public void OneChannelDepthOne()
{
string[] tags = { "Box", "Ball" };
int[] depths = { 1 };
Color[] colors = { Color.magenta };
GridObsTestUtils.SetComponentParameters(gridSensorComponent, tags, depths, GridDepthType.ChannelHot,
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
var gridSensor = (GridSensor)gridSensorComponent.CreateSensors()[0];
var expectedShape = new InplaceArray<int>(10, 10, 1);
Assert.AreEqual(expectedShape, gridSensor.GetObservationSpec().Shape);
}
public void OneTagMoreDepthError()
{
string[] tags = { "block" };
int[] depths = { 1, 1 };
Color[] colors = { Color.magenta };
GridObsTestUtils.SetComponentParameters(gridSensorComponent, tags, depths, GridDepthType.Counting, 1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
Assert.Throws <UnityAgentsException>(() =>
{
gridSensorComponent.CreateSensors();
});
}
public IEnumerator OneChannelDepthOneCount()
{
string[] tags = { k_Tag1 };
int[] depths = { 1 };
Color[] colors = { Color.red, Color.magenta };
GridObsTestUtils.SetComponentParameters(gridSensorComponent, tags, depths, GridDepthType.Counting,
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
var gridSensor = (GridSensor)gridSensorComponent.CreateSensors()[0];
yield return(null);
gridSensor.Perceive();
Assert.AreEqual(10 * 10 * 1, gridSensor.m_PerceptionBuffer.Length);
int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new[] { 1f }, 4);
float[] expectedDefault = new float[] { 0 };
GridObsTestUtils.AssertSubarraysAtIndex(gridSensor.m_PerceptionBuffer, subarrayIndicies, expectedSubarrays, expectedDefault);
}