How to put vector as a element in rlNumericSpec?

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Yang Chen 2023-3-1

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评论： Yang Chen 2023-3-3

Hi, Everyone,

I am trying to create custom MATLAB Environment from template. My observations consist of numerical variable and vector, like

observation = [number, number, vector, vector]

Unfortunately, I find rlNumericSpec only support number as element. I want to know how to deal with this situation.

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Emmanouil Tzorakoleftherakis 2023-3-2

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You could do something along the lines of:

ObservationInfo(1) = rlNumericSpec([1 1]);
ObservationInfo(1).Name = 'scalar';
ObservationInfo(2) = rlNumericSpec([3 1]);
ObservationInfo(2).Name = 'vector';

and then use the obsInfo to create your environment

Not sure how much I can add without knowing specifics, but assuming your environment is in MATLAB (i.e. not Simulink), when you step through your dynamics you will basically get observations that differ in length. In that function, I would assign each observation to a specific slot. So, for example, obs(1) is position, obs(2) is velocity, obs(3) is acceleration. If in certain situations you don't have, e.g. velocity measurements, then set obs(2)=0 and the other two values would be equal to your measurements. If you don't have acceleration, obs(3)=0 and so on

Yang Chen 2023-3-3