private void PerturbParams(int p_offset = 0)
{
// Get params from winner and use as basis for perturbing
// Only update params if they were better than before, else reuse old
if (m_currentBestCandidate > -1)
{
//IOptimizable best = m_optimizableControllers[m_currentBestCandidate];
m_lastBestParams = m_currentParams[m_currentBestCandidate];
}
// Perturb and assign to candidates
for (int i = p_offset; i < m_optimizableControllers.Length; i++)
{
m_currentParams[i] = m_changer.change(m_lastBestParams, m_paramsMin, m_paramsMax, m_testCount); // different perturbation to each
}
}
private void PerturbParams()
{
// Get params from winner and use as basis for perturbing
// Only update params if they were better than before, else reuse old
if (m_currentBestCandidate > -1)
{
IOptimizable best = m_optimizables[m_currentBestCandidate];
m_lastBestParams = best.GetParams();
}
// Perturb and assign to candidates
for (int i = 0; i < m_optimizables.Length; i++)
{
IOptimizable opt = m_optimizables[i];
List <float> newObjParams = m_changer.change(m_lastBestParams);
// Debug.Log("new params for "+i+" sample at i=10: _" + newObjParams[10]+"_");
opt.SetParams(newObjParams);
}
}