public override void CollectObservations(VectorSensor sensor)
{
if (_lastActions != null && _simulationManager.InitComplete)
{
if (_nearestLot == null)
{
_nearestLot = _simulationManager.GetRandomEmptyParkingSlot();
}
Vector3 dirToTarget = (_nearestLot.transform.position - transform.position).normalized;
sensor.AddObservation(transform.position.normalized);
sensor.AddObservation(
this.transform.InverseTransformPoint(_nearestLot.transform.position));
sensor.AddObservation(
this.transform.InverseTransformVector(_rigitBody.velocity.normalized));
sensor.AddObservation(
this.transform.InverseTransformDirection(dirToTarget));
sensor.AddObservation(transform.forward);
sensor.AddObservation(transform.right);
// sensor.AddObservation(StepCount / MaxStep);
float velocityAlignment = Vector3.Dot(dirToTarget, _rigitBody.velocity);
AddReward(0.001f * velocityAlignment);
}
else
{
sensor.AddObservation(new float[18]);
}
}
