public override void CollectObservations(VectorSensor sensor)
{
//base.CollectObservations(sensor);
print("CollectObservations");
//List<float> sensorData = controller.GetSensorData();
//foreach (float d in sensorData) {
//sensor.AddObservation(d);
//print(d);
//}
//sensor.AddObservation(rigidbody.velocity);
//print("rigidbody.velocity=" + rigidbody.velocity);
bool addtionalFeatureNameReady = (additionalFeatureNames.Count != 0);
// direction
Quaternion rot = transform.rotation;
sensor.AddObservation(rot.y);
sensor.AddObservation(rot.w);
// the distance
float distToDest = Vector3.Distance(transform.position, destination);
float progressRatio = distToDest / overallDist;
sensor.AddObservation(progressRatio);
// path available
if (pathInference.pathReady)
{
sensor.AddObservation(1.0f);
}
else
{
sensor.AddObservation(0.0f);
}
if (!addtionalFeatureNameReady)
{
additionalFeatureNames.Add("RotY");
additionalFeatureNames.Add("RotW");
additionalFeatureNames.Add("DistRatio");
additionalFeatureNames.Add("PathAvailable");
}
print("ob size=" + sensor.ObservationSize());
//print("count=" + ());
}