void CCAGradientPolicyNumericInputDerivationCalculator::getInputDerivation(CStateCollection *inputStateCol, Matrix *targetVector)
{
CStateProperties *modelState = policy->getStateProperties();
CState *inputState = stateBuffer->getState(modelState);
inputState->setState(inputStateCol->getState(modelState));
double stepSize = getParameter("NumericInputDerivationStepSize");
DebugPrint('p', "Calculating Numeric Policy Input Derivation\n");;
for (unsigned int col = 0; col < modelState->getNumContinuousStates(); col++)
{
double stepSize_i = (modelState->getMaxValue(col) - modelState->getMinValue(col)) * stepSize;
inputState->setContinuousState(col, inputState->getContinuousState(col) + stepSize_i);
stateBuffer->newModelState();
policy->getNextContinuousAction(stateBuffer, contDataPlus);
if (DebugIsEnabled('p'))
{
DebugPrint('p', "State : ");
inputState->saveASCII(DebugGetFileHandle('p'));
DebugPrint('p', "Action : ");
contDataPlus->saveASCII(DebugGetFileHandle('p'));
}
inputState->setContinuousState(col, inputState->getContinuousState(col) - 2 * stepSize_i);
stateBuffer->newModelState();
policy->getNextContinuousAction(stateBuffer, contDataMinus);
if (DebugIsEnabled('p'))
{
DebugPrint('p', "State : ");
inputState->saveASCII(DebugGetFileHandle('p'));
DebugPrint('p', "Action : ");
contDataMinus->saveASCII(DebugGetFileHandle('p'));
}
inputState->setContinuousState(col, inputState->getContinuousState(col) + stepSize_i);
for (int row = 0; row < policy->getNumOutputs(); row ++)
{
targetVector->element(row, col) = (contDataPlus->getActionValue(row) - contDataMinus->getActionValue(row)) / (2 * stepSize_i);
}
}
}
