Negative goal is actually fine, collision avoidance is learned very w…

…ell now, it's also collecting food perfectly

src/system_tests/Robot_Test.h

@@ -400,6 +400,10 @@ Perception Agent_View()
  world[pX][pY].food = false;
  spawnFood(true);
  }
+ if(ret.forward_pX != pX || ret.forward_pY != pY)
+ {
+ ret.moved = true; 
+ }
  return ret;
 }
 
@@ -448,6 +452,7 @@ void buildRooms()
  }
 }
 
+bool collided = false;
 void Agent_Invoke()
 {
  Perception percept = Agent_View();
@@ -472,13 +477,29 @@ void Agent_Invoke()
  {
  NAR_AddInputNarsese(narseseR);
  }
+ if(percept.moved && collided)
+ {
+ collided = false;
+ NAR_AddInputNarsese("(! collision). :|:");
+ }
+ if(percept.viewfield[1] == 'w') //distance or touch sensor
+ {
+ collided = true;
+ }
  if(percept.reward)
  {
  eaten++;
  NAR_AddInputNarsese("eaten. :|:");
  }
  allowAction = true;
- NAR_AddInputNarsese("eaten! :|:");
+ if(collided)
+ {
+ NAR_AddInputNarsese("(! collision)! :|:");
+ }
+ else
+ {
+ NAR_AddInputNarsese("eaten! :|:");
+ }
 }
 
 void NAR_Robot(long iterations)