b9968875e7bf05151900532270210e22daad45c2,cistar-dev/cistar/envs/lane_changing.py,SimpleLaneChangingAccelerationEnvironment,compute_reward,#SimpleLaneChangingAccelerationEnvironment#Any#Any#,52

Before Change

        
        See parent class
        
        vel = state[0]

        if any(vel < -100) or kwargs["fail"]:
            return 0.0

        max_cost = np.array([self.env_params["target_velocity"]]*self.scenario.num_vehicles)
        max_cost = np.linalg.norm(max_cost)

        cost = vel - self.env_params["target_velocity"]
        cost = np.linalg.norm(cost)

        return max(max_cost - cost, 0)

    def getState(self, **kwargs):
        
        See parent class

After Change

        
        See parent class
        
        return rewards.desired_velocity(
            state, rl_actions, fail=kwargs["fail"], target_velocity=self.env_params["target_velocity"])

    def getState(self):
        
        See parent class

Instances