Remove rescaling of agent coordinates#101
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aaravpandya
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SamanKazemkhani,
daphne-cornelisse and
eugenevinitsky
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| trajectory.positions[i] = Vector2{.x = agentInit.position[i].x - ctx.data().mean.x, .y = agentInit.position[i].y - ctx.data().mean.y}; | ||
| trajectory.velocities[i] = Vector2{.x = agentInit.velocity[i].x, .y = agentInit.velocity[i].y}; |
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what's happening here?
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For each position in the trajectory, we subtract the precomputed means. The mean is computed over all the positions of all the trajectories while ignoring the invalid positions.
We also subtract the same means from road object positions and goal positions. So everything is translated by the same amount.
SamanKazemkhani
approved these changes
May 6, 2024
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