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com.github.cschen1205.navigator.gui.MineFieldSimulatorGUI Maven / Gradle / Ivy
package com.github.cschen1205.navigator.gui;
import com.github.cschen1205.falcon.FalconConfig;
import com.github.cschen1205.navigator.minefield.*;
import com.github.cschen1205.navigator.minefield.agents.FalconNavAgent;
import com.github.cschen1205.navigator.minefield.env.MineField;
import com.github.cschen1205.navigator.utils.FileUtils;
import javax.swing.*;
import javax.swing.border.TitledBorder;
import java.awt.*;
import java.awt.event.ActionEvent;
import java.awt.event.ActionListener;
import java.awt.event.ItemEvent;
import java.awt.event.ItemListener;
import java.net.MalformedURLException;
import java.net.URL;
import java.util.HashMap;
import java.util.function.Consumer;
/**
* Created by chen0469 on 10/2/2015 0002.
*/
public class MineFieldSimulatorGUI extends JFrame {
private MineFieldSimulator simulator;
private SonarPanel p_sonar;
private SonarPanel p_avsonar;
private BearingPanel p_bearing;
private TitledBorder sonar_title;
private TitledBorder av_sonar_title;
private TitledBorder bearing_title;
private MazePanel p_field;
private JLabel label1;
private JLabel label2;
private JComboBox ddAgentSelection;
private int selectedAgentId = 0;
public MineFieldSimulatorGUI(MineFieldSimulatorConfig config, FalconConfig falconConfig){
simulator = new MineFieldSimulatorR(config, falconConfig);
initialize(simulator.getMineField());
}
public void initialize (MineField maze)
{
Container container = getContentPane();
container.removeAll();
container.setLayout( new GridLayout ( 1, 2, 0, 0 ) );
p_sonar = new SonarPanel(true, Color.green, maze);
JPanel p_sonarPane = new JPanel();
p_sonarPane.setLayout(new BorderLayout());
sonar_title = new TitledBorder("Sonar Signal Input");
p_sonarPane.setBorder(sonar_title);
p_sonarPane.add(p_sonar, BorderLayout.CENTER);
p_avsonar = new SonarPanel(false, Color.yellow, maze);
JPanel p_avsonarPane = new JPanel();
p_avsonarPane.setLayout(new BorderLayout());
av_sonar_title = new TitledBorder("AV Sonar Signal");
p_avsonarPane.setBorder(av_sonar_title);
p_avsonarPane.add(p_avsonar, BorderLayout.CENTER);
p_bearing = new BearingPanel(maze );
JPanel p_bearingPane = new JPanel();
p_bearingPane.setLayout(new BorderLayout(50, 50));
bearing_title = new TitledBorder("Current Bearing + Target Bearing" );
p_bearingPane.setBorder(bearing_title);
p_bearingPane.add(p_bearing, BorderLayout.CENTER);
JPanel p_sense = new JPanel();
p_sense.setLayout(new GridLayout(3 * 1, 1, 0, 0));
p_sense.add(p_sonarPane);
p_sense.add(p_avsonarPane);
p_sense.add(p_bearingPane);
p_field = new MazePanel( maze, simulator.getNumAgents() );
JPanel p_fieldmsg = new JPanel();
p_fieldmsg.setLayout(new BorderLayout());
p_fieldmsg.setBorder(new TitledBorder("Minefield (View from the Top)"));
p_fieldmsg.add(p_field, BorderLayout.CENTER);
//p_fieldmsg.add(p_msg,BorderLayout.SOUTH);
label1 = new JLabel("");
label2 = new JLabel("");
label1.setIcon(getIcon("images/right.gif"));
label2.setIcon(getIcon("images/right.gif"));
JPanel p_left = new JPanel();
p_left.setLayout(new BorderLayout());
p_left.add(p_fieldmsg, BorderLayout.CENTER);
p_left.add(label1, BorderLayout.SOUTH);
JPanel p_control = new JPanel();
p_control.setLayout(new BorderLayout());
p_control.add(createDropdown_AgentSelection(), BorderLayout.NORTH);
p_control.add(p_sense, BorderLayout.CENTER);
p_control.add(label2,BorderLayout.SOUTH);
container.add(p_left);
container.add(p_control);
setDefaultCloseOperation(WindowConstants.EXIT_ON_CLOSE);
createMenuBar();
setSize(900, 450);
setTitle("Minefield Navigation Simulator");
setVisible(true);
}
private JPanel createDropdown_AgentSelection(){
JPanel panel = new JPanel(new FlowLayout(FlowLayout.RIGHT));
JLabel label = new JLabel("Selected Agent:");
label.setIcon(getIcon("images/right.gif"));
panel.add(label);
ddAgentSelection = new JComboBox();
ddAgentSelection.addItem(selectedAgentId);
panel.add(ddAgentSelection);
ddAgentSelection.addItemListener(new ItemListener() {
public void itemStateChanged(ItemEvent e) {
MineFieldSimulatorGUI.this.selectedAgentId = (Integer)e.getItem();
notifyAgentSelectionChanged();
}
});
return panel;
}
private void createMenuBar(){
JMenuBar menuBar = new JMenuBar();
JMenu menuFile = new JMenu("File");
menuBar.add(menuFile);
JMenuItem miStartSimulation = new JMenuItem("Start Simulation");
menuFile.add(miStartSimulation);
miStartSimulation.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
runSims();
}
});
JMenuItem miStartSimulationSilent = new JMenuItem("Start Simulation (No GUI)");
menuFile.add(miStartSimulationSilent);
miStartSimulationSilent.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
runSilentSims();
}
});
JMenuItem miStopSimulation = new JMenuItem("Stop Simulation");
menuFile.add(miStopSimulation);
miStopSimulation.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
simulator.stop();
}
});
JMenu menuView = new JMenu("View");
menuBar.add(menuView);
JCheckBoxMenuItem miShowTrack = new JCheckBoxMenuItem("Show Track");
menuView.add(miShowTrack);
miShowTrack.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
JCheckBoxMenuItem checkButton = (JCheckBoxMenuItem) e.getSource();
p_field.setTracking(checkButton.isSelected());
}
});
JMenu menuEdit = new JMenu("Edit");
menuBar.add(menuEdit);
JMenu menuSize = createMenu_Size();
menuEdit.add(menuSize);
JMenu menuAgent = new JMenu("Agent");
menuBar.add(menuAgent);
JMenu menuSignals = createMenu_Signals();
menuAgent.add(menuSignals);
JMenu menuAI = createMenu_FALCON();
menuAgent.add(menuAI);
JMenu menuFalconConfig = createMenu_FalconConfig();
menuAgent.add(menuFalconConfig);
JMenu menuMaxSteps = createMenu_MaxSteps();
menuAgent.add(menuMaxSteps);
JMenu menuSim = new JMenu("Simulation");
menuBar.add(menuSim);
JMenu menuSimInterval = createMenu_SimulationInterval();
menuSim.add(menuSimInterval);
JMenu menuSimAgentNum = createMenu_SimulationAgentNum();
menuEdit.add(menuSimAgentNum);
JMenu menuTarget = createMenu_SimulationTarget();
menuEdit.add(menuTarget);
JMenu menuMines = createMenu_Mines();
menuEdit.add(menuMines);
JMenu menuMaxTrial = createMenu_MaxTrials();
menuSim.add(menuMaxTrial);
JMenu menuRuns = createMenu_Runs();
menuSim.add(menuRuns);
this.setJMenuBar(menuBar);
}
private JMenu createMenu_Mines(){
JMenu menu = new JMenu("Mines");
ButtonGroup buttonGroup = new ButtonGroup();
int[] options = new int[] { 10, 20, 30, 40 };
for(Integer numMines : options){
JMenuItem mi1 = createMenuItem_Mines(numMines);
buttonGroup.add(mi1);
menu.add(mi1);
}
return menu;
}
private JMenuItem createMenuItem_Mines(final int numMines){
JRadioButtonMenuItem mi1 = new JRadioButtonMenuItem(""+numMines);
mi1.setSelected(simulator.getConfig().getNumMines()==numMines);
mi1.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
JRadioButtonMenuItem radioButton = (JRadioButtonMenuItem) e.getSource();
if (radioButton.isSelected()) {
simulator.getConfig().setNumMines(numMines);
notifyMineFieldChanged();
}
}
});
return mi1;
}
private JMenu createMenu_Runs(){
JMenu menu = new JMenu("Runs");
ButtonGroup buttonGroup = new ButtonGroup();
int[] options = new int[] { 1, 5, 10, 30 };
for(Integer runs : options){
JMenuItem mi1 = createMenuItem_Runs(runs);
buttonGroup.add(mi1);
menu.add(mi1);
}
return menu;
}
private JMenuItem createMenuItem_Runs(final int runs){
JRadioButtonMenuItem mi1 = new JRadioButtonMenuItem(""+runs);
mi1.setSelected(simulator.getConfig().getNumRuns() == runs);
mi1.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
JRadioButtonMenuItem radioButton = (JRadioButtonMenuItem) e.getSource();
if (radioButton.isSelected()) {
simulator.getConfig().setNumRuns(runs);
}
}
});
return mi1;
}
private JMenu createMenu_FalconConfig(){
JMenu menu = new JMenu("Learn");
JCheckBoxMenuItem mi1 = new JCheckBoxMenuItem("Immediate Reward");
mi1.setSelected(simulator.getConfig().isImmediateRewardProvided());
mi1.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
JCheckBoxMenuItem checkButton = (JCheckBoxMenuItem)e.getSource();
simulator.getConfig().setImmediateRewardProvided(checkButton.isSelected());
}
});
menu.add(mi1);
JCheckBoxMenuItem mi2 = new JCheckBoxMenuItem("Bounded Q");
mi2.setSelected(simulator.getFalconConfig().isBounded);
mi2.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
JCheckBoxMenuItem checkButton = (JCheckBoxMenuItem) e.getSource();
simulator.getFalconConfig().isBounded = (checkButton.isSelected());
}
});
menu.add(mi2);
return menu;
}
private JMenu createMenu_FALCON(){
JMenu menu = new JMenu("FALCON");
ButtonGroup buttonGroup = new ButtonGroup();
JRadioButtonMenuItem mi1 = new JRadioButtonMenuItem("R-FALCON");
mi1.setSelected(simulator instanceof MineFieldSimulatorR);
buttonGroup.add(mi1);
menu.add(mi1);
mi1.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
JRadioButtonMenuItem radioButton = (JRadioButtonMenuItem) e.getSource();
if (radioButton.isSelected()) {
simulator = new MineFieldSimulatorR(simulator.getConfig(), simulator.getFalconConfig());
}
}
});
JRadioButtonMenuItem mi2 = new JRadioButtonMenuItem("Q-FALCON");
mi2.setSelected(simulator instanceof MineFieldSimulatorQ);
buttonGroup.add(mi2);
menu.add(mi2);
mi2.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
JRadioButtonMenuItem radioButton = (JRadioButtonMenuItem) e.getSource();
if (radioButton.isSelected()) {
simulator = new MineFieldSimulatorQ(simulator.getConfig(), simulator.getFalconConfig());
}
}
});
JRadioButtonMenuItem mi3 = new JRadioButtonMenuItem("Q-FALCON(lambda)");
mi3.setSelected(simulator instanceof MineFieldSimulatorQLambda);
menu.add(mi3);
buttonGroup.add(mi3);
mi3.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
JRadioButtonMenuItem radioButton = (JRadioButtonMenuItem) e.getSource();
if (radioButton.isSelected()) {
simulator = new MineFieldSimulatorQLambda(simulator.getConfig(), simulator.getFalconConfig());
}
}
});
JRadioButtonMenuItem mi4 = new JRadioButtonMenuItem("SARSA-FALCON");
mi4.setSelected(simulator instanceof MineFieldSimulatorSarsa);
menu.add(mi4);
buttonGroup.add(mi4);
mi4.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
JRadioButtonMenuItem radioButton = (JRadioButtonMenuItem) e.getSource();
if (radioButton.isSelected()) {
simulator = new MineFieldSimulatorSarsa(simulator.getConfig(), simulator.getFalconConfig());
}
}
});
JRadioButtonMenuItem mi5 = new JRadioButtonMenuItem("SARSA-FALCON(lambda)");
mi5.setSelected(simulator instanceof MineFieldSimulatorSarsaLambda);
menu.add(mi5);
buttonGroup.add(mi5);
mi5.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
JRadioButtonMenuItem radioButton = (JRadioButtonMenuItem) e.getSource();
if (radioButton.isSelected()) {
simulator = new MineFieldSimulatorSarsaLambda(simulator.getConfig(), simulator.getFalconConfig());
}
}
});
return menu;
}
private JMenu createMenu_MaxSteps(){
JMenu menu = new JMenu("Max Steps");
ButtonGroup buttonGroup = new ButtonGroup();
int[] options = new int[] { 30, 60, 90, 120 };
for(Integer maxSteps : options){
JMenuItem mi1 = createMenuItem_MaxSteps(maxSteps);
buttonGroup.add(mi1);
menu.add(mi1);
}
return menu;
}
private JMenuItem createMenuItem_MaxSteps(final int maxSteps){
JRadioButtonMenuItem mi1 = new JRadioButtonMenuItem(""+maxSteps);
mi1.setSelected(simulator.getConfig().getMaxStep()==maxSteps);
mi1.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
JRadioButtonMenuItem radioButton = (JRadioButtonMenuItem) e.getSource();
if (radioButton.isSelected()) {
simulator.getConfig().setMaxStep(maxSteps);
}
}
});
return mi1;
}
private JMenu createMenu_MaxTrials(){
JMenu menu = new JMenu("Max Trials");
ButtonGroup buttonGroup = new ButtonGroup();
int[] options = new int[] { 1000, 2000, 3000, 4000 };
for(Integer maxTrials : options){
JMenuItem mi1 = createMenuItem_MaxTrials(maxTrials);
buttonGroup.add(mi1);
menu.add(mi1);
}
return menu;
}
private JMenuItem createMenuItem_MaxTrials(final int maxTrials){
JRadioButtonMenuItem mi1 = new JRadioButtonMenuItem(""+maxTrials);
mi1.setSelected(simulator.getConfig().getMaxTrial() == maxTrials);
mi1.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
JRadioButtonMenuItem radioButton = (JRadioButtonMenuItem) e.getSource();
if (radioButton.isSelected()) {
simulator.getConfig().setMaxTrial(maxTrials);
}
}
});
return mi1;
}
private JMenu createMenu_SimulationTarget(){
JMenu menuTarget = new JMenu("Target");
JCheckBoxMenuItem miMovingTarget = new JCheckBoxMenuItem("Moving");
miMovingTarget.setSelected(simulator.getConfig().targetMoving);
miMovingTarget.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
JCheckBoxMenuItem checkButton = (JCheckBoxMenuItem) e.getSource();
simulator.getConfig().targetMoving = checkButton.isSelected();
}
});
menuTarget.add(miMovingTarget);
return menuTarget;
}
SwingWorker worker = null;
private void runSilentSims(){
if(worker != null && !worker.isDone()){
JOptionPane dlg = new JOptionPane(JOptionPane.WARNING_MESSAGE);
dlg.setMessage("Worker is running, please wait or cancel");
dlg.setVisible(true);
return;
}
worker = new SwingWorker() {
@Override
protected Object doInBackground() throws Exception {
simulator.runSims();
return null;
}
@Override
protected void done() {
super.done();
JOptionPane dlg =new JOptionPane(JOptionPane.INFORMATION_MESSAGE);
dlg.setMessage("Done!");
dlg.setVisible(true);
}
};
worker.execute();
}
private JMenu createMenu_Signals(){
JMenu menuSignals = new JMenu("AV");
JCheckBoxMenuItem miIncludeSonar = new JCheckBoxMenuItem("Include Sonar");
miIncludeSonar.setSelected(simulator.getConfig().numSonarInput > 0);
menuSignals.add(miIncludeSonar);
miIncludeSonar.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
JCheckBoxMenuItem checkButton = (JCheckBoxMenuItem) e.getSource();
if (checkButton.isSelected()) {
simulator.getConfig().numSonarInput = 10;
} else {
simulator.getConfig().numSonarInput = 0;
}
notifyNumStateChanged();
}
});
JCheckBoxMenuItem miIncludeAVSonar = new JCheckBoxMenuItem("Include AV Sonar");
miIncludeAVSonar.setSelected(simulator.getConfig().numAVSonarInput > 0);
menuSignals.add(miIncludeAVSonar);
miIncludeAVSonar.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
JCheckBoxMenuItem checkButton = (JCheckBoxMenuItem) e.getSource();
if (checkButton.isSelected()) {
simulator.getConfig().numSonarInput = 10;
} else {
simulator.getConfig().numSonarInput = 0;
}
notifyNumStateChanged();
}
});
JCheckBoxMenuItem miIncludeBearing = new JCheckBoxMenuItem("Include Bearing");
miIncludeBearing.setSelected(simulator.getConfig().numBearingInput > 0);
menuSignals.add(miIncludeBearing);
miIncludeBearing.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
JCheckBoxMenuItem checkButton = (JCheckBoxMenuItem) e.getSource();
if (checkButton.isSelected()) {
simulator.getConfig().numBearingInput = 8;
} else {
simulator.getConfig().numBearingInput = 0;
}
notifyNumStateChanged();
}
});
JCheckBoxMenuItem miIncludeRange = new JCheckBoxMenuItem("Include Range");
miIncludeRange.setSelected(simulator.getConfig().numRangeInput > 0);
menuSignals.add(miIncludeRange);
miIncludeRange.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
JCheckBoxMenuItem checkButton = (JCheckBoxMenuItem) e.getSource();
if (checkButton.isSelected()) {
simulator.getConfig().numRangeInput = 2;
} else {
simulator.getConfig().numRangeInput = 0;
}
notifyNumStateChanged();
}
});
return menuSignals;
}
private HashMap icons = new HashMap();
private ImageIcon getIcon(String filename){
if(icons.containsKey(filename)){
return icons.get(filename);
} else {
URL url = null;
try {
url = FileUtils.getResourceFile(filename).toURL();
} catch (MalformedURLException e) {
e.printStackTrace();
}
ImageIcon icon = new ImageIcon(url);
icons.put(filename, icon);
return icon;
}
}
private JMenu createMenu_Size(){
JMenu menuSize = new JMenu("Mine Field");
ButtonGroup bgSize = new ButtonGroup();
int[] options = new int[] { 16, 32, 64, 128, 256 };
for(Integer size : options){
JMenuItem mi1 = createMenuItem_Size(size);
bgSize.add(mi1);
menuSize.add(mi1);
}
return menuSize;
}
private JMenuItem createMenuItem_Size(final int size){
JRadioButtonMenuItem mi1 = new JRadioButtonMenuItem(size+" x "+size);
mi1.setSelected(simulator.getConfig().getMineFieldSize() == size);
mi1.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
JRadioButtonMenuItem radioButton = (JRadioButtonMenuItem) e.getSource();
if (radioButton.isSelected()) {
simulator.getConfig().setMineFieldSize(size);
}
notifyMineFieldChanged();
}
});
return mi1;
}
private JMenu createMenu_SimulationAgentNum(){
JMenu menu = new JMenu("Vehicles");
ButtonGroup buttonGroup = new ButtonGroup();
int[] options = new int[] { 1, 2, 5, 10, 20};
for(Integer numAgents : options){
JMenuItem mi1 = createMenuItem_SimulationAgentNum(numAgents);
buttonGroup.add(mi1);
menu.add(mi1);
}
return menu;
}
private JMenuItem createMenuItem_SimulationAgentNum(final int agentNum){
JRadioButtonMenuItem mi1 = new JRadioButtonMenuItem(""+agentNum);
mi1.setSelected(simulator.getConfig().getNumAgents()==agentNum);
mi1.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
JRadioButtonMenuItem radioButton = (JRadioButtonMenuItem) e.getSource();
if (radioButton.isSelected()) {
simulator.getConfig().setNumAgents(agentNum);
notifyNumAgentChanged();
}
}
});
return mi1;
}
private JMenu createMenu_SimulationInterval(){
JMenu menuInterval = new JMenu("Interval");
ButtonGroup buttonGroup = new ButtonGroup();
int[] options = new int[] { 10, 20, 50, 100, 200, 300, 400, 500, 600, 700 };
for(Integer interval : options){
JMenuItem mi1 = createMenuItem_SimulationInterval(interval);
buttonGroup.add(mi1);
menuInterval.add(mi1);
}
return menuInterval;
}
private JMenuItem createMenuItem_SimulationInterval(final int interval){
JRadioButtonMenuItem mi1 = new JRadioButtonMenuItem(""+interval);
mi1.setSelected(simulator.getConfig().getUiInterval() == interval);
mi1.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
JRadioButtonMenuItem radioButton = (JRadioButtonMenuItem) e.getSource();
if (radioButton.isSelected()) {
simulator.getConfig().setUiInterval(interval);
}
}
});
return mi1;
}
private void notifyNumStateChanged(){
simulator.getFalconConfig().numState = simulator.getConfig().numState();
}
private void notifyMineFieldChanged(){
MineFieldSimulatorConfig config = simulator.getConfig();
MineField mineField = simulator.getMineField();
mineField.refreshMaze(config.getMineFieldSize(), config.getNumMines(), config.getNumAgents());
p_field.init_MP(mineField, config.getNumAgents());
p_field.repaint();
}
private void notifyNumAgentChanged(){
MineFieldSimulatorConfig config = simulator.getConfig();
MineField mineField = simulator.getMineField();
ddAgentSelection.removeAllItems();
for(int agentId = 0; agentId < config.getNumAgents(); ++agentId){
ddAgentSelection.addItem(agentId);
}
mineField.refreshMaze(config.getMineFieldSize(), config.getNumMines(), config.getNumAgents());
p_field.init_MP(mineField, config.getNumAgents());
p_field.repaint();
}
private void notifyAgentSelectionChanged(){
MineField mineField = simulator.getMineField();
p_sonar.readSonar(selectedAgentId, mineField);
p_avsonar.readSonar(selectedAgentId, mineField);
p_bearing.readBearing(selectedAgentId, mineField);
}
public void runSims(){
Thread thread = new Thread(new Runnable() {
public void run() {
simulator.runSims(new Consumer(){
public void accept(MineFieldSimulatorProgress progress) {
MineField mineField = progress.getMineField();
int step = progress.getStep();
int[][] pos = mineField.getCurrentPositions();
p_field.doRefresh(mineField, pos, step);
String message = simulator.getMessage();
if(message != null && !message.equals("")) {
label2.setText(message);
}
p_sonar.readSonar(selectedAgentId, mineField);
p_avsonar.readSonar(selectedAgentId, mineField);
p_bearing.readBearing(selectedAgentId, mineField);
label1.setText("Run: "+progress.getRun()+" Trial: "+progress.getTrial()+" Step: "+step);
}
});
}
});
thread.start();
}
public static void main(String[] args){
// below is settings from RFalcon
MineFieldSimulatorConfig config = new MineFieldSimulatorConfig();
config.setImmediateRewardProvided(true);
config.setNumAgents(1);
FalconConfig falconConfig = new FalconConfig();
falconConfig.numAction = FalconNavAgent.numAction;
falconConfig.numState = config.numState();
falconConfig.numReward = 2;
MineFieldSimulatorGUI gui = new MineFieldSimulatorGUI(config, falconConfig);
}
}
