From 705bd462c364a13da8f0e8b42e37cde1ae03e56e Mon Sep 17 00:00:00 2001 From: Mo8it Date: Mon, 31 Jan 2022 18:53:58 +0100 Subject: [PATCH] Corrected max_elliptical_distance --- src/RL/Envs/LocalCOMWithAdditionalShapeRewardEnv.jl | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/RL/Envs/LocalCOMWithAdditionalShapeRewardEnv.jl b/src/RL/Envs/LocalCOMWithAdditionalShapeRewardEnv.jl index 3181228..539e5a0 100644 --- a/src/RL/Envs/LocalCOMWithAdditionalShapeRewardEnv.jl +++ b/src/RL/Envs/LocalCOMWithAdditionalShapeRewardEnv.jl @@ -59,7 +59,9 @@ mutable struct LocalCOMWithAdditionalShapeRewardEnvHelper <: EnvHelper function LocalCOMWithAdditionalShapeRewardEnvHelper( shared::EnvHelperSharedProps, half_box_len::Float64, skin_radius::Float64 ) - max_elliptical_distance = sqrt(2) * half_box_len / shared.elliptical_a_b_ratio + max_elliptical_distance = sqrt( + half_box_len^2 + (half_box_len / shared.elliptical_a_b_ratio)^2 + ) max_distance_to_local_center_of_mass = skin_radius