Real CalculateObjectiveFunction() { // Total distance between each selected random point and its closest robots Real d = 0; // Expected distance Real e = 0; size_t i; for (i=0; i<10000; ++i) { CVector2 vRandomPoint = GetRandomPointInArena(); d += GetClosestEpuckDistanceFromPoint(vRandomPoint); } e = d/i; return e; }