DiscreteContinuousStep()
{
base.DiscreteContinuousStep();
// step reward functions
if (RewardScheme == RewardSchemes.IS)
{
if (IsRewardDistanceToTarget)
{
AddReward(
RewardFunctionDistanceToTarget.StepGetReward() * RewardDistanceCoefficient
* RewardSchemeScale);
}
if (IsRewardFacingTarget)
{
AddReward(
RewardFunctionFacingTarget.StepGetReward(
Player.transform.forward) * RewardDirectionCoefficient * RewardSchemeScale);
}
if (IsRewardTimePenalty)
{
AddReward(
RewardFunctionTimePenalty.StepGetReward() * RewardTimeCoefficient * RewardSchemeScale);
}
}
} // DiscreteContinuousStep
DiscreteContinuousStep()
{
base.DiscreteContinuousStep();
if (IsRewardDistanceToTarget)
{
AddReward(
RewardFunctionDistanceToTarget.StepGetReward() * globalManager.RewardDistanceCoefficient
* RewardSchemeScale);
}
if (IsRewardVelocityToTarget)
{
AddReward(
RewardFunctionVelocityToTarget.StepGetReward() * globalManager.RewardVelocityCoefficient
* RewardSchemeScale);
}
if (IsRewardFacingTarget)
{
AddReward(
RewardFunctionFacingTarget.StepGetReward(
BodyCore.transform.forward) * globalManager.RewardDirectionCoefficient * RewardSchemeScale);
}
if (IsRewardCoreUp)
{
AddReward(
RewardFunctionCoreUp.StepGetReward() * globalManager.RewardDistanceCoefficient * RewardSchemeScale);
}
if (IsRewardHeadUp)
{
AddReward(
RewardFunctionHeadUp.StepGetReward(
BodyCore.transform.up) * globalManager.RewardDirectionCoefficient * RewardSchemeScale);
}
if (IsRewardTimePenalty)
{
AddReward(
RewardFunctionTimePenalty.StepGetReward() * globalManager.RewardTimeCoefficient
* RewardSchemeScale);
}
} // DiscreteContinuousStep
