def calFirstIntentionConsistAfterNoise(trajectory, noisePoints, target1, target2, goalList):
trajectory = list(map(tuple, trajectory))
afterNoiseGrid = trajectory[noisePoints]
if isGridsALine(afterNoiseGrid, target1, target2):
afterNoiseIntentionConsis = 1 if goalList[noisePoints] == calculateFirstIntention(goalList) else 0
else:
afterNoiseIntentionConsis = 1 if goalList[noisePoints + 1] == calculateFirstIntention(goalList) else 0
return afterNoiseIntentionConsis
def __call__(self, trajectory, target1, target2, noisePoints, goalList):
playerGrid = trajectory[noisePoints]
targets = list([target1, target2])
originGoal = targets[calculateFirstIntention(goalList)]
noGoal = [target for target in targets if target != originGoal][0]
likelihoodGoal = self.goalPolicy(playerGrid, originGoal).get(action)
likelihoodNoGoal = self.goalPolicy(playerGrid, noGoal).get(action)
return [likelihoodGoal, likelihoodNoGoal]
def calFirstIntentionInConsistAfterNoise(noisePoints, goalList):
afterNoiseGoalList = goalList[noisePoints:]
afterNoiseIntentionInConsis = 1 if calculateFirstIntention(afterNoiseGoalList) != calculateFirstIntention(goalList) else 0
return afterNoiseIntentionInConsis