public override void Heuristic(float[] actionsOut)
{
base.Heuristic(actionsOut);
bool featureNameReady = (featureName.Count != 0);
var obs = GetObservations();
List <float> sensorData = controller.GetSensorData();
observation = new List <float>();
for (int i = 0; i < sensorData.Count; i++)
{
observation.Add(sensorData[i]);
if (!featureNameReady)
{
featureName.Add("SD" + i);
}
}
//foreach (var ob in sensorData)
//{
// observation.Add(ob);
//}
foreach (var ob in obs)
{
print("obs=" + ob);
observation.Add(ob);
}
if (!featureNameReady)
{
foreach (string feat in additionalFeatureNames)
{
featureName.Add(feat);
}
featureName.Add("steer");
featureName.Add("acceleration");
}
//print("Heuristic obs=" + observation.Count);
print("ROT=" + transform.rotation);
float xAxis = Input.GetAxis("Horizontal");
float yAxis = Input.GetAxis("Vertical");
actionsOut[0] = xAxis;
actionsOut[1] = yAxis;
horizontalSlider.value = xAxis;
verticalSlider.value = yAxis;
//saveImitationLearningRecords(observation, xAxis, yAxis);
saveImitationLearningRecordsToCSV(observation, featureName, xAxis, yAxis);
}