update learn to drive and Makefile

deepQlearn_0/src/deepQlearning/learn_to_drive.c

@@ -19,6 +19,100 @@ float D_L2(float t, float o){
   return (o - t);
 }
 
+void copy_weight_in_networks_from_main_to_target(struct networks_qlearning * networks){
+  copy_weight_in_neurons_TYPE_FLOAT(networks->target_net, networks->main_net);
+}
+void copy_weight_in_networks_from_main_to_best(struct networks_qlearning * networks){
+  copy_weight_in_neurons_TYPE_FLOAT(networks->best_net, networks->main_net);
+}
 
+struct networks_qlearning * create_nework_qlearning(
+  struct config_layers * config,
+  bool randomize, float minR, float maxR,  int randomRange
+){
+  struct networks_qlearning *qnets = malloc(sizeof(struct networks_qlearning));
+  qnets->config = config;
 
+  setup_networks_alloutputs_config_TYPE_FLOAT(&(qnets->main_net), config, 
+    random, minR, maxR, randomRange);  
+  setup_networks_alloutputs_config_TYPE_FLOAT(&(qnets->target_net), config, 
+    false, minR, maxR, randomRange);  
+  copy_weight_in_networks_from_main_to_target(qnets);
+  
+  setup_networks_alloutputs_config_TYPE_FLOAT(&(qnets->best_net), config, 
+    false, minR, maxR, randomRange);  
+  copy_weight_in_networks_from_main_to_best(qnets);
+
+  return qnets; 
+
+}
+
+struct reward_lists * create_reward_lists (){
+  struct reward_lists * rwrd_l = malloc(sizeof(struct reward_lists));
+  
+  rwrd_l->list_main_cumul = create_var_list_TYPE_L_INT();
+  rwrd_l->list_target_cumul = create_var_list_TYPE_L_INT();
+  rwrd_l->progress_best_cumul = create_var_list_TYPE_L_INT();
+
+  return rwrd_l;
+}
+
+struct delay_params * create_delay_params (
+  size_t delay_between_episodes,
+  size_t delay_between_games
+){
+  struct delay_params * delay = malloc(sizeof(struct delay_params));
+  delay->delay_between_episodes = delay_between_episodes;
+  delay->delay_between_games = delay_between_games;
+
+  return delay;
+}
+
+struct qlearning_params * create_qlearning_params  (
+  double learning_rate,
+  double discount_factor,
+  double exploration_factor
+){
+  struct qlearning_params * qparams = malloc(sizeof(struct qlearning_params));
+
+  qparams->learning_rate = learning_rate ;
+  qparams->discount_factor = discount_factor ;
+  qparams->exploration_factor = exploration_factor ;
+
+  return qparams;
+}
+
+struct RL_agent * create_RL_agent (
+  struct networks_qlearning * networks,
+  struct vehicle * car,
+  struct reward_lists * rewards,
+  struct delay_params * delay,
+  struct qlearning_params *qlearnParams
+){
+  struct RL_agent * rlagent = malloc(sizeof(struct RL_agent));
+
+  rlagent->networks = networks ;
+  rlagent->car = car ;
+  rlagent->rewards = rewards ;
+  rlagent->delay = delay ;
+  rlagent->qlearnParams = qlearnParams ;
+
+  return rlagent;
+}
+
+void free_networks_qlearning (struct networks_qlearning * networks){
+
+}
+void free_reward_lists(struct reward_lists *rwd_l){
+
+}
+void free_delay_params (struct delay_params *dly_p){
+
+}
+void free_qlearning_params(struct qlearning_params *q_params){
+
+}
+void free_RL_agent(struct RL_agent *rlAgent){
+
+}