private float ComputeError()
{
// this function implements the mathematical description of path tracking error. this is quite complicated in order to handle many edge cases.
if (pathObservations.jumprulesflag) // in jump rules the error is geometric, based on the track bounds
{
if (pathObservations.traction)
{
if (pathObservations.sideslipAngle >= maxSideSlipSum)
{
Log(TrackingError.JumpTractionLoss);
return(errorThreshold + 1f);
}
}
else
{
var trackposition = navigator.GetTrackPosition();
if (Mathf.Abs(trackposition.offset) > 1.0f)
{
Log(TrackingError.JumpExceededBounds);
return(errorThreshold + 1f);
}
}
}
if (pathObservations.direction < 0)
{
Log(TrackingError.Spin);
return(errorThreshold + 1f);
}
if (pathObservations.PopCollision())
{
Log(TrackingError.Collision);
return(errorThreshold + 1f);
}
if (Vector3.Dot(pathObservations.transform.up, Vector3.up) < 0)
{
Log(TrackingError.Flip);
return(errorThreshold + 1f);
}
var error = pathObservations.understeer;
var errorGradient = Gradient(error, lastUndersteerError);
lastUndersteerError = error;
if (errorGradient <= 0)
{
error = 0;
}
if (error > errorThreshold)
{
Log(TrackingError.Understeer);
}
return(error);
}
