double HumanAgent::evaluatePolicy(Environment<bool>& env){
#ifdef __USE_SDL
Action action;
int reward = 0;
int totalReward = 0;
int cumulativeReward = 0;
//Repeat (for each episode):
for(int episode = 0; episode < numEpisodesToEval; episode++){
int step = 0;
while(!env.game_over() && step < maxStepsInEpisode) {
action = receiveAction();
//If one wants to save trajectories, this is where the trajectory is saved:
if(toSaveTrajectory){
saveTrajectory(action);
}
reward = env.act(action);
cumulativeReward += reward;
step++;
}
printf("Episode %d, Cumulative Reward: %d\n", episode + 1, cumulativeReward);
totalReward += cumulativeReward;
cumulativeReward = 0;
env.reset_game(); //Start the game again when the episode is over
}
return double(totalReward)/numEpisodesToEval;
}
///Connect Signals and Slots for the ui control
void ui_connections(QObject* ui, GraphManager* graph_mgr, OpenNIListener* listener)
{
Qt::ConnectionType ctype = Qt::AutoConnection;
if (ParameterServer::instance()->get<bool>("concurrent_io"))
ctype = Qt::DirectConnection;
QObject::connect(ui, SIGNAL(reset()), graph_mgr, SLOT(reset()), ctype);
QObject::connect(ui, SIGNAL(optimizeGraph()), graph_mgr, SLOT(optimizeGraph()), ctype);
QObject::connect(ui, SIGNAL(togglePause()), listener, SLOT(togglePause()), ctype);
QObject::connect(ui, SIGNAL(toggleBagRecording()), listener, SLOT(toggleBagRecording()), ctype);
QObject::connect(ui, SIGNAL(getOneFrame()), listener, SLOT(getOneFrame()), ctype);
QObject::connect(ui, SIGNAL(deleteLastFrame()), graph_mgr, SLOT(deleteLastFrame()), ctype);
QObject::connect(ui, SIGNAL(sendAllClouds()), graph_mgr, SLOT(sendAllClouds()), ctype);
QObject::connect(ui, SIGNAL(saveAllClouds(QString)), graph_mgr, SLOT(saveAllClouds(QString)), ctype);
QObject::connect(ui, SIGNAL(saveOctomapSig(QString)), graph_mgr, SLOT(saveOctomap(QString)), ctype);
QObject::connect(ui, SIGNAL(saveAllFeatures(QString)), graph_mgr, SLOT(saveAllFeatures(QString)), ctype);
QObject::connect(ui, SIGNAL(saveIndividualClouds(QString)), graph_mgr, SLOT(saveIndividualClouds(QString)), ctype);
QObject::connect(ui, SIGNAL(saveTrajectory(QString)), graph_mgr, SLOT(saveTrajectory(QString)), ctype);
QObject::connect(ui, SIGNAL(toggleMapping(bool)), graph_mgr, SLOT(toggleMapping(bool)), ctype);
QObject::connect(ui, SIGNAL(saveG2OGraph(QString)), graph_mgr, SLOT(saveG2OGraph(QString)), ctype);
}
bool RosUi::services_s(rgbd_slam::rgbdslam_ros_ui_s::Request &req,
rgbd_slam::rgbdslam_ros_ui_s::Response &res )
{
ROS_INFO_STREAM("Got Service Request. Command: " << req.command << ". Value: " << req.value );
QString filename = QString::fromStdString(req.value);
if (req.command == "save_octomap" ){ Q_EMIT saveOctomapSig(filename); }
else if(req.command == "save_cloud" ){ Q_EMIT saveAllClouds(filename); }
else if(req.command == "save_g2o_graph" ){ Q_EMIT saveG2OGraph(filename); }
else if(req.command == "save_trajectory"){ Q_EMIT saveTrajectory(filename); }
else if(req.command == "save_features" ){ Q_EMIT saveAllFeatures(filename); }
else if(req.command == "save_individual"){ Q_EMIT saveIndividualClouds(filename); }
else{
ROS_ERROR("Invalid service call command: %s", req.command.c_str());
ROS_INFO("Valid commands are: {\n - save_octomap\n - save_cloud\n - save_g2o_graph\n - save_trajectory\n - save_features\n - save_individual\n}");
return false;
}
return true;
}
bool RosUi::services(rgbd_slam::rgbdslam_ros_ui::Request &req,
rgbd_slam::rgbdslam_ros_ui::Response &res )
{
ROS_INFO_STREAM("Got Service Request. Command: " << req.command);
if (req.command == "reset" ){ Q_EMIT reset(); }
else if(req.command == "quick_save" ){ Q_EMIT saveAllClouds(filename); }
else if(req.command == "save_g2o_graph" ){ Q_EMIT saveG2OGraph("graph.g2o"); }
else if(req.command == "save_trajectory"){ Q_EMIT saveTrajectory("trajectory"); }
else if(req.command == "send_all" ){ Q_EMIT sendAllClouds();}
else if(req.command == "frame" ){ Q_EMIT getOneFrame(); }
else if(req.command == "delete_frame" ){ Q_EMIT deleteLastFrame(); }
else if(req.command == "optimize" ){ Q_EMIT optimizeGraph(); }
else if(req.command == "reload_config" ){ ParameterServer::instance()->getValues();}
else{
ROS_ERROR("Invalid service call command: %s", req.command.c_str());
ROS_ERROR("RGBDSLAM's services have changed in Feb '13, please revise your service calls");
ROS_INFO("Valid commands are: {\n - reset\n - frame\n - quick_save\n - send_all\n - delete_frame\n - optimize\n - reload_config\n - save_trajectory\n}");
return false;
}
return true;
}
void Graphical_UI::saveTrajectoryDialog() {
QString myfilename = QFileDialog::getSaveFileName(this, "Save Current Trajectory Estimate", "trajectory", tr("All Files (*.*)"));
Q_EMIT saveTrajectory(myfilename);
QString message = tr("Saving current trajectory estimate (and possibly ground truth).");
statusBar()->showMessage(message);
}
