... Step() {
  /* Timer */
  clock++;
  
  
  /* map of all epucks */
  CSpace::TAnyEntityMap& m_cEpucks = m_cSpace.GetEntitiesByType("epuck_entity");
  
  /* for each robot */
  for each robot cEpuck {
    
    /* Get the position of the epuck */
    CVector2 EpuckPosition;
    EpuckPosition.Set(cEpuck.GetX(),
                      cEpuck.GetY());
    
    /* Calculate Objective function */
    if(sqrt(pow(EpuckPosition.GetX(),2) + pow(EpuckPosition.GetY() - 0.6,2)) < 0.40f) {
      J += 1;
    }  
  }
}

Real CalculateObjectiveFunction() {
    return J;
}