void mainLoop()
{
//while (mCurrentTrialTime < mTrialLength)
while (true)
{
Ogre::Real elapsedSimTime = 0;
Ogre::Real elapsedRealTime = 0;
gEngine.update(elapsedSimTime, elapsedRealTime);
handleInput(elapsedRealTime);
if (gEngine.quitApp())
{
return;
}
// Update sound effects at 50 Hz.
const Ogre::Real soundUpdatePeriod = 0.02;
static Ogre::Real soundUpdateTimer = 0;
soundUpdateTimer -= elapsedSimTime;
if (soundUpdateTimer <= 0)
{
gRobot->updateSoundEffects(soundUpdatePeriod);
gCar->updateSoundEffects(soundUpdatePeriod);
soundUpdateTimer = soundUpdatePeriod;
}
gRobot->updateVisuals(elapsedSimTime);
updateOverlay();
gAgentDebugger->updateVisuals();
}
//mAvgRewardPerStep = mAvgRewardPerStep * mPhysicsStepSize /
// mCurrentTrialTime;
//dataFile.storeData("trial", trial, (double)trial);
//dataFile.storeData("avg reward per step", trial,
// mAvgRewardPerStep);
//printTrialAndRunStatus(run, trial, mAvgRewardPerStep);
//std::cout << "Agent age = " << mPendulum->getAgent()->getAgeString()
// << std::endl;
//dataFile.printToFile("./results/pendulum-performance.dat");
}
void PendulumTest::startTest()
{
SimulationEngine engine;
if (!engine.init())
{
return;
}
// Get a pointer to the trial number overlay and make it visible.
Ogre::OverlayManager::getSingleton().getByName("Verve/TrialNumber")->show();
engine.setUpdateMode(SimulationEngine::SIMULATE_REAL_TIME_MULTIPLE, 1);
engine.setCameraMoveSpeed(5);
//// Set to capture frames at 29.97 fps.
//engine.setUpdateMode(SIMULATE_CONSTANT_CHUNK, 0.0333667);
engine.getSimulator()->setStepSize(mPhysicsStepSize);
engine.getSimulator()->setGravity(opal::Vec3r(0, -9.81, 0));
// Make sure we get notified at the end of each step.
engine.getSimulator()->addPostStepEventHandler(this);
// Create a static box for a ground plane.
opal::Solid* boxSolid = engine.getSimulator()->createSolid();
boxSolid->setStatic(true);
boxSolid->setPosition(0, -1.5, 0);
opal::BoxShapeData data;
data.dimensions.set(6, 3, 6);
boxSolid->addShape(data);
engine.createPhysicalEntity("ground", "Plastic/Gray", boxSolid);
DataFile dataFile(mNumTrialsPerRun);
opal::Matrix44r initialTransform;
initialTransform.translate(0, 1.2, 0);
assert(NULL == mPendulum);
mPendulum = new Pendulum(engine, initialTransform);
mAgentDebugger = new AgentVisualDebugger(engine.getSceneManager());
for (unsigned int run = 0; run < mNumRuns; ++run)
{
mPendulum->resetBodyAndCreateNewAgent();
mAgentDebugger->setAgent(mPendulum->getAgent());
for (unsigned int trial = 0; trial < mNumTrialsPerRun; ++trial)
{
updateOverlayData(trial);
mPendulum->resetBodyAndSTM();
mPendulum->randomizeState();
mAvgRewardPerStep = 0;
mCurrentTrialTime = 0;
while (mCurrentTrialTime < mTrialLength)
{
Ogre::Real elapsedSimTime = 0;
Ogre::Real elapsedRealTime = 0;
engine.update(elapsedSimTime, elapsedRealTime);
handleInput(elapsedRealTime, engine);
if (engine.quitApp())
{
return;
}
mAgentDebugger->updateVisuals();
}
mAvgRewardPerStep = mAvgRewardPerStep * mPhysicsStepSize /
mCurrentTrialTime;
dataFile.storeData("trial", trial, (float)trial);
dataFile.storeData("avg reward per step", trial,
mAvgRewardPerStep);
printTrialAndRunStatus(run, trial, mAvgRewardPerStep);
//// Print value function data.
//if (0 == run &&
// (trial == 0 || trial == 4 || trial == 19 || trial == 99))
//{
// char fileStr[1024];
// sprintf(fileStr, "./results/pendulum-trial%d-value.dat", trial);
// mPendulum->getAgent()->saveValueData(400, fileStr);
// sprintf(fileStr, "./results/pendulum-trial%d-RBF.dat", trial);
// mPendulum->getAgent()->saveStateRBFData(fileStr);
//}
}
std::cout << "Agent age = " << mPendulum->getAgent()->getAgeString()
<< std::endl;
}
dataFile.printToFile("./results/pendulum-performance.dat");
}
