/// <summary>
/// Runs the navigator through its corresponding maze and records data about said evaluation (e.g. solved status, time
/// steps, and trajectory).
/// </summary>
/// <param name="evaluationUnit">A single unit of evaluation containing a paired maze and navigator.</param>
/// <param name="experimentParameters">Parameters that control the navigation simulation.</param>
public static void EvaluateMazeNavigatorUnit(MazeNavigatorEvaluationUnit evaluationUnit,
ExperimentParameters experimentParameters)
{
bool isGoalReached;
// Build maze configuration
MazeConfiguration mazeConfiguration =
new MazeConfiguration(ExtractMazeWalls(evaluationUnit.MazePhenome.Walls),
ExtractStartEndPoint(evaluationUnit.MazePhenome.StartLocation),
ExtractStartEndPoint(evaluationUnit.MazePhenome.TargetLocation));
// Create trajectory behavior characterization (in order to capture full trajectory of navigator)
IBehaviorCharacterization behaviorCharacterization = new TrajectoryBehaviorCharacterization();
// Create the maze navigation world
MazeNavigationWorld<BehaviorInfo> world = new MazeNavigationWorld<BehaviorInfo>(mazeConfiguration.Walls,
mazeConfiguration.NavigatorLocation, mazeConfiguration.GoalLocation,
experimentParameters.MinSuccessDistance, experimentParameters.MaxTimesteps, behaviorCharacterization);
// Run a single trial
BehaviorInfo trialInfo = world.RunTrial(evaluationUnit.AgentPhenome, SearchType.MinimalCriteriaSearch,
out isGoalReached);
// Set maze solved status
evaluationUnit.IsMazeSolved = isGoalReached;
// The number of time steps is effectively the number of 2-dimensional points in the behaviors array
evaluationUnit.NumTimesteps = trialInfo.Behaviors.Count()/2;
// Set the trajectory of the agent
evaluationUnit.AgentTrajectory = trialInfo.Behaviors;
}
