def fourier_basis(state):
''' Defines a fourier basis function. '''
basis = np.zeros((BASIS_COUNT,))
scaled = scale_state(state)
for i, coeff in enumerate(COEFFS):
basis[i] = np.cos(coeff.dot(scaled))
return basis
def polynomial_basis(state):
''' Defines a polynomial basis using the current COEFFS. '''
basis = np.zeros((BASIS_COUNT,))
scaled = scale_state(state)
for i, coeff in enumerate(COEFFS):
basis[i] = coeff.dot(scaled)
basis[0] = 1.0
return basis
def param_features(state):
''' Defines a simple linear set of state variables. '''
array = np.ones(state.size + 1)
array[1:] = scale_state(state)
array = np.append(array, platform_features(state))
return array
