int Agent::nextAction(State s, FANN::neural_net*& net, Position self_pos, Home home, double eps) {
//stateTrajectory.push_back(s);
//TODO if adding threading, change to drand48_r() and rand_r()
if (drand48() < eps)
{
return rand() % 6;
}
if (this->isCarrying())
{
Position home_pos = home.getPosition();
if (home_pos == self_pos) return SET_DOWN;
if (abs(self_pos.getX() - home_pos.getX()) > abs(self_pos.getY() - home_pos.getY()))
{
if (self_pos.getX() > home_pos.getX())
{
return MOVE_LEFT;
}
else {
return MOVE_RIGHT; }
}
else{
if (self_pos.getY() > home_pos.getY())
{
return MOVE_UP;
}
else {
return MOVE_DOWN; }
}
}
/* Picks the output from the neural net */
fann_type* output = net->run( (fann_type*) s.array);
int max_i = 0;
for (int i = 0; i < 6; ++i)
{
if (output[i] > output[max_i]) { max_i = i; }
}
return max_i;
}
