def feature_size(
    enable_abs,
    enable_linear_speed,
    enable_angular_speed,
    enable_steering,
):
    """ The length of the environment features """
    total_length = 0

    if enable_linear_speed:
        total_length += 1

    if enable_angular_speed:
        total_length += 1

    if enable_abs:
        total_length += 4

    if enable_steering:
        total_length += 1

    return total_length