoordinates(cv::Point((Application::Data::gazePointHistFeaturesGP.x + Application::Data::gazePointHistFeaturesGPLeft.x) / 2, (Application::Data::gazePointHistFeaturesGP.y + Application::Data::gazePointHistFeaturesGPLeft.y) / 2)),
8, cv::Scalar(255, 0, 0), -1, 8, 0);
}
}
void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
{
//declare variables
//const mwSize *dims;
double *batt_E;
double *P_solar;
double *inc_I;
double *load_I;
double *batt_I;
double *batt_V;
double lastPower;
int T_orbit;
//inputs
batt_E = mxGetPr(prhs[0]);
P_solar = mxGetPr(prhs[1]);
inc_I = mxGetPr(prhs[2]);
load_I = mxGetPr(prhs[3]);
batt_I = mxGetPr(prhs[4]);
batt_V = mxGetPr(prhs[5]);
lastPower = mxGetScalar(prhs[6]);
T_orbit = mxGetScalar(prhs[7]);
struct Estimated_values output;
//program
output = estimation(T_orbit, batt_E, P_solar, inc_I, load_I, batt_I, batt_V, lastPower);
//output
plhs[0] = mxCreateDoubleScalar(output.Energy);
plhs[1] = mxCreateDoubleScalar(output.Power);
}
int Agent::best_choice()
{
static int base = 0;
result[0] = -MAX_INT;
move_list_len[0] = history->move_list_len(role, step);
save_all(0);
temp_move[0] = best_move[0] = 0;
if(hash->exist(role)){
temp_move[0] = best_move[0] = hash->match_best;
}
if(best_move[0]){
board->put(best_move[0], role);
result[0] = estimation(opp_role, 1, -MAX_INT, MAX_INT);
recover_all(0);
#ifdef VERBOSE
printf("%d @ (%d, %d) <- %d (best)\n", result[0], xx[best_move[0]], yy[best_move[0]],
history->get_init_index(best_move[0]));
#endif
}
for(register int i = 1; i <= move_list_len[0]; ++i){
cur_move[0] = history->move(role, step, i);
if( !board->can_put(cur_move[0], role) || cur_move[0] == temp_move[0])
continue;
board->put(cur_move[0], role);
value[0] = estimation(opp_role, 1, result[0], MAX_INT);
recover_all(0);
#ifdef VERBOSE
printf("%d @ (%d, %d) <- %d\n", value[0], xx[cur_move[0]], yy[cur_move[0]],\
history->get_init_index(cur_move[0]));
#endif
if(value[0] > result[0]){
result[0] = value[0];
best_move[0] = cur_move[0];
}
}
hash->insert(result[0], role, H_EXACT, best_move[0], base, step); // this is for hash history saved file
return best_move[0];
}
void GazeTrackerHistogramFeatures::draw() {
if (!Application::Data::isTrackingSuccessful)
return;
cv::Mat image = Application::Components::videoInput->debugFrame;
// If not blinking, draw the estimations to debug window
if (isActive() && !_eyeExtractor->isBlinking()) {
cv::Point estimation(gazePoint.x, gazePoint.y);
cv::circle(image,
Utils::mapFromSecondMonitorToDebugFrameCoordinates(estimation),
8, cv::Scalar(255, 0, 0), -1, 8, 0);
}
}
int Agent::estimation(char color, int depth, int alpha, int beta)
{
if( !board->able_to_put(color)){
color = opposite(color);
if( !board->able_to_put(color)){
if(!end_game)
cost->update();
return eval->value();
}
}
temp_move[depth] = best_move[depth] = 0;
switch(hash->exist(color, alpha, beta, depth)){
case H_NONE_EXIST: break;
case H_MATCH_EXIST: temp_move[depth] = best_move[depth] = hash->match_best; break;
case H_EXACT_EXIST: return hash->match_eval;
}
if(depth == max_depth){ //the last search ply, no pv used
return terminal_eval(color, depth, alpha, beta);
}
//pv_found[depth] = false;
save_all(depth);
if(best_move[depth]){
board->put(best_move[depth], color);
value[depth] = estimation(opposite(color), depth+1, alpha, beta);
recover_all(depth);
if( color == role){
if( value[depth] > alpha){
if( (alpha = value[depth]) >= beta){
return alpha;
}
//pv_found[depth] = true;
}
result[depth] = value[depth];
}
else{
if(value[depth] < beta){
if( (beta = value[depth]) <= alpha){
return beta;
}
//pv_found[depth] = true;
}
result[depth] = value[depth];
}
}
else{
result[depth] = (color == role)? -MAX_INT: MAX_INT;
}
move_list_len[depth] = history->move_list_len(color, step+depth);
for(register int i = 1; i <= move_list_len[depth]; ++i){
cur_move[depth] = history->move(color, step+depth, i);
if( !board->can_put(cur_move[depth], color) || cur_move[depth] == temp_move[depth])
continue;
board->put(cur_move[depth], color);
//if(pv_found[depth] == true){
// if(color == role){
// value[depth] = estimation(opposite(color), depth+1, beta-1, beta);
// if(value[depth] > alpha && value[depth] < beta){
// value[depth] =
// estimation(opposite(color), depth+1, alpha, value[depth]);
// }
// }
// else{
// value[depth] = estimation(opposite(color), depth+1, alpha, alpha+1);
// if(value[depth] > alpha && value[depth] < beta){
// value[depth] =
// estimation(opposite(color), depth+1, value[depth], beta);
// }
// }
//}
//else
value[depth] = estimation(opposite(color), depth+1, alpha, beta);
recover_all(depth);
if( color == role){
if( value[depth] > alpha){
if( (alpha = value[depth]) >= beta){
history->advance_move(color, step+depth, i);
hash->insert(alpha, color, H_LOW_BOUND,
cur_move[depth], depth, step+depth);
return alpha;
}
//(void)((pv_found[depth])? : pv_found[depth] = true);
}
if(value[depth] > result[depth]){
result[depth] = value[depth];
best_move[depth] = cur_move[depth];
}
}
else{
if(value[depth] < beta){
if( (beta = value[depth]) <= alpha){
history->advance_move(color, step+depth, i);
hash->insert(beta, color, H_UP_BOUND,
cur_move[depth], depth, step+depth);
return beta;
}
//(void)((pv_found[depth])? : pv_found[depth] = true);
}
if(value[depth] < result[depth]){
result[depth] = value[depth];
best_move[depth] = cur_move[depth];
}
}
}
hash->insert(result[depth], color, H_EXACT, best_move[depth], depth, step+depth);
return result[depth];
}
