def computeFeatureVector(self, S):
carState, raycastDistance = S
featureVec = np.zeros(self.numFeatures)
featureVec[0] = 1
featureVec[1:] = utils.inverseTruncate(raycastDistance, self.cutoff, rayLength=self.rayLength,
collisionThreshold=self.collisionThreshold)
return featureVec
def computeFeatureVector(self, S):
carState, raycastDistance = S
featureVec = np.zeros(self.numFeatures)
featureVec[0] = 1
featureVec[1:] = utils.inverseTruncate(
raycastDistance,
self.cutoff,
rayLength=self.rayLength,
collisionThreshold=self.collisionThreshold)
return featureVec
def computeRaycastReward(self, S, u):
carState, raycastDistance = S
# raycastAdjusted = raycastDistance - self.collisionThreshold
# maxRangeIdx = np.where(raycastDistance > self.rayLength - self.tol)
# raycastAdjusted[maxRangeIdx] = self.largeConstant
#
# raycastAdjusted = self.setMaxRangeToLargeConstant()
inverseTruncated = utils.inverseTruncate(raycastDistance, self.cutoff, rayLength=self.rayLength,
collisionThreshold=self.collisionThreshold)
return np.dot(self.raycastRewardWeights, inverseTruncated)
