private static double[] GetNeuralInputFromSensorReading(CarSensorReadingSnapshot sensorReading)
{
return(new[] {
sensorReading.CenterSensor?.Distance ?? 0,
sensorReading.LeftSensor?.Distance ?? 0,
sensorReading.RightSensor?.Distance ?? 0
});
}
private CarSensorReadingSnapshot GetSensorReadings()
{
var mapLines = map.Nodes
.SelectMany(x => x.WallLines)
.Select(x => x.Line)
.ToArray();
var sensorReadingCached = new CarSensorReadingSnapshot()
{
LeftSensor = GetSensorReading(mapLines, -360 / 8),
CenterSensor = GetSensorReading(mapLines, 0),
RightSensor = GetSensorReading(mapLines, 360 / 8)
};
return(sensorReadingCached);
}