private UnityEngine.Vector3 GetPosObservationNoise()
{
float vx = Mathf.Clamp(SIGVerseUtils.GetRandomNumberFollowingNormalDistribution(0.0005f), -0.0015f, +0.0015f);
float vy = Mathf.Clamp(SIGVerseUtils.GetRandomNumberFollowingNormalDistribution(0.0005f), -0.0015f, +0.0015f);
return(new UnityEngine.Vector3(vx, vy, 0.0f));
}
private float GetRotNoise(float val)
{
float randomNumber = SIGVerseUtils.GetRandomNumberFollowingNormalDistribution(0.3f); // sigma=0.3
return(val * Mathf.Clamp(randomNumber, -3.0f, +3.0f)); // plus/minus 3.0 is sufficiently large.
}
private UnityEngine.Vector3 GetRotObservationNoise()
{
float vz = Mathf.Clamp(SIGVerseUtils.GetRandomNumberFollowingNormalDistribution(0.01f), -0.03f, +0.03f);
return(new UnityEngine.Vector3(0.0f, 0.0f, vz));
}
private float GetPosNoise(float val)
{
float randomNumber = SIGVerseUtils.GetRandomNumberFollowingNormalDistribution(0.6f); // sigma=0.6
return(val * Mathf.Clamp(randomNumber, -1.8f, +1.8f)); // 3 * sigma
}
private float GetRotNoise(float val)
{
float randomNumber = SIGVerseUtils.GetRandomNumberFollowingNormalDistribution(0.3f); // sigma=0.3
return(val * Mathf.Clamp(randomNumber, -0.9f, +0.9f)); // 3 * sigma
}