public float[] SelectAction()
{
int[] s_tt = Ds.GetCurrentState();
float[] utils;
// use own asm to select one action?
if (m_setup.UseHierarchicalASM)
{
utils = this.Rescale(m_asm.SelectAction(Mem.ReadData(s_tt)));
}
else
{
utils = this.Rescale(Mem.ReadData(s_tt));
}
if (m_setup.PropagateUtilitiesInHierarchy)
{
float myMot = this.GetMyTotalMotivation();
Ds.PromoteUtilitiesToChilds(utils, myMot);
}
this.MarkSelection(utils);
return(utils);
}