public double calcActionErrorMetric()
{
ObjectSystem newState = this.getCurrentObjectSystem();
int numActionsToReachGoal = newState.findGeneralShortestPathAStar(this.end);
return((double)numActionsToReachGoal);
}
static void Main(string[] args)
{
if (!args.Any()) { ShowHelp(); }
var settings = GetMasterWorkerSlaveSettings(args);
Debug.WriteLine(
$"Starting computation [{settings.ComputationLowerLimit}, {settings.ComputationUpperLimit}]" +
$" with + {(settings.AsyncBus ? "async" : "sync")} bus" +
$" and {settings.SlaveObjectsCount} slave worker(s)"
);
//Create system
var os = new ObjectSystem("/testSystem", new InMemoryBus(async: settings.AsyncBus));
//Create master
os.Create(() => new MasterWorkerObject(settings.SlaveObjectsCount));
//Create subscriber to catch results sent from master
var sub = os.Create(() => new ActionSubscriberObject<LogMessage>(msg =>
Console.WriteLine(
$"{settings.ComputationLowerLimit},"+
$"{settings.ComputationUpperLimit}," +
$"{settings.AsyncBus}," +
$"{settings.SlaveObjectsCount}," +
$"{msg.Message},"
)
));
//Create generic obj and send some work parameters to the master
var genericPub = os.Create(() => new GenericPublisherObject());
var work = Enumerable.Range((int)settings.ComputationLowerLimit, (int)settings.ComputationUpperLimit).ToArray();
genericPub.Publish(new PrimeOnPositionsToSumRequest(work));
Console.ReadLine();
}
public int LayerOnExit; // BallOnTable
void OnTriggerEnter(Collider other)
{
if (ObjectSystem.IsObjectHittable(other.gameObject.tag) != -1)
{
other.gameObject.layer = LayerOnEnter;
}
}
// This function computes different reward function based on chosen value.
public float calcRewardManager(ObjectSystem current, ObjectSystem newState, int actionTaken,
MessageHeader header, bool stopAction, int numActions)
{
switch (this.rewardFunctionType)
{
case 0: // Cosine distance
return(this.calcCosineDistanceReward(current, newState, header, stopAction));
case 1: // Sparse signal
return(this.calcSparseSignalReward(current, newState, header, stopAction, numActions));
case 2: // Sparse signal with distance potential
return(this.calcPotentialBasedRewardReduceDistance(current, newState, header, stopAction, numActions));
case 3: // Sparse signal with oracle potential
return(this.calcPotentialBasedRewardFollowOracle(current, newState, actionTaken, header, stopAction, numActions));
case 4: // Sparse signal with oracle potential
return(this.calcPotentialBasedRewardFollowOracleReduceDistance(current, newState,
actionTaken, header, stopAction, numActions));
case 5: // Sparse signal with oracle addition
return(this.calcPotentialBasedRewardFollowOracleReduceDistanceV2(current, newState,
actionTaken, header, stopAction, numActions));
case 6: // Sparse signal with oracle addition
return(this.calcPotentialBasedRewardReduceDistanceV2(current, newState, header, stopAction, numActions));
case 7: // Reward is negative of distance to the goal
return(this.calcNegDistanceReward(current, newState, header, stopAction, numActions));
default:
throw new ApplicationException("Unknown reward type");
}
}
// Calculate difference between two block states by squared
public double calcUnnormalizedSumOfEuclidean(ObjectSystem state1, ObjectSystem state2)
{
List <Point3D> objLoc1 = state1.getObjectLocations();
List <Point3D> objLoc2 = state2.getObjectLocations();
if (objLoc1.Count != objLoc2.Count)
{
throw new ApplicationException("MDP Manager expects same number of objects." +
" Either environments are different" +
" or an object fell off the board and was removed. Found " + objLoc1.Count + " and " + objLoc2.Count);
}
double blockSize1 = state1.getSizeOfBlock();
double blockSize2 = state2.getSizeOfBlock();
if (Math.Abs(blockSize1 - blockSize2) > 0.001)
{
throw new ApplicationException("Block size differ. Found " + blockSize1 + " and " + blockSize2);
}
double sumOfEuclidean = 0;
for (int i = 0; i < objLoc1.Count; i++)
{
Point3D p1 = objLoc1 [i];
Point3D p2 = objLoc2 [i];
double dist = p1.calc2DL2Distance(p2);
sumOfEuclidean = sumOfEuclidean + dist;
}
return(sumOfEuclidean);
}
// Use this for initialization
public void init(List <GameObject> cubes, float blockSize, float stepSize, int horizon)
{
//Add translation action controller
GameObject robot = GameObject.Find("Robot");
if (robot == null)
{
Debug.LogError("There must be a robotic agent called 'Robot'");
}
this.queue = new Queue <Job> ();
this.numberOfJobsFinished = new SynchronizedInt();
// Add actions that the robot can perform e.g., translation, picking etc.
this.translation = robot.AddComponent <LinearTranslation> ();
this.translation.init(10.00f);
// Snapshot ID
this.snapshotID = 1;
// Maximum number of epsiodes
this.maxNumActions = horizon;
this.numActions = 0;
this.blockSize = blockSize;
this.minimumApproachDistance = Mathf.Infinity;
this.cubes = cubes;
this.stepSize = stepSize;
this.current = this.getCurrentObjectSystem();
this.rewardStr = "$NONE$";
}
public CountryManager(ushort teamNum, ushort countryId)
{
this.countryTeamNum = teamNum;
this.countryID = countryId;
mObjectSystem = new ObjectSystem(countryID);
mBuildSystem = new BuildSystem(countryID);
}
public void updateClosestApproachMetric()
{
ObjectSystem newState = this.getCurrentObjectSystem();
double biskMetric = this.mdpManager.calcBiskMetric(newState);
this.minimumApproachDistance = (double)Mathf.Min((float)this.minimumApproachDistance, (float)biskMetric);
}
public double calcBiskMetric()
{
ObjectSystem newState = this.getCurrentObjectSystem();
double biskMetric = this.mdpManager.calcBiskMetric(newState);
return(biskMetric);
}
public void changeEpisode(List <GameObject> cubes, ObjectSystem start, ObjectSystem end,
List <int> trajectory, List <Point3D> trajectoryPoints, int numObjects, float blockSize)
{
this.cubes = cubes;
this.mdpManager.changeScenario(start, end, trajectory, trajectoryPoints);
this.blockSize = blockSize;
this.end = end;
this.minimumApproachDistance = this.mdpManager.calcBiskMetric(start);
}
private List <GameObject> createDigitCubes(ObjectSystem system, GameObject sampleCube, GameObject sampleDigits)
{
this.colors = this.getUniqueColors();
this.digitText = new List <GameObject> ();
List <GameObject> cubes = new List <GameObject> ();
// Make the cube inactive
sampleCube.SetActive(false);
int ix = 0;
float blockSize = (float)system.getSizeOfBlock();
Material[] newMaterial = new Material[1];
newMaterial [0] = sampleCube.GetComponent <Renderer> ().materials [0];
sampleCube.GetComponent <Renderer> ().materials = newMaterial;
foreach (string brand in brandsList)
{
Debug.Log("Creating cube for digit: " + (ix + 1));
// Create the game object
GameObject newObj = (GameObject)Object
.Instantiate(sampleCube, sampleCube.transform.position, Quaternion.identity);
if (!this.simplifiedProblem)
{
// Create digit and write the letter
GameObject newDigits = (GameObject)Object
.Instantiate(sampleDigits, sampleDigits.transform.position, sampleDigits.transform.rotation);
newDigits.name = "Digits_" + ix;
Vector3 oldScale = newDigits.transform.localScale;
newDigits.GetComponent <TextMesh> ().text = (ix + 1).ToString();
newDigits.SetActive(false);
this.digitText.Add(newDigits);
newDigits.transform.parent = newObj.transform;
}
newObj.transform.localScale = new Vector3(1.0f, 1.0f, 1.0f) * (float)blockSize;
newObj.name = "Cube_Digit_" + ix;
// Simplified problem adds a unique color to every block
if (this.simplifiedProblem)
{
Material[] materials = newObj.GetComponent <Renderer> ().materials;
materials [0].EnableKeyword("_EMISSION");
materials [0].SetColor("_EmissionColor", this.colors [ix]);
}
ix++;
newObj.SetActive(false);
cubes.Add(newObj);
}
sampleDigits.SetActive(false);
return(cubes);
}
private float calcPotentialBasedRewardFollowOracleReduceDistance(ObjectSystem current, ObjectSystem newState, int action,
MessageHeader header, bool stopAction, int numActions)
{
if (header == MessageHeader.FailureACK || header == MessageHeader.FailureAndResetACK)
{
return(-1.0f);
}
ObjectSystem toReach = this.end;
// The system went from current to newState and it has to reach toReach
List <Point3D> objLoc1 = current.getObjectLocations();
// Compute distance d13 is pre-transition distance and d23 is post transition action.
double d13 = this.calcUnnormalizedSumOfEuclidean(current, toReach);
double d23 = this.calcUnnormalizedSumOfEuclidean(newState, toReach);
double blockSize = newState.getSizeOfBlock();
double rawReward = -0.02f;
if (stopAction) // || numActions == this.horizon) {
{
if (d23 < blockSize) //1.0 if within 1 block distance
{
rawReward = 1.0f;
}
else
{
rawReward = this.stopActionReward;
}
}
else
{
rawReward = -0.02f; //verbosity penalty
}
double potentialOld = -d13 / blockSize;
double potentialNew = -d23 / blockSize;
//when stopping the new and old potential will be same.
double reshapedReward = rawReward + potentialNew - potentialOld;
Point3D preTransitionState = objLoc1 [this.indexObjMoved];
double oraclePotential = this.potentialFromTrajectory(preTransitionState,
action, this.trajectoryPoints, this.trajectory);
reshapedReward = reshapedReward + oraclePotential - this.potentialOld;
if (this.overridePotential)
{
// Hack that override potential. Hack was added to return rewards for all CB
this.potentialOld = oraclePotential;
}
return((float)reshapedReward);
}
private SystemMediator()
{
#region 系统实例化
DelegateSystem = new DelegateSystem(this);
ObjectSystem = new ObjectSystem(this);
#endregion
}
public void changeScenario(ObjectSystem start, ObjectSystem end, List <int> trajectory, List <Point3D> trajectoryPoints)
{
this.start = start;
this.end = end;
this.potentialOld = -0.02f; //0.0;
this.trajectory = trajectory;
this.trajectoryPoints = trajectoryPoints;
// Compute the objected moved
List <Point3D> objLoc1 = this.start.getObjectLocations();
List <Point3D> objLoc2 = this.end.getObjectLocations();
double blockSize1 = this.start.getSizeOfBlock();
double blockSize2 = this.end.getSizeOfBlock();
if (objLoc1.Count != objLoc2.Count)
{
throw new ApplicationException("MDP Manager expects same number of objects." +
" Either environments are different" +
" or an object fell off the board and was removed");
}
if (Math.Abs(blockSize1 - blockSize2) > 0.001)
{
throw new ApplicationException("Block size differ. Found " + blockSize1 + " and " + blockSize2);
}
int mainBlock = -1;
int changedBlock = 0;
for (int i = 0; i < objLoc1.Count; i++)
{
Point3D p1 = objLoc1 [i];
Point3D p2 = objLoc2 [i];
if (p1.calc2DL2Distance(p2) > 0.001)
{
mainBlock = i;
changedBlock++;
if (changedBlock > 1)
{
mainBlock = -1;
break;
}
}
}
if (mainBlock == -1)
{
Debug.LogError("Needed exactly one block to move. Found "
+ changedBlock + " many blocks moved.");
}
this.indexObjMoved = mainBlock;
}
public SystemView(ObjectSystem sys)
{
this.sys = sys;
order = new List <int>();
for (int i = 0; i < sys.Count; i++)
{
order.Add(i);
}
Redraw();
}
// This reward is negative of distance from the new state to the goal state
private float calcNegDistanceReward(ObjectSystem current, ObjectSystem newState,
MessageHeader header, bool stopAction, int numActions)
{
// Compute distance d13 is pre-transition distance and d23 is post transition action.
double distance = this.calcUnnormalizedSumOfEuclidean(newState, this.end);
double blockSize = newState.getSizeOfBlock();
double reward = -distance / blockSize;
return((float)reward);
}
// Use this for initialization
void Start()
{
_system = new ObjectSystem();
CurTime = DelayTime;
setTimer = DelayTime / 4;
if (gameObject.GetComponent <GizmoSelection>())
{
ActiveLayer = gameObject.GetComponent <GizmoSelection>().DynamicLayer;
}
}
public SystemWindow(String s, ObjectSystem sys) : base(s)
{
sys_view = new SystemView(sys);
this.Add(sys_view);
this.Events |= EventMask.PointerMotionMask | EventMask.ScrollMask;
this.DeleteEvent += delegate { Application.Quit(); };
this.KeyPressEvent += Program.Input.KeyPress;
this.MotionNotifyEvent += Program.Input.MouseMovement;
this.ScrollEvent += Program.Input.Scroll;
this.ShowAll();
}
public string reset()
{
InitScript init = GameObject.Find("Ground").GetComponent <InitScript> ();
string instruction = init.reset();
string fileName = "deprecated";
this.snapshotID++;
this.current = this.getCurrentObjectSystem();
return(fileName + "#" + instruction);
}
public void resetEnd()
{
DataPoint current = this.dataset [this.datapointIndex];
int start = current.getStartFrame();
int end = current.getEndFrame();
Episode episode = current.getEpisode();
ObjectSystem system = episode.getEnvironmentByIndex(start);
ObjectSystem toReach = episode.getEnvironmentByIndex(end);
Decoration pointDecoration = current.getDecoration();
this.render(toReach, pointDecoration);
this.highlightMainBlockAndGoal(system, toReach);
}
public static void PITest()
{
ObjectSystem sys = new ObjectSystem(new List <SimObject>()
{
new Block()
{
position = new Vector3(0, 0, 0),
velocity = new Vector3(0, 0, 0),
mass = 1e300,
dimensions = new Vector3(2, 8, 8),
color = new Vector3(1, 0, 0),
orientation = new Vector3(0, 0, 0),
},
new Ball()
{
position = new Vector3(2.5, 0, 0),
velocity = new Vector3(0, 0, 0),
mass = 1,
color = new Vector3(0, 1, 0),
},
new Ball()
{
position = new Vector3(5, 0, 0),
velocity = new Vector3(-1, 0, 0),
mass = Math.Pow(100, DIGITS),
color = new Vector3(0, 0, 1),
},
});
int j = 0;
int last = -1;
Application.Init();
var sysWindow = new Graphics.SystemWindow("Mechanics Simulation", sys);
sysWindow.PlayAsync(interval: 0);
active_syswindow = sysWindow;
Console.WriteLine("hi");
Task.Run(() => {
while (true)
{
sys.TimeStep(Math.Pow(10, PRECISION));
// Don't output every frame, and only if the number of collisions has changed
if (j++ % 1e4 == 0 && last != collision_counter)
{
Console.WriteLine($"{collision_counter} collisions");
last = collision_counter;
}
}
});
Application.Run();
}
void OnTriggerStay(Collider col)
{
int tmp = ObjectSystem.IsObjectHittable(col.gameObject.tag);
if (tmp == 5)
{
for (int i = 0; i < ashCount; i++)
{
Vector3 pos = col.transform.position + new Vector3(1, 1, 1) * Random.Range(0.5f, 0.9f);
Instantiate(ashParent, pos, col.transform.rotation, col.transform.parent);
}
Destroy(col.gameObject);
}
}
private float calcPotentialBasedRewardFollowOracleReduceDistanceV2(ObjectSystem current,
ObjectSystem newState, int action, MessageHeader header, bool stopAction, int numActions)
{
ObjectSystem toReach = this.end;
// The system went from current to newState and it has to reach toReach
List <Point3D> objLoc1 = current.getObjectLocations();
List <Point3D> objLoc2 = newState.getObjectLocations();
List <Point3D> objLoc3 = toReach.getObjectLocations();
// Compute distance d13 is pre-transition distance and d23 is post transition action.
double d13 = objLoc1 [this.indexObjMoved].calc2DL2Distance(objLoc3 [this.indexObjMoved]);
double d23 = objLoc2 [this.indexObjMoved].calc2DL2Distance(objLoc3 [this.indexObjMoved]);
double blockSize = newState.getSizeOfBlock();
double rawReward = -0.02f;
if (stopAction /*|| numActions == this.horizon*/)
{
if (d23 < blockSize) //1.0 if within 1 block distance
{
rawReward = 1.0f;
}
else
{
rawReward = this.stopActionReward;
}
}
else
{
rawReward = -0.02f; //verbosity penalty
}
double potentialOld = -d13 / blockSize;
double potentialNew = -d23 / blockSize;
//when stopping the new and old potential will be same.
double reshapedReward = rawReward + (potentialNew - potentialOld) / (10.0);
Point3D preTransitionState = objLoc1 [this.indexObjMoved];
double oraclePotential = this.potentialFromTrajectoryV2(preTransitionState,
action, this.trajectoryPoints, this.trajectory);
reshapedReward = reshapedReward + oraclePotential;
return((float)reshapedReward);
}
private List <GameObject> createLogoCubes(ObjectSystem system, GameObject sampleCube)
{
this.colors = this.getUniqueColors();
List <GameObject> cubes = new List <GameObject> ();
// Make the cube inactive
sampleCube.SetActive(false);
int ix = 0;
float blockSize = (float)system.getSizeOfBlock();
foreach (string brand in brandsList)
{
Debug.Log("Creating cube for brand: " + brand);
Texture texture = (Texture2D)Resources.Load(brand);
if (texture == null)
{
throw new System.Exception("texture is null");
}
// Create the game object
GameObject newObj = (GameObject)Object
.Instantiate(sampleCube, sampleCube.transform.position, Quaternion.identity);
if (!this.simplifiedProblem)
{
newObj.GetComponent <Renderer> ().materials [1].mainTexture = texture;
}
newObj.transform.localScale = new Vector3(1.0f, 1.0f, 1.0f) * (float)blockSize;
newObj.name = "Cube_Logo_" + ix;
// Simplified problem adds a unique color to every block
if (this.simplifiedProblem)
{
Material[] materials = newObj.GetComponent <Renderer> ().materials;
materials [0].EnableKeyword("_EMISSION");
materials [0].SetColor("_EmissionColor", this.colors [ix]);
}
newObj.SetActive(false);
cubes.Add(newObj);
ix++;
}
return(cubes);
}
// TEMPORARY: changes color of the block to be moved and moves the GoalState plane
// to where the block has to be.
private void highlightMainBlockAndGoal(ObjectSystem system, ObjectSystem toReach)
{
/*if (!this.simplifiedProblem) {
* return;
* }*/
// Find the changed object
List <Point3D> system1 = system.getObjectLocations();
List <Point3D> system2 = toReach.getObjectLocations();
int i = 0;
for (int k = 0; k < system1.Count; k++)
{
Point3D o1 = system1 [k];
Point3D o2 = system2 [k];
if (o1.calc2DL2Distance(o2) > 0.1f)
{
i = k;
break;
}
}
// Change all cube to their default color
/*for(int j = 0; j < this.cubes.Count; j++) {
* GameObject cubeObj = this.cubes[j];
* Material[] materials = cubeObj.GetComponent<Renderer> ().materials;
* materials[0].SetColor ("_EmissionColor", this.colors[j]);
* }
*
* // Change the select cube to BLACK color
* GameObject selectedCubeObj = this.cubes [i];
* Material[] selectedCubeMaterials = selectedCubeObj.GetComponent<Renderer> ().materials;
* selectedCubeMaterials[0].SetColor ("_EmissionColor", Color.black);
* Vector3 blackPos = selectedCubeObj.transform.position;
* Debug.Log ("Black cube at " + blackPos.x + ", " + blackPos.y + ", " + blackPos.z);*/
// Move plate to where the cubeObj has to be moved
GameObject goalStatePlane = GameObject.Find("GoalState");
Point3D finalPoint = system2 [i];
goalStatePlane.transform.position = new Vector3((float)finalPoint.getX(),
(float)finalPoint.getY(), (float)finalPoint.getZ());
}
// This reward is based on potential. This reward is given based on
// following oracle.
private float calcPotentialBasedRewardFollowOracle(ObjectSystem current, ObjectSystem newState, int action,
MessageHeader header, bool stopAction, int numActions)
{
if (header == MessageHeader.FailureACK || header == MessageHeader.FailureAndResetACK)
{
return(-1.0f);
}
ObjectSystem toReach = this.end;
// The system went from current to newState and it has to reach toReach
List <Point3D> objLoc1 = current.getObjectLocations();
// Compute distance d13 is pre-transition distance and d23 is post transition action.
// double d23 = objLoc2 [this.indexObjMoved].calc2DL2Distance (objLoc3 [this.indexObjMoved]);
double d23 = this.calcUnnormalizedSumOfEuclidean(newState, toReach);
double blockSize = newState.getSizeOfBlock();
double rawReward = -0.02f;
if (stopAction /*|| numActions == this.horizon*/)
{
if (d23 < blockSize) //1.0 if within 1 block distance
{
rawReward = 1.0f;
}
else
{
rawReward = this.stopActionReward;
}
}
else
{
rawReward = -0.02f; //verbosity penalty
}
Point3D preTransitionState = objLoc1 [this.indexObjMoved];
double potentialNew = this.potentialFromTrajectory(preTransitionState, action, this.trajectoryPoints, this.trajectory);
double reshapedReward = rawReward + potentialNew - this.potentialOld;
this.potentialOld = potentialNew;
return((float)reshapedReward);
}
private void render(ObjectSystem system, Decoration pointDecoration)
{
List <Point3D> objectLocations = system.getObjectLocations();
for (int i = 0; i < brandsList.Count; i++)
{
this.logoCubes [i].SetActive(false);
this.digitCubes [i].SetActive(false);
if (this.decoration == Decoration.Digits || this.decoration == Decoration.Both)
{
this.digitText [i].SetActive(false);
}
}
int ix = 0;
foreach (Point3D objectLocation in objectLocations)
{
Vector3 spawnPoint = new Vector3((float)objectLocation.getX(),
(float)objectLocation.getY(),
(float)objectLocation.getZ());
GameObject cubeObj = null;
if (pointDecoration == Decoration.Logos)
{
cubeObj = this.logoCubes [ix];
}
else if (pointDecoration == Decoration.Digits)
{
cubeObj = this.digitCubes [ix];
}
cubeObj.transform.position = spawnPoint;
cubeObj.transform.rotation = new Quaternion(0.0f, 0.0f, 0.0f, 0.0f);
cubeObj.SetActive(true);
if (pointDecoration == Decoration.Digits)
{
GameObject digitTex = this.digitText [ix];
digitTex.transform.position = new Vector3(spawnPoint.x, spawnPoint.y, spawnPoint.z);
digitTex.SetActive(true);
}
ix++;
}
}
public double calculateShortestPathMetric()
{
ObjectSystem newState = this.getCurrentObjectSystem();
//Compute distance between this newState and the old state
TrajectoryResult result = newState.findShortestPathAStar(this.end);
List <int> trajectory = result.getTrajectory();
int count = trajectory.Count;
if (trajectory [trajectory.Count - 1] == 80)
{
count--;
}
double distance = this.stepSize * count + result.getMinDistanceAchieved();
double shortestPathDistance = distance / this.blockSize;
return(shortestPathDistance);
}
// Token: 0x0600004B RID: 75 RVA: 0x0000B0A0 File Offset: 0x000092A0
public static void StartupRetroEngine()
{
if (!EngineCallbacks.engineInit)
{
GlobalAppDefinitions.CalculateTrigAngles();
GraphicsSystem.GenerateBlendLookupTable();
if (FileIO.CheckRSDKFile())
{
GlobalAppDefinitions.LoadGameConfig("Data/Game/GameConfig.bin".ToCharArray());
}
AudioPlayback.InitAudioPlayback();
StageSystem.InitFirstStage();
ObjectSystem.ClearScriptData();
EngineCallbacks.engineInit = true;
return;
}
RenderDevice.UpdateHardwareTextures();
}
// This reward is based on distance potential-based shaping term.
private float calcPotentialBasedRewardReduceDistance(ObjectSystem current, ObjectSystem newState,
MessageHeader header, bool stopAction, int numActions)
{
if (header == MessageHeader.FailureACK || header == MessageHeader.FailureAndResetACK)
{
return(-1.0f);
}
ObjectSystem toReach = this.end;
// The system went from current to newState and it has to reach toReach
// Compute distance d13 is pre-transition distance and d23 is post transition action.
double d13 = this.calcUnnormalizedSumOfEuclidean(current, toReach);
double d23 = this.calcUnnormalizedSumOfEuclidean(newState, toReach);
double blockSize = newState.getSizeOfBlock();
double rawReward = -0.02f;
if (stopAction /* || numActions == this.horizon*/)
{
if (d23 < blockSize) //1.0 if within 1 block distance
{
rawReward = 1.0f;
}
else
{
rawReward = this.stopActionReward;
}
}
else
{
rawReward = -0.02f; //verbosity penalty
}
double potentialOld = -d13 / blockSize;
double potentialNew = -d23 / blockSize;
//when stopping the new and old potential will be same.
double shapedReward = rawReward + potentialNew - potentialOld;
return((float)shapedReward);
}
public double calcReward(bool stopAction)
{
ObjectSystem newState = this.getCurrentObjectSystem();
if (stopAction)
{
this.actionID = 80;
}
float reward = this.mdpManager.calcRewardManager(this.current, newState, this.actionID,
this.messageHeader, stopAction, this.numActions);
this.current = newState;
// Updated closest approach metric
this.updateClosestApproachMetric();
return(reward);
}
static void Main()
{
//Create system
var os = new ObjectSystem("/testSystem", new InMemoryBus(async: true));
var log = os.Create(() => new LoggerObject(), "logger/1");
var echo = os.Create(() => new EchoObject(), "echo");
//send ping to echo actor from 50 different objects
var taskArray = Enumerable
.Range(0, 50)
.Select(i => os.Create(() => new AskAnswerPingObject()).Ping("/testSystem/echo"))
.ToArray();
Task.WaitAll(taskArray);
var log2 = os.Create(() => new LoggerObject(), "logger/2");
var log3 = os.Create(() => new LoggerObject(), "logger/3");
var slbp = os.Create(() => new SendingLogByPathObject());
//send log messages to loggers, specify them with path
slbp.SendLogByPath("/testSystem/logger/2");
slbp.SendLogByPath("/testSystem/logger/2");
slbp.SendLogByPath("/testSystem/logger/2");
slbp.SendLogByPath("/testSystem/logger/3");
slbp.SendLogByPath("/testSystem/logger/3");
slbp.SendLogByPath("/testSystem/logger/3");
}
