simulation_ws/src/rl-agent/markov/environments/mars_env.py [462:505]:
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            # multiply the reward based on the Rover's proximity to the Checkpoint
            waypoint_interval = INITIAL_DISTANCE_TO_CHECKPOINT / 5 
           
            marker = [waypoint_interval,(waypoint_interval * 2),(waypoint_interval * 3),(waypoint_interval * 4)]
                
            # Get the Base multiplier
            if self.current_distance_to_checkpoint <= marker[0]:
                multiplier = 5
            elif self.current_distance_to_checkpoint <= marker[1] and self.current_distance_to_checkpoint > marker[0]:
                multiplier = 4
            elif self.current_distance_to_checkpoint <= marker[2] and self.current_distance_to_checkpoint > marker[1]:
                multiplier = 3
            elif self.current_distance_to_checkpoint <= marker[3] and self.current_distance_to_checkpoint > marker[2]:
                multiplier = 2
            else:
                multiplier = 1
            
            # Incentivize the rover to stay away from objects
            if self.collision_threshold >= 2.0:      # very safe distance
                multiplier = multiplier + 1
            elif self.collision_threshold < 2.0 and self.collision_threshold >= 1.5: # pretty safe
                multiplier = multiplier + .5
            elif self.collision_threshold < 1.5 and self.collision_threshold >= 1.0: # just enough time to turn
                multiplier = multiplier + .25
            else:
                multiplier = multiplier # probably going to hit something and get a zero reward
            
            # Incentize the rover to move towards the Checkpoint and not away from the checkpoint
            if not self.closer_to_checkpoint:
                if multiplier > 0:
                    # Cut the multiplier in half
                    multiplier = multiplier/2
                    
            reward = base_reward * multiplier
            
        
        return reward, done
    
        
    '''
    DO NOT EDIT - Function to receive LIDAR data from a ROSTopic
    '''
    def callback_scan(self, data):
        self.ranges = data.ranges
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simulation_ws/src/rl-agent/markov/environments/training_env.py [402:445]:
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            # multiply the reward based on the Rover's proximity to the Checkpoint
            waypoint_interval = INITIAL_DISTANCE_TO_CHECKPOINT / 5 
           
            marker = [waypoint_interval,(waypoint_interval * 2),(waypoint_interval * 3),(waypoint_interval * 4)]
                
            # Get the Base multiplier
            if self.current_distance_to_checkpoint <= marker[0]:
                multiplier = 5
            elif self.current_distance_to_checkpoint <= marker[1] and self.current_distance_to_checkpoint > marker[0]:
                multiplier = 4
            elif self.current_distance_to_checkpoint <= marker[2] and self.current_distance_to_checkpoint > marker[1]:
                multiplier = 3
            elif self.current_distance_to_checkpoint <= marker[3] and self.current_distance_to_checkpoint > marker[2]:
                multiplier = 2
            else:
                multiplier = 1
            
            # Incentivize the rover to stay away from objects
            if self.collision_threshold >= 2.0:      # very safe distance
                multiplier = multiplier + 1
            elif self.collision_threshold < 2.0 and self.collision_threshold >= 1.5: # pretty safe
                multiplier = multiplier + .5
            elif self.collision_threshold < 1.5 and self.collision_threshold >= 1.0: # just enough time to turn
                multiplier = multiplier + .25
            else:
                multiplier = multiplier # probably going to hit something and get a zero reward
            
            # Incentize the rover to move towards the Checkpoint and not away from the checkpoint
            if not self.closer_to_checkpoint:
                if multiplier > 0:
                    # Cut the multiplier in half
                    multiplier = multiplier/2
                    
            reward = base_reward * multiplier
            
        
        return reward, done
    
        
    '''
    DO NOT EDIT - Function to receive LIDAR data from a ROSTopic
    '''
    def callback_scan(self, data):
        self.ranges = data.ranges
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