public float[] CollectObservations()
{
//Collects the observations(input) for the learning model agent
//Input on the format: occupancyarray(32x32x32), currentView, visitedviews + properties for the reward computations
float[] distanceAndCount = new float[]
{
_vm.distanceTravelled,
_rm.accuracy
};
float[] rewards = _rm.GetRewardArray();
var obs = _ogm.GetOccupancyGridFloated()
.Concat(_vm.GetCurrentViews())
.Concat(_vm.GetVisitedViews())
.Concat(distanceAndCount)
.Concat(rewards);
return(obs.ToArray());
}
