Real m_unNumPoints=1000;
/*If you want to compute the loop function at the end of the experiment put it in ComputePerformanceInExperiment */
Real CalculateObjectiveFunction() {
    int i;
    CVector2 point;
    Real dA=0;
    Real dP=0;
    for(i = 0; i < m_unNumPoints; i++){
        Real d = 1.69; //DIAGONAL *2
        point = RandomPointOnSquareArea(spot1,side);
        for (CSpace::TAnyEntityMap::iterator itEPuckEntity = m_tEPuckEntityMap.begin(); itEPuckEntity != m_tEPuckEntityMap.end(); itEPuckEntity++) {
            CEPuckEntity* cEPuckEntity = any_cast<CEPuckEntity*> ((*itEPuckEntity).second);
            CVector2 cps = cEPuckEntity->GetEmbodiedEntity().GetPosition().ProjectOntoXY();
            if(IsOnSquareArea(cps,spot1,side)){
                if((point - cps).Length() < d){
                    d = (point - cps).Length();
                }
            }
        }
        dA += d;
    }
    dA /= m_unNumPoints;

    for(i = 0; i < m_unNumPoints; i++){
        Real d = 3.77;
        point = RandomPointOnCirclePerimeter(spot2,Sqrt(squareRatius));
        for (CSpace::TAnyEntityMap::iterator itEPuckEntity = m_tEPuckEntityMap.begin(); itEPuckEntity != m_tEPuckEntityMap.end(); itEPuckEntity++) {
            CEPuckEntity* cEPuckEntity = any_cast<CEPuckEntity*> ((*itEPuckEntity).second);
            CVector2 cps = cEPuckEntity->GetEmbodiedEntity().GetPosition().ProjectOntoXY();
            if(IsOnCirclePerimeter(cps,0.04f,spot2,Sqrt(squareRatius))){
                if((point - cps).Length() < d){
                    d = (point - cps).Length();
                }
            }
        }
        dP += d;
    }
    dP /= m_unNumPoints;
    Real performance = (dA/m_fDoptA) + (dP/m_fDoptP);
    return performance;
}