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Step trajectory by plus one #105

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Step trajectory by plus one #105

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Step trajectory by plus one
aaravpandya May 7, 2024
9471e3f
Merge branch 'main' into ap_StepTrajectory
aaravpandya May 8, 2024
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4 changes: 2 additions & 2 deletions src/sim.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -324,7 +324,7 @@ inline void movementSystem(Engine &e,
else
{
// Follow expert trajectory
CountT curStepIdx = getCurrentStep(stepsRemaining);
CountT curStepIdx = getCurrentStep(stepsRemaining) + 1; // +1 to get the next step
model.position= trajectory.positions[curStepIdx];
model.heading = trajectory.headings[curStepIdx];
model.speed = trajectory.velocities[curStepIdx].length();
Expand Down Expand Up @@ -499,7 +499,7 @@ inline void stepTrackerSystem(Engine &ctx,
}

// An agent can be done early if it reaches the goal
if(done.v != 1)
if(done.v != 1 || info.reachedGoal != 1)
{
float dist = (model.position - goal.position).length();
if(dist < ctx.data().params.rewardParams.distanceToGoalThreshold)
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