void Update()
{
if (robotReady)
{
Debug.Log("New Update:");
Debug.Log("Ghosts available: " + ghosts.Count);
// move both
GenerateRandomCommand();
// töte schlechte ghosts
var particleFilter = ParticleFilter();
// töte alle ghosts out of map
KillOutOfMapGhosts();
// refill ghosts weighted
// refillGhosts(particleFilter);
refillGhosts2(particleFilter);
// abbruchbedingung
//
if (CheckLocations())
{
Debug.Log("final!");
robot.CompareLocations(particleFilter[0].Item1.GetPosition(), particleFilter[0].Item1.GetRotation());
return;
}
// Debug.Log(robot.Scan());
robotReady = false;
}
}
