void Start()
{
const int numOfSize = 10;
const int numOfKernel = numOfSize * numOfSize;
const int stateDim = 2;
const float lengthX = 40.0f; //length of area where the kernels are located
const float lengthY = 40.0f; //length of area where the kernels are located
GaussianPolicyModel GPM = new GaussianPolicyModel(numOfKernel, stateDim);
//Set GPM Parameters
for (int i = 0; i < numOfKernel; i++)
{
GPM.m_Mean[i] = 0.0f;
}
GPM.m_StandDev = 500d;
//Set Kernels Parameters
int iKernel = 0;
for (int i = 0; i < numOfSize; i++)
{
float x = lengthX / (float)numOfSize * (float)i - lengthX / 2f;
for (int j = 0; j < numOfSize; j++)
{
float y = lengthY / (float)numOfSize * (float)j - lengthY / 2f;
GPM.m_GaussianKernel[iKernel].m_KernelCenter[0] = x;
GPM.m_GaussianKernel[iKernel].m_KernelCenter[1] = y;
//GPM.m_GaussianKernel[iKernel].m_KernelCenter[2] = 0.0f;
GPM.m_GaussianKernel[iKernel].m_Sigma = 2d;
iKernel++;
}
}
GPM.OutputParamtersToXML("/GPMs/GPM_k100_40x40.xml");
}
public void InputParametersFromXML(string file_path)
{
serializeDataPath = Application.dataPath + file_path;
GaussianPolicyModel buf = XmlUtil.Deserialize <GaussianPolicyModel>(serializeDataPath);
int num_of_kernel = buf.m_GaussianKernel.Length;
int state_dimension = buf.m_GaussianKernel[0].m_KernelCenter.Length;
Debug.LogFormat("loarding xml info... num: {0} / dim: {1}", num_of_kernel, state_dimension);
m_Mean = new double[num_of_kernel];
for (int i = 0; i < num_of_kernel; i++)
{
//Debug.LogFormat("i = [{0}]", i);
m_Mean[i] = buf.m_Mean[i];
}
m_StandDev = buf.m_StandDev;
m_GaussianKernel = new GaussianKernel[num_of_kernel];
for (int i = 0; i < num_of_kernel; i++)
{
m_GaussianKernel[i] = new GaussianKernel(state_dimension);
m_GaussianKernel[i] = (GaussianKernel)buf.m_GaussianKernel[i];
}
//Debug.LogFormat("okok");
//for (int i = 0; i < state_dimension; i++)
//{
// double kc = m_GaussianKernel[1].m_KernelCenter[i];
// //Debug.LogFormat("kc: {0}", kc);
//}
}
/*----------------------------------------------------------*/
/* ClickOn Save Parameter Template of Gaussian Policy Model */
/*----------------------------------------------------------*/
public void ClickOnMakeGaussianPolicyModelTemplate()
{
GaussianPolicyModel GPM = new GaussianPolicyModel(3, 3);
GPM.OutputParamtersToXML("xmltemplate.xml");
}