def _select_assessor(self, base_components: Tuple[rewards.RewardComponent, ...],
shaping_components: Tuple[rewards.RewardComponent, ...],
shaping: Shaping) -> assessors.AssessorImpl:
if shaping is Shaping.STANDARD:
return assessors.AssessorImpl(base_components, shaping_components,
positive_rewards=self.positive_rewards)
else:
no_sideslip = rewards.AsymptoticErrorComponent(name='no_sideslip',
prop=prp.sideslip_deg,
state_variables=self.state_variables,
target=0.0,
is_potential_based=True,
scaling_factor=self.SIDESLIP_ERROR_SCALING_DEG)
potential_based_components = (no_sideslip)
if shaping is Shaping.EXTRA:
return assessors.AssessorImpl(base_components, potential_based_components,
positive_rewards=self.positive_rewards)
elif shaping is Shaping.EXTRA_SEQUENTIAL:
altitude_error, travel_direction = base_components
# make the wings_level shaping reward dependent on facing the correct direction
dependency_map = {no_sideslip: (travel_direction,)}
return assessors.ContinuousSequentialAssessor(base_components, potential_based_components,
potential_dependency_map=dependency_map,
positive_rewards=self.positive_rewards)
def _make_base_reward_components(
self) -> Tuple[rewards.RewardComponent, ...]:
base_components = (
rewards.AsymptoticErrorComponent(
name='altitude_error',
prop=self.altitude_error_ft,
state_variables=self.state_variables,
target=0.0,
is_potential_based=False,
scaling_factor=self.ALTITUDE_SCALING_FT),
rewards.AsymptoticErrorComponent(
name='travel_direction',
prop=self.track_error_deg,
state_variables=self.state_variables,
target=0.0,
is_potential_based=False,
scaling_factor=self.TRACK_ERROR_SCALING_DEG),
# add an airspeed error relative to cruise speed component?
)
return base_components