def decode_action(self, a_m, a_t, state, mode):
if mode == "max_probability":
a_m = np.argmax(a_m)
a_t = np.argmax(a_t)
elif mode == "sample":
#a_m += 0.01
a_m /= a_m.sum()
a_m = np.random.choice(range(3), p=a_m)
#a_t += 0.01
a_t /= a_t.sum()
a_t = np.random.choice(range(3), p=a_t)
action = Action()
if a_m == 0: # left
action.v_n = -1.0
elif a_m == 1: # ahead
action.v_t = +1.0
elif a_m == 2: # right
action.v_n = +1.0
if a_t == 0: # left
action.angular = +1.0
elif a_t == 1: # stay
action.angular = 0.0
elif a_t == 2: # right
action.angular = -1.0
if state.detect:
action.shoot = +1.0
else:
action.shoot = 0.0
return action
