public override void CollectObservations()
{
// Agent only remains on the 2D XZ plane
// since target direction is always assumed to be known in the general case
// we also need to sample more
//var sensorDataTar = cr_.getSensorsTarget(sw_id, 16, 360, agentSensorLength);
float signedAngle = Vector3.SignedAngle(agent_.forward, agent_.target - agent_.pos, Vector3.up);
AddVectorObs(1.0f / (agent_.target - agent_.pos).sqrMagnitude);
AddVectorObs(agent_.cosineOrientation());
AddVectorObs(signedAngle > 0.0f ? 1.0f : 0.0f);
var sensorDataObs = cr_.getSensorsObstacle(sw_id, obsSpaceSize, agentFOV, agentSensorLength);
// for(int i = 0; i < sensorDataTar.Count; i++){
// //Debug.Log("Sensor " + i + ":" + sensorData[i]);
// AddVectorObs(sensorDataTar[i]);
// }
for (int i = 0; i < sensorDataObs.Count; i++)
{
//Debug.Log("Sensor " + i + ":" + sensorData[i]);
AddVectorObs(sensorDataObs[i]);
}
}
