public void KillCar()
{
if (captureState)
{
// Remove the last 1 second worth of records
StateInputMeasurements = StateInputMeasurements.SkipLast(10).ToList();
StateOutputMeasurements = StateOutputMeasurements.SkipLast(10).ToList();
SamplesCaptured = StateInputMeasurements.Count();
}
}
public DrivingAction GetOutput(
float[] rayCollisions,
Vector2f carPosition,
float carHeading,
Vector2f nextCheckpointPosition)
{
var output = new DrivingAction();
if (UseController)
{
var update = gameController.OnUpdate();
output = GetOutputFromUpdate(update);
}
else
{
if (Keyboard.IsKeyPressed(Keyboard.Key.Up))
{
output.Acceleration = 1;
}
if (Keyboard.IsKeyPressed(Keyboard.Key.Down))
{
output.BreakingForce = 1;
}
output.LeftTurnForce = Keyboard.IsKeyPressed(Keyboard.Key.Left) ? 1 : 0;
output.RightTurnForce = Keyboard.IsKeyPressed(Keyboard.Key.Right) ? 1 : 0;
}
if (captureState)
{
if (timesinceLastMeasurement > frequencyMs)
{
timesinceLastMeasurement = 0;
var outputMeasurement = new float[4];
outputMeasurement[0] = output.Acceleration;
outputMeasurement[3] = output.BreakingForce;
outputMeasurement[1] = output.LeftTurnForce;
outputMeasurement[2] = output.RightTurnForce;
if (isCapturingInput)
{
StateInputMeasurements.Add(rayCollisions);
StateOutputMeasurements.Add(outputMeasurement);
SamplesCaptured++;
}
}
}
return(output);
}
public void ResetCapture()
{
StateInputMeasurements.Clear();
StateOutputMeasurements.Clear();
SamplesCaptured = 0;
}