SpatialExperienceMemory.hpp

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#ifndef SRC_ALGORITHMS_EPERIENCEREPLAYTABLE_HPP_
#define SRC_ALGORITHMS_EPERIENCEREPLAYTABLE_HPP_

#include <types/Batch.hpp>
#include <types/Position2D.hpp>
#include <types/MatrixTypes.hpp>


namespace mic {
namespace types {

struct SpatialExperience {
    mic::types::Position2D s_t;

    mic::types::NESWAction a_t;

    mic::types::Position2D s_t_prim;

    SpatialExperience(mic::types::Position2D s_t_, mic::types::NESWAction a_t_, mic::types::Position2D s_t_prim_) {
        s_t = s_t_;
        a_t = a_t_;
        s_t_prim = s_t_prim_;
    }

};

typedef std::shared_ptr < mic::types::SpatialExperience> SpatialExperiencePtr;

typedef  mic::types::Sample<mic::types::SpatialExperience, mic::types::MatrixXf> SpatialExperienceSample;

typedef  mic::types::Batch<mic::types::SpatialExperience, mic::types::MatrixXf> SpatialExperienceBatch;


class SpatialExperienceMemory : public mic::types::SpatialExperienceBatch{
public:

    SpatialExperienceMemory(size_t number_of_experiences_, size_t batch_size_) : Batch(batch_size_), number_of_experiences(number_of_experiences_) {

    }

    virtual ~SpatialExperienceMemory() { }

    virtual void add(std::shared_ptr<mic::types::SpatialExperience> input_, std::shared_ptr<mic::types::MatrixXf> target_) {

        if (sample_data.size() == number_of_experiences) {
            // Initialize uniform index distribution - integers.
            std::uniform_int_distribution<> index_dist(0, this->sample_data.size()-1);

            // Pick an index.
            unsigned int tmp_index= index_dist(rng_mt19937_64);

            // Erase the sample from all three lists.
            sample_data.erase (sample_data.begin()+tmp_index);
            sample_labels.erase (sample_labels.begin()+tmp_index);
            sample_indices.erase (sample_indices.begin()+tmp_index);
        }

        // Add sample to vectors.
        sample_data.push_back(input_);
        sample_labels.push_back(target_);
        sample_indices.push_back(sample_indices.size());
    }

protected:

    size_t number_of_experiences;
};



} /* namespace types */
} /* namespace mic */

#endif /* SRC_ALGORITHMS_EPERIENCEREPLAYTABLE_HPP_ */