public Boolean TrainNavigationController()
{
List <Position> items_pickedup;
if (loopcount == 0)
{
// Initial step
view.ShowInit(map, agents.Bots);
Console.WriteLine("-- Arena map --");
Console.WriteLine("Start Navigation training... ");
if (loopcount % 100 == 0)
{
Console.WriteLine("> Iteration " + loopcount);
}
agents.Execute_Navigation(map, config, true, stat_nav, loopcount, out items_pickedup);
// Modify map if items were picked up
for (int i = 0; i < items_pickedup.Count; i++)
{
ItemManagement(map, items, items_pickedup[i]);
}
//view.Show(map, agents.Bots);
//Console.ForegroundColor = ConsoleColor.Black;
loopcount++;
}
else if (loopcount == config.iterationlimit)
{
// End of iterations
stat_nav.WriteStat_Navigation(outputfolder, "stat_nav.csv", "visual_nav.csv", config.botnum);
loopcount++;
}
else
{
// Step in training
if (loopcount % 1000 == 0)
{
Console.WriteLine("> Iteration " + loopcount);
}
agents.Execute_Navigation(map, config, false, stat_nav, loopcount, out items_pickedup);
// Modify map if items were picked up
for (int i = 0; i < items_pickedup.Count; i++)
{
ItemManagement(map, items, items_pickedup[i]);
}
// Check items' respawn cycle
ItemRespawnCheck(map, items);
//view.Show(map, agents.Bots);
//Console.ForegroundColor = ConsoleColor.Black;
loopcount++;
}
return(loopcount > config.iterationlimit);
}
