planning with uncertainty -chain utility figure decision network that is chain of decisions ch utilitytable([ ],[ , ]position=( / , ) ch decisionnetwork(" -chain"{ , , , , , , },{p_s ,p_s ,p_s ,p_s ,ch }#rc rc_dn(ch #rc optimize(#rc opt_policy recursive conditioning for decision networks an instance of rc_dn object takes in decision network the query method uses recursive conditioning to compute the expected utility of the optimal policy self opt_policy becomes the optimal policy decnnetworks py -(continued import math from probgraphicalmodels import graphicalmodelinferencemethod from probfactors import factor from utilities import dict_union from probrc import connected_components class rc_dn(inferencemethod)"""the class that queries graphical models using recursive conditioning version june