getPolicy

 Performs multy-agent policy recognition

0001 
0002 function [plan_rec_struct, soft_ev_elem, oldData_elem] = getPolicy(DBN_elem, soft_ev_elem , oldData_elem, vi_pos, pos_new, fi_vec, our_force_id, enemy_id)
0003 % Performs multy-agent policy recognition
0004 
0005 global simulationTime;
0006 global struct_own_forces;
0007 global struct_sensors;
0008 global struct_enemy_comps;
0009 global noOfOwn_forces;
0010 global noOfEnemyCompanies;
0011 global noOfSensors;
0012 
0013     [soft_ev_elem, oldData_elem] = updateEvidence(soft_ev_elem, oldData_elem, vi_pos, pos_new, fi_vec); 
0014     % Inference
0015    
0016     [plan_rec_struct] = inferPolicy(DBN_elem, soft_ev_elem);
0017      
0018     % curr_policy_stuct{enemy_force, own_force} = plan_rec_struct;
0019      
0020      %Update DBN
0021     [soft_ev_elem] = updateDBN(soft_ev_elem, plan_rec_struct);