robust_getPolicy

 run plan recognition based on particle swarm
 noOfPart no of particles that takes are taken into concern

0001 
0002 function [Family_plRec, Cmp_tti, soft_ev_elem, oldData] = robust_getPolicy(DBN_elem, soft_ev_elem , oldData_elem, noOfPart, our_force_id, enemy_id, get_prior_func)
0003 % run plan recognition based on particle swarm
0004 % noOfPart no of particles that takes are taken into concern
0005 load namesOfNodes;
0006 global simulationTime;
0007 global struct_enemy_comps;
0008 Family_plRec = []; ALL_soft_ev_elem_part = []; ALL_oldData_part = [];
0009 oldData_elem.oldSimulationTime11 = struct_enemy_comps(enemy_id).plt(1).obs_time - 1;
0010 oldData_elem.oldSimulationTime12 = struct_enemy_comps(enemy_id).plt(2).obs_time - 1;
0011 oldData_elem.oldSimulationTime13 = struct_enemy_comps(enemy_id).plt(3).obs_time - 1;
0012 Cmp_tti = [];
0013 for part = 1:noOfPart
0014      [vi_pos, pos_new, fi_vec] = getRandomParticleData(our_force_id, enemy_id);
0015      %pos_new = [];
0016      %[pos_new] = getGround_TruthPos(enemy_id);
0017      [plan_rec_struct_part, soft_ev_elem_part, oldData_part] = getPolicy(DBN_elem, soft_ev_elem , oldData_elem, vi_pos, pos_new, fi_vec, our_force_id, enemy_id);
0018      ALL_soft_ev_elem_part{part} = [soft_ev_elem_part];
0019      ALL_oldData_part{part} = [oldData_part];
0020      Family_plRec = [Family_plRec; plan_rec_struct_part];
0021      Cmp_tti = [Cmp_tti; oldData_part.oldCost11 oldData_part.oldCost12 oldData_part.oldCost13];
0022 end;
0023 Cmp_tti = Cmp_tti;
0024 Family_plRec = Family_plRec;
0025 [soft_ev_elem, oldData] = feval( get_prior_func, ALL_soft_ev_elem_part, ...
0026                                  ALL_oldData_part,  noOfPart );
0027 %[soft_ev_elem, oldData] = getRandomPrior(ALL_soft_ev_elem_part, ALL_oldData_part,  noOfPart);
0028 %[soft_ev_elem, oldData] = getCGPrior(ALL_soft_ev_elem_part, ALL_oldData_part,  noOfPart);
0029