Changes to master branch. Uncommented weights save/load code

.gitignore

@@ -84,3 +84,6 @@ soccerwindow2-prefix/
 log/
 bin/log/
 high_level_sarsa_agent
+
+# Misc
+example/sarsa_offense/

example/sarsa_libraries/funcapprox/CMAC.cpp

@@ -163,17 +163,17 @@ void CMAC::increaseMinTrace(){
 
 void CMAC::read(char *fileName){
 
-  std::cout<<"Not reading weights"<<std::endl;
-  // std::fstream file;
-  // file.open(fileName, std::ios::in | std::ios::binary);
-  // file.read((char *) weights, RL_MEMORY_SIZE * sizeof(double));
-  // unsigned long pos = file.tellg();
-  // file.close();
+  // std::cout<<"Not reading weights"<<std::endl;
+  std::fstream file;
+  file.open(fileName, std::ios::in | std::ios::binary);
+  file.read((char *) weights, RL_MEMORY_SIZE * sizeof(double));
+  unsigned long pos = file.tellg();
+  file.close();
+  colTab->restore(fileName, pos);
 
   // for(int i=0; i<RL_MEMORY_SIZE; i++)
   //   std::cout<<weights[i]<<std::endl;
 
-//  colTab->restore(fileName, pos);
 }
 
 void CMAC::write(char *fileName){

example/sarsa_offense/high_level_sarsa_agent.cpp

@@ -107,25 +107,10 @@ void offenseAgent(int port, int numTMates, int numEpi, double learnR,
                   "_" + std::to_string(numTMates + 1) +
                   "_" + std::to_string(suffix);
   wtFile = &s[0u];
-  // std::string filename1 = "early_game_model_" + std::to_string(port) + 
-  //   "_" + std::to_string(numTMates + 1) +
-  //   "_" + std::to_string(suffix);
-  // std::string filename2 = "late_game_model_" + std::to_string(port) + 
-  //   "_" + std::to_string(numTMates + 1) +
-  //   "_" + std::to_string(suffix);
-
-  // char *str1 = &filename1[0u];
-  // char *str2 = &filename2[0u];
   
   double lambda = 0;
   CMAC *fa = new CMAC(numF, numA, range, min, res);
-  // CMAC *fa1 = new CMAC(numF, numA, range, min, res);
-  // CMAC *fa2 = new CMAC(numF, numA, range, min, res);
-  // CMAC *fa = fa1;
   SarsaAgent *sa = new SarsaAgent(numF, numA, learnR, eps, lambda, fa, wtFile, wtFile);
-  // SarsaAgent *sa1 = new SarsaAgent(numF, numA, learnR, eps, lambda, fa1, str1, str1);
-  // SarsaAgent *sa2 = new SarsaAgent(numF, numA, learnR, eps, lambda, fa2, str2, str2);
-  // SarsaAgent *sa = sa1;
 
   hfo::HFOEnvironment hfo;
   hfo::status_t status;
@@ -141,9 +126,6 @@ void offenseAgent(int port, int numTMates, int numEpi, double learnR,
     // bool model_changed_flag = false;
     while (status == hfo::IN_GAME) {
       const std::vector<float>& state_vec = hfo.getState();
-      // If has ball
-      // sleep(1);
-      // std::cout<<state_vec[numTMates]<<std::endl;
       
       if(state_vec[5] == 1) {
         if(action != -1) {
@@ -151,12 +133,6 @@ void offenseAgent(int port, int numTMates, int numEpi, double learnR,
           sa->update(state, action, reward, discFac);
         }
 
-	// if(state_vec[numTMates] >= 0.2 && model_changed_flag == false)
-	//   {
-	//     sa = sa2;
-	//     model_changed_flag = true;
-	//   }
-	
         // Fill up state array
         purgeFeatures(state, state_vec, numTMates, oppPres);
 
@@ -182,16 +158,10 @@ void offenseAgent(int port, int numTMates, int numEpi, double learnR,
       reward = getReward(status);
       sa->update(state, action, reward, discFac);
       sa->endEpisode();
-      // sa1->endEpisode();
-      // sa2->endEpisode();
-      // sa = sa1;
-      // model_changed_flag = false;
     }
   }
 
   delete sa, fa;
-  // delete sa1, sa2;
-  // delete fa1, fa2;
 }
 
 int main(int argc, char **argv) {