public void TestGetDirectionBetweenTwoPoints()
{
RewardController rc = new RewardController(null);
var model = RewardRequestModel.FromJson(testData2);
rc.RewardBySpeed(model);
}
private bool IsCarOnTrack(RewardRequestModel requestParams)
{
if (requestParams.AllWheelsOnTrack)
{
return(true);
}
return(requestParams.DistanceFromCenter < (requestParams.TrackWidth / 2));
}
private double RewardByDirection(RewardRequestModel requestParams)
{
const double directionThreshold = 10.0;
var reward = 2.0;
var trackDirection = GeometryHelper.GetDirectionBetweenTwoPoints(
requestParams.Waypoints[requestParams.ClosestWaypoints[0]],
requestParams.Waypoints[requestParams.ClosestWaypoints[1]]);
var directionDifference = Math.Abs(trackDirection - requestParams.Heading);
if (directionDifference > directionThreshold)
{
reward *= 0.5;
}
return(reward);
}
public double Reward([FromBody] object data)
{
var dataString = data.ToString();
try
{
var requestParams = RewardRequestModel.FromJson(dataString);
//Early exit if you're not on track
if (!IsCarOnTrack(requestParams))
{
return(FailureRewardValue);
}
return(RewardByDirection(requestParams) * RewardBySpeed(requestParams));
}
catch (Exception e)
{
_logger.LogError(e, dataString);
}
return(FailureRewardValue);
}
public double RewardBySpeed(RewardRequestModel requestParams)
{
const double speedThreshold = 8;
const int pointsToLookAhead = 4;
var currentWayPoint = requestParams.ClosestWaypoints[0];
var prevDirection = GeometryHelper.GetDirectionBetweenTwoPoints(
requestParams.Waypoints[requestParams.ClosestWaypoints[0]],
requestParams.Waypoints[requestParams.ClosestWaypoints[1]]);
var totalDeviation = 0.0;
var totalSegments = 0;
for (long i = currentWayPoint + 1; i < currentWayPoint + 1 + pointsToLookAhead; i++)
{
totalSegments++;
var startIndex = i;
if (startIndex >= requestParams.Waypoints.Length)
{
startIndex -= requestParams.Waypoints.Length;
}
var endIndex = startIndex + 1;
if (endIndex >= requestParams.Waypoints.Length)
{
endIndex -= requestParams.Waypoints.Length;
}
var segmentDirection = GeometryHelper.GetDirectionBetweenTwoPoints(requestParams.Waypoints[startIndex],
requestParams.Waypoints[endIndex]);
var intermediateDirectionDiff = segmentDirection - prevDirection;
if (intermediateDirectionDiff > 180)
{
intermediateDirectionDiff = 360 - intermediateDirectionDiff;
}
if (Math.Abs(intermediateDirectionDiff) > 10)
{
break;
}
totalDeviation += intermediateDirectionDiff;
if (Math.Abs(totalDeviation) > 10)
{
break;
}
prevDirection = segmentDirection;
}
var reward = 2.0;
var usableSpeedThreshold = speedThreshold * ((double)totalSegments / pointsToLookAhead);
var speedVariance = (Math.Abs(requestParams.Speed - usableSpeedThreshold) / usableSpeedThreshold) * 100;
if (speedVariance > 20)
{
reward *= 0.5;
}
return(reward);
}
