From 6fb04eef3c391c036579251dd63725eaac476bc7 Mon Sep 17 00:00:00 2001
From: nambh713 <nambh713@su02-108.ad.liu.se>
Date: Thu, 17 Oct 2019 09:33:11 +0200
Subject: [PATCH] added comments again
---
QLearning/bin/StateAndReward.class | Bin 2878 -> 2878 bytes
QLearning/src/StateAndReward.java | 10 +++++++---
2 files changed, 7 insertions(+), 3 deletions(-)
diff --git a/QLearning/bin/StateAndReward.class b/QLearning/bin/StateAndReward.class
index ce9df9a9c261d08fdc1ee95fc1cfcf196a454b97..bd18e9881548d9eb85ea11a342fe3672d576af21 100644
GIT binary patch
delta 282
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delta 282
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hfrnus10Ta;22qA343Z4X8RQsNFsL%DntYQh6#z#ZH5LE>
diff --git a/QLearning/src/StateAndReward.java b/QLearning/src/StateAndReward.java
index 035c544..1986fa6 100644
--- a/QLearning/src/StateAndReward.java
+++ b/QLearning/src/StateAndReward.java
@@ -12,6 +12,7 @@ public class StateAndReward {
//State 3 is veering right
//State 1,2 is quite good as it is within Pi/8 angle from normal
//state = String.valueOf(angle);
+ //concate _S to make the state more readable in terminal
return state.concat("_S");
}
@@ -24,7 +25,7 @@ public class StateAndReward {
int state = discretize(angle, 4, -3.14/8,3.14/8);
//if state is 1 or 2, reward with positives
- //else -5
+ //else penalize
switch(state) {
case 1:
case 2:
@@ -48,7 +49,10 @@ public class StateAndReward {
String state = "OneStateToRuleThemAll2";
String angle_state = String.valueOf(discretize(angle, 5, -3.14/8,3.14/8));
String vy_state = String.valueOf(discretize(vy, 5, -1,1)) ;
+ //add extra emphasis on value of vy being very close to 0
+ //but do not penalize if it cannot reach such value
String vy_state_acc = String.valueOf(discretize(vy, 3, -0.1,0.1));
+ //small emphasis on vx because having the angle be upright already compensate for vx
String vx_state = String.valueOf(discretize(vx, 3, -0.5,0.5));
state = angle_state +"_"+ vy_state +"_" + vy_state_acc + "_"+ vx_state;
return state;
@@ -57,12 +61,12 @@ public class StateAndReward {
/* Reward function for the full hover controller */
public static double getRewardHover(double angle, double vx, double vy) {
- /* TODO: IMPLEMENT THIS FUNCTION */
-
double reward = 0;
String state = getStateHover(angle, vx, vy);
+ //Separate state to its component
String[] state_str = state.split("_");
int [] state_int = new int[state_str.length];
+ //Cast the strings to int for each comparison
for (int i = 0; i< state_int.length; i++){
state_int[i] = Integer.valueOf(state_str[i]);
}
--
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