33 lines
1.1 KiB
Python
33 lines
1.1 KiB
Python
def reward_function(self, on_track, x, y, distance_from_center, car_orientation, progress, steps,
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throttle, steering, track_width, waypoints, closest_waypoints):
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reward = 1e-3
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rabbit = [0,0]
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pointing = [0,0]
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# Reward when yaw (car_orientation) is pointed to the next waypoint IN FRONT.
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# Find nearest waypoint coordinates
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rabbit = [waypoints[closest_waypoints+1][0],waypoints[closest_waypoints+1][1]]
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radius = math.hypot(x - rabbit[0], y - rabbit[1])
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pointing[0] = x + (radius * math.cos(car_orientation))
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pointing[1] = y + (radius * math.sin(car_orientation))
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vector_delta = math.hypot(pointing[0] - rabbit[0], pointing[1] - rabbit[1])
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# Max distance for pointing away will be the radius * 2
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# Min distance means we are pointing directly at the next waypoint
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# We can setup a reward that is a ratio to this max.
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if vector_delta == 0:
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reward += 1
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else:
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reward += ( 1 - ( vector_delta / (radius * 2)))
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return reward
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