// Use this for initialization
void Start()
{
CLAB = gameObject;
expert = CLAB.GetComponent <Expert>();
kga = CLAB.GetComponent <KGA>();
learner = CLAB.GetComponent <Learner>();
memory = expert.memory;
eMemory = kga.ememory;
rMemory = expert.rMemory;
expert.AddToMemory(CLAB);
}
void FixedUpdate()
{
int bestAction = expert.EvaluateAction(rMemory, threshold, samples);
int lastAction = learner.CallAction(bestAction);
expert.AddToMemory(CLAB);
float predictionError = expert.PredictionError(memory, CLAB, lastAction);
//Debug.Log("prediction Error" + predictionError);
kga.AddToErrorMemory(predictionError);
float meanError = kga.MeanError(eMemory, samples);
//Debug.Log("mean Error" + meanError);
float metaError = kga.MetaM(eMemory, samples, offset);
//Debug.Log("meta Error" + meanError);
float reward = kga.Reward(meanError, metaError);
Debug.Log("reward" + reward * 10);
expert.AddToRewardMemory(CLAB, reward * 10, lastAction);
}