| public abstract Decide ( StateController controller ) : bool | ||
| controller | StateController | |
| 리턴 | bool | |
private void ResetTimerDecision(StateController controller)
{
if (resetDecision.Decide(controller) == true)
{
timerDecision.ResetTimer();
}
}
//The UpdateState is called every frame
public void UpdateState(DayFSM FSM)
{
if (!isPhysic)
{
//Go through all registered actions
foreach (Action action in actions)
{
#region Warnings
//Some warnings
if (action == null)
{
Debug.LogWarning("Carefull, you have setup an empty action !! check this state again : " + this);
}
#endregion
action.Act(FSM);
}
}
//Check if there is a Decision for Force Stay in state or if ForceStayInState is true
if (ForceStayInState == null || ForceStayInState.Decide(FSM))
{
CheckTransitions(FSM);
}
}
/// Uses the Decision Component to decide that action to take
public void DecideAction(Dictionary <Agent, AgentInfo> agentInfo)
{
if (coord != null)
{
coord.GiveBrainInfo(brain, agentInfo);
}
if (decision == null)
{
throw new UnityAgentsException("The Brain is set to Heuristic, but no decision script attached to it");
}
foreach (Agent agent in agentInfo.Keys)
{
agent.UpdateVectorAction(decision.Decide(
agentInfo[agent].stackedVectorObservation,
agentInfo[agent].visualObservations,
agentInfo[agent].reward,
agentInfo[agent].done,
agentInfo[agent].memories));
}
foreach (Agent agent in agentInfo.Keys)
{
agent.UpdateMemoriesAction(decision.MakeMemory(
agentInfo[agent].stackedVectorObservation,
agentInfo[agent].visualObservations,
agentInfo[agent].reward,
agentInfo[agent].done,
agentInfo[agent].memories));
}
}
public State CheckTransitions(State current, AIController aI)
{
if (decision.Decide(aI))
{
return(trueState);
}
else
{
return(falseState);
}
}
private void CheckTransitions(StateController controller)
{
// initialize empty string
result = "";
for (int j = 0; j < transition.decisions.Length; j++)
{
Decision decision = transition.decisions[j];
decisionSucceded = decision.Decide(controller);
// if true, value = "1", else value = "false", then concatenate it to the result, result is in binary string
value = decisionSucceded ? "1" : "0";
result += value;
}
//Debug.Log("result:"+result);
// convert result to integer, which is the index for the states list in transition
index = Convert.ToInt32(result, 2);
// transit to the corresponding state
controller.TransitionToState(transition.states[index]);
}
/// Uses the Decision Component to decide that action to take
public void DecideAction()
{
if (decision == null)
{
throw new UnityAgentsException("The Brain is set to Heuristic, but no decision script attached to it");
}
Dictionary <int, float[]> actions = new Dictionary <int, float[]>();
Dictionary <int, float[]> new_memories = new Dictionary <int, float[]>();
Dictionary <int, List <float> > states = brain.CollectStates();
Dictionary <int, List <Camera> > observations = brain.CollectObservations();
Dictionary <int, float> rewards = brain.CollectRewards();
Dictionary <int, bool> dones = brain.CollectDones();
Dictionary <int, float[]> old_memories = brain.CollectMemories();
foreach (KeyValuePair <int, Agent> idAgent in brain.agents)
{
actions.Add(idAgent.Key, decision.Decide(
states[idAgent.Key],
observations[idAgent.Key],
rewards[idAgent.Key],
dones[idAgent.Key],
old_memories[idAgent.Key]));
}
foreach (KeyValuePair <int, Agent> idAgent in brain.agents)
{
new_memories.Add(idAgent.Key, decision.MakeMemory(
states[idAgent.Key],
observations[idAgent.Key],
rewards[idAgent.Key],
dones[idAgent.Key],
old_memories[idAgent.Key]));
}
brain.SendActions(actions);
brain.SendMemories(new_memories);
}
private int Eval(Decision node, int input)
{
return(node.Decide(input));
}
public override bool Decide(Controller controller)
{
return(left.Decide(controller) && right.Decide(controller));
}
public override bool Decide(Controller controller)
{
return(!decision.Decide(controller));
}