public override void AgentAction(float[] vectorAction, string textAction)
{
//comparar la del bot con la del agente
if (cameraAgent == null)
{
cameraAgent = GetComponent <CameraMovement>();
}
oX = cameraAgent.GetBotX(); // Se usa para recompensas solo
oY = cameraAgent.GetBotY();
if (agentType == AgentType.IMPULSE) //1 accion
{
maxX = Mathf.Clamp(vectorAction[0], -1f, 1f);
minX = maxX;
graphicCanvas.AddBotPoint(oX);
graphicCanvas.AddAgentPointDown(minX);
if (showStd)
{
graphicCanvas.AddAveragePoint(average); //Debug std
graphicCanvas.AddStdHighPoint(average + stDesv);
graphicCanvas.AddStdLowPoint(average - stDesv);
}
DynamicAverageAndStd(ref moveCount, ref average, ref stDesv, ref varianza, ref averageSquared, oX);
}
else if (agentType == AgentType.RANGE) //2 acciones (X)
{
maxX = Mathf.Clamp(vectorAction[0], -1f, 1f);
minX = Mathf.Clamp(vectorAction[1], -1f, 1f);
graphicCanvas.AddBotPoint(oX);
graphicCanvas.AddAgentPointDown(minX);
graphicCanvas.AddAgentPointUp(maxX);
if (showStd)
{
graphicCanvas.AddAveragePoint(average); //Debug std
graphicCanvas.AddStdHighPoint(average + stDesv);
graphicCanvas.AddStdLowPoint(average - stDesv);
}
DynamicAverageAndStd(ref moveCount, ref average, ref stDesv, ref varianza, ref averageSquared, oX);
}
else if (agentType == AgentType.TWO_AXIS) //2 acciones (X,Y)
{
maxX = Mathf.Clamp(vectorAction[0], -1f, 1f);
minX = maxX;
agY = Mathf.Clamp(vectorAction[1] / YSensitivity, -1f, 1f);
graphicCanvas.AddAgentPointDown(minX);
graphicCanvas.AddAgentPointUp(agY);
graphicCanvas.AddBotPoint(oX);
graphicCanvas.AddBotPointY(oY);
graphicCanvas.AddBotAxisPoint(oX, oY);
graphicCanvas.AddAgentAxisPoint(minX, agY);
}
else if (agentType == AgentType.CLICKONLY) //1 accion (click)
{
minX = oX;
maxX = oX;
agY = oY;
//click float
if (clickDiscrete)
{
iClick = Mathf.FloorToInt(vectorAction[0]);
}
else
{
iClick = Mathf.Clamp(vectorAction[0], -1f, 1f);
}
graphicCanvas.AddBotAxisPoint(oX, oY);
graphicCanvas.AddAgentAxisPoint(minX, agY);
graphicCanvas.AddAgentPointDown(iClick); // click (no movimiento)
//Los clicks se procesan por separado
/*
* if (cameraAgent.GetBotClick())
* {
* graphicCanvas.AddBotClick();
* }
*
* if ((iClick >= 0f) && (lastClick < 0f))
* {
* graphicCanvas.AddAgentClick();
* }*/
graphicCanvas.UpdateLines();
}
else if (agentType == AgentType.ANGLE_MAGNITUDE)
{
float angle = (Mathf.Clamp(vectorAction[0], -1f, 1f) + 1f) * Mathf.PI; // en radianes
float magnitude = (Mathf.Clamp(vectorAction[1], -1f, 1f) + 1f) / 2f; // de 0 a 1
minX = magnitude * Mathf.Cos(angle);
maxX = minX;
agY = magnitude * Mathf.Sin(angle);
graphicCanvas.AddAgentPointDown(minX);
graphicCanvas.AddAgentPointUp(agY);
graphicCanvas.AddBotPoint(oX);
graphicCanvas.AddBotPointY(oY);
graphicCanvas.AddBotAxisPoint(oX, oY);
graphicCanvas.AddAgentAxisPoint(minX, agY);
/*
* lastAngles.RemoveAt(2);
* lastAngles.Insert(0, angle);
* lastMagnitudes.RemoveAt(2);
* lastMagnitudes.Insert(0, magnitude);*/
lastAngles.RemoveAt(2);
lastAngles.Insert(0, Mathf.Clamp(vectorAction[0], -1f, 1f));
lastMagnitudes.RemoveAt(2);
lastMagnitudes.Insert(0, Mathf.Clamp(vectorAction[1], -1f, 1f));
}
//RewardsStdChIndividualAverage(maxX, oX, average, stDesv, RewFactor, PunFactor, 0.0f);
//float distance = Vector2.Distance(new Vector2(oX, oY), new Vector2(minX, agY));
//Debug.Log("oX= " + oX + " , oY= " + oY + " , bX = " + minX + " , bY = " + agY);
//RewardsTolerableRange(distance, tolerableRange, 2f, PunFactor, RewFactor);
//AxisRewardAngleMagnitudeTR(tolerableRange, 0.05f, 0.5f, PunFactor, RewFactor, oX, oY, minX, agY);
//AxisRewardCheatShaped(oX, oY, minX, agY);
lastX.RemoveAt(59);
lastX.Insert(0, Mathf.Lerp(minX, maxX, Random.Range(0f, 1f))); // En vez de oX, para que no tenga "chuleta"
realX.RemoveAt(59);
realX.Insert(0, oX);
lastY.RemoveAt(59);
lastY.Insert(0, agY); // En vez de oX, para que no tenga "chuleta"
realY.RemoveAt(59);
realY.Insert(0, oY);
}
