DriveSnapShot GrabDriveSnapShot()
{
var drivecontroller = Car.GetComponent <RearWheelDrive>();
var sensors = Car.GetComponentsInChildren <DetectionLaser>();
var snapshot = new DriveSnapShot();
snapshot.Speed = drivecontroller.Speed;
snapshot.SteeringAngle = drivecontroller.SteeringAngle;
snapshot.Tourgue = drivecontroller.Tourque;
snapshot.SensorLeft = sensors.Where(s => s.Name == "L").First().Distance;
snapshot.SensorFront = sensors.Where(s => s.Name == "F").First().Distance;
snapshot.SensorRight = sensors.Where(s => s.Name == "R").First().Distance;
return(snapshot);
}
void AddSample(RearWheelDrive drivecontroller, float reward)
{
drivecontroller.InputControl = false;
var snap = GrabDriveSnapShot();
var input = new Tensor1D(new float[] { snap.Speed, snap.SensorLeft, snap.SensorFront, snap.SensorRight });
var result = (Tensor1D)Network.Forward(input);
var outlist = result.Tolist();
var steeringdim = _Actions.ActionTable.GetLength(0);
var trouquedim = _Actions.ActionTable.GetLength(1);
//a.SteeringNumber* a.SteeringCount + a.TourgueNumber = index
var maxindex = outlist.IndexOf(outlist.Max());
var _rnd = new System.Random();
var randomdouble = _rnd.NextDouble();
if (0.2 >= randomdouble)
{
maxindex = _rnd.Next(0, outlist.Count);
}
var currenttime = Time.time;
if (currenttime - _ActionTime > 0.2)
{
_ActionTime = currenttime;
}
else
{
return;
}
var steeringindex = maxindex / steeringdim;
var touqueindex = maxindex % steeringdim;
var action = _Actions.ActionTable[steeringindex, touqueindex];
drivecontroller.SteeringAngle = action.SteeringAngle;
drivecontroller.Tourque = Math.Max(action.Tourque, 0);
var transition = new Transition();
if (_LastSnap != null)
{
transition.InputA = _LastInput;
transition.InputB = input;
transition.OutputA = _LastOutput;
transition.OutputB = result;
transition.Reward = PreviousReward;
transition.Action = action;
currenttime = Time.time;
if (currenttime - _Time > 0.2)
{
_Time = currenttime;
_Transitions.Add(transition);
}
}
_LastSnap = snap;
_LastInput = input;
_LastOutput = result;
PreviousReward = reward;
LastPos = Car.transform.position;
}
