private Vector2 DrivingPosition()
{
Vector2 GCM = groupMod.GetGCM();
Vector2 target = new Vector3(Config.targetPos.x, Config.targetPos.y);
Vector2 vec = GCM - target;
vec.Normalize();
return(GCM + vec * (2 * Config.R_a * Mathf.Sqrt(Config.N)));
}
public override void CollectObservations()
{
AddVectorObs(target);
Vector2 GCM = groupMod.GetGCM();
AddVectorObs(GCM);
Vector2 pos = new Vector2(gameObject.transform.position.x, gameObject.transform.position.y);
AddVectorObs(pos);
Vector2 furthest = groupMod.GetFurthestSheep();
AddVectorObs(furthest);
}