C++ (Cpp) Actions::Start示例

void Experiment::timer_cb(const ros::TimerEvent& event)
{  
	switch(mode_)
	{
	case MODE_REP_START:
	  actions_->Start();
	  last_time_ = ros::Time::now().toSec();
		state_ = states_->GetState();
		action_ = qobj_->GetAction(state_);
		actions_->Move(action_);
		ROS_INFO("Starting rep: %d", cnt_rep_);
		mode_ = MODE_REP;
		cnt_timesteps_++;
		break;
	case MODE_REP:
    state_p_ = (int)states_->GetState();

		if (learn_)
		{
			reward_ = states_->GetReward();
			qobj_->Update(reward_, state_, state_p_, action_);
			ROS_INFO("Action: %d, produced state: %d with reward: %f", action_, state_p_, reward_);
			ROS_INFO("Table: \n%s", qobj_->PrintTable().c_str());
		}

		state_ = state_p_;

    action_ = qobj_->GetAction(state_);
		actions_->Move(action_);
		
		cnt_timesteps_++;

		if (getDistance() < goal_radius_ || outOfBounds())
		{
      stopAndMoveToStart();
		}
		break;
	case MODE_RETURN:
  	if (move_stopped_ == true)
		{
			move_stopped_ = false;
			mode_ = MODE_REP_START;
      qobj_->DecreaseTemp();
			cnt_rep_++;
		}

		if (cnt_rep_ > num_reps_)
			mode_ = MODE_DONE;
		break;
	case MODE_DONE:
	  //lc_->ShowImage();
	  exit(1);
		break;
	}
}