def _get_input(self, state, rng):
    rng = self._get_rng(rng)
    (A_k, B_k, C_k, D_k) = self._current_K
    psit = self._controller_state
    if (psit is None):
        psit = np.zeros((A_k.shape[0],))
    psitp1 = (A_k.dot(psit) + B_k.dot(state))
    ctrl_input = (C_k.dot(psit) + D_k.dot(state))
    self._controller_state = psitp1
    sigma_explore_decay = (1 / math.pow((self._epoch_idx + 1), (1 / 3)))
    explore_input = ((self._sigma_explore * sigma_explore_decay) * rng.normal(size=(self._p,)))
    return (ctrl_input + explore_input)
def _get_input(self, state, rng):
    rng = self._get_rng(rng)
    (A_k, B_k, C_k, D_k) = self._current_K
    psit = self._controller_state
    if (psit is None):
        psit = np.zeros((A_k.shape[0],))
    psitp1 = (A_k.dot(psit) + B_k.dot(state))
    ctrl_input = (C_k.dot(psit) + D_k.dot(state))
    self._controller_state = psitp1
    sigma_explore_decay = (1 / math.pow((self._epoch_idx + 1), (1 / 3)))
    explore_input = ((self._sigma_explore * sigma_explore_decay) * rng.normal(size=(self._p,)))
    return (ctrl_input + explore_input)