search

uzh-rpg / agile_flight

Developing and Comparing Vision-based Algorithms for Vision-based Agile Flight
MIT License
152 stars 55 forks source link

returned state of the environment? #25

Closed ngthanhtin closed 2 years ago

ngthanhtin commented 2 years ago

Hi, when I print the returned state's shape in run_vision_demo.py, it is (1, 55), could you explain what it represents for, please?

yun-long commented 2 years ago

hi, the observation is defined here.

It consists of a reference velocity (dim=3), the orientation of the drone (dim=9), the linear velocity of the drone (dim=3), and observation of the obstacles ( number of obstacles * obstacle observation).

In total, we assume we can observe 10 closeted obstacles. the obstacle observation is represented as the distance between the center of the drone and the center of the spherical obstacle (dim=3) and the radius of the obstacle (dim=1).

Therefore, the observation dimension is

3 + 9 + 3 + 10 * (3+1) = 55

ngthanhtin commented 2 years ago

Thanks !!