def perturbAction(self, action):
"""
:param action: current action
:return action_pert: perturbed action
"""
#MTE
if self.MTE == True:
if (self.tk == self.tk_mte) and (self.n_mte < self.max_mte):
self.n_mte += 1
pr = np_uniform(0., 1.)
if (pr < self.pr_MTE) and (self.tk < self.NSTEPS - 2):
self.tk_mte += 1
return array([0., 0., 0.])
#Modulus error
du_norm = np_normal(1., self.sigma_u_norm)
np.clip(du_norm, 1. - 10. * self.sigma_u_norm,
1. + 10. * self.sigma_u_norm)
#Rotation error
du_rot = np_normal(0., self.sigma_u_rot, 3)
np.clip(du_rot, -3. * self.sigma_u_rot, 3. * self.sigma_u_rot)
#Rotation matrix
Arot = array([[1., -du_rot[2], du_rot[1]], [du_rot[2], 1., -du_rot[0]],
[-du_rot[1], du_rot[0], 1.]])
#Perturbed action
action_pert = du_norm * (Arot.dot(action))
return action_pert
def stateErrors(self):
"""
:return drk, dvk: errors on position (km), and
velocity (km/s) at step tk
"""
#Position error
drk = np_normal(0., self.sigma_r, 3)
#Velocity error
dvk = np_normal(0., self.sigma_v, 3)
return drk, dvk
def decide_weight(self):
return self.J/self.conection_count/self.prob + np_normal(0.0, 0.01)
def decide_weight(self):
return np_normal(self.J/self.conection_count, self.sigma/self.conection_count)