public Skater Move()
{
double reward;
// Get an action following some policy/strategy
int action = DetermineAction(Parameters.CurrentPolicy);
Torus.actionHistogram[action]++;
// Calculate possible new position
double direction = Parameters.DirectionList[action];
double xCoordNewPosition = Shared.Mod((xCoord + Parameters.StepSize * Math.Cos(direction)), 1);
double yCoordNewPosition = Shared.Mod((yCoord + Parameters.StepSize * Math.Sin(direction)), 1);
// Check Collision
if (Torus.CollisionCheck(this, xCoordNewPosition, yCoordNewPosition))
{
RecentCollision = Parameters.CollisionFadeSpeed;
// Due to collision risk, movement is cancelled!
// The newly gennerated coordinates will not be applied.
Torus.collisionCount++;
reward = CalculateReward(action, false);
}
else
{
// No collision, so we update the coordinates of this skater!
xCoord = xCoordNewPosition;
yCoord = yCoordNewPosition;
if (RecentCollision > 0)
{
RecentCollision--;
}
reward = CalculateReward(action, true);
}
// update RL tables
UpdateQValue(action, reward);
// And log reward to histogram.
Torus.rewardHistogram[action] += reward;
// No Collision -> Update position
return(new Skater(xCoord, yCoord, RecentCollision, qValues, InitialColor));
}
