public override Locomotion.MoveDirection GetNextMove(BoardInfo boardInfo, CellInfo currentPos, CellInfo[] goals)
{
if (!startedLearn)
{
if (File.Exists("qtable.csv") && !forgetPreviousLearning)
{
qtable = QTable.LoadFromCsv("qtable.csv", boardInfo);
episode = numberOfEpisodes;
}
else
{
StartCoroutine(Learn(boardInfo));
}
startedLearn = true;
}
if (episode == numberOfEpisodes)
{
// Proxima celda aleatoria
Locomotion.MoveDirection nextDirection = (Locomotion.MoveDirection)qtable.GetHighestQDirection(currentPos);
return(nextDirection);
}
return(Locomotion.MoveDirection.None);
}
/// <summary>
/// Calcula la posición dentro de la tabla para un estado y una acción
/// </summary>
/// <param name="state">Estado</param>
/// <param name="action">Acción</param>
/// <returns>Indice dentro de la tabla Q</returns>
private int GetArrayPosition(CellInfo state, Locomotion.MoveDirection action)
{
int row = state.RowId * this.boardColumns + state.ColumnId;
int column = (int)action;
return(row * numActions + column);
}
/// <summary>
/// Acceso mediante estado (CellInfo) y acción (MoveDirection)
/// </summary>
/// <param name="state">Estado</param>
/// <param name="action">Acción</param>
public float this[CellInfo state, Locomotion.MoveDirection action]
{
get
{
return(table[GetArrayPosition(state, action)]);
}
set
{
table[GetArrayPosition(state, action)] = value;
}
}
/// <summary>
/// Node constructor.
/// </summary>
/// <param name="father">Father of the Node.</param>
/// <param name="cell">Information of this Node.</param>
/// <param name="goals">Objectives of this Node.</param>
public Node(Node father, CellInfo cell, CellInfo[] goals)
{
this.id = numberNodes;
this.cell = cell;
this.Father = father;
this.movement = GetDirection();
this.totalWalkCost = CalculateWalkCost();
this.distance = CalculateDistance(goals);
if (this.Father == null)
{
this.horizon = 1;
}
else
{
this.horizon = this.Father.horizon + 1;
}
numberNodes++;
}
public Nodo(CellInfo _estado, Nodo _padre, Locomotion.MoveDirection _direction, float cost)
{
estado = _estado;
nodoPadre = _padre;
direction = _direction;
}
public Node(Node parent, CellData cell, Locomotion.MoveDirection action)
{
this.parent = parent;
this.cell = cell;
this.actionNeeded = action;
}
