public IEnumerator ProperReset()
{
string[] tags = { k_Tag1 };
int[] depths = { 5, 1, 3 };
dummyData.Data = new[] { 3f, .6f, 2.2f };
Color[] colors = { Color.red, Color.magenta };
gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.Channel,
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
gridSensor.Start();
yield return(null);
float[] output = gridSensor.Perceive();
Assert.AreEqual(10 * 10 * 3, output.Length);
int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new[] { 3f / 5f, .6f, 2.2f / 3f }, 4);
float[] expectedDefault = new float[] { 0, 0, 0 };
GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault);
Object.DestroyImmediate(boxGo);
yield return(null);
output = gridSensor.Perceive();
Assert.AreEqual(10 * 10 * 3, output.Length);
subarrayIndicies = new int[0];
expectedSubarrays = new float[0][];
GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault);
}
public IEnumerator ProperReset()
{
string[] tags = { k_Tag1 };
int[] depths = { 5, 1, 3 };
dummyData.Data = new[] { 3f, .6f, 2.2f };
Color[] colors = { Color.red, Color.magenta };
GridObsTestUtils.SetComponentParameters(gridSensorComponent, tags, depths, GridDepthType.ChannelHot,
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
var gridSensor = (GridSensor)gridSensorComponent.CreateSensors()[0];
yield return(null);
gridSensor.Perceive();
Assert.AreEqual(10 * 10 * 9, gridSensor.m_PerceptionBuffer.Length);
int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new[] { 0, 0, 0, 1, 0, .6f, 0, 0, 1 }, 4);
float[] expectedDefault = new float[] { 0, 0, 0, 0, 0, 0, 0, 0, 0 };
GridObsTestUtils.AssertSubarraysAtIndex(gridSensor.m_PerceptionBuffer, subarrayIndicies, expectedSubarrays, expectedDefault);
Object.DestroyImmediate(boxGo);
yield return(null);
gridSensor.Perceive();
Assert.AreEqual(10 * 10 * 9, gridSensor.m_PerceptionBuffer.Length);
subarrayIndicies = new int[0];
expectedSubarrays = new float[0][];
GridObsTestUtils.AssertSubarraysAtIndex(gridSensor.m_PerceptionBuffer, subarrayIndicies, expectedSubarrays, expectedDefault);
}
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 void SevenChannel()
{
string[] tags = { "Box", "Ball" };
int[] depths = { 1, 1, 1, 1, 1, 1, 1 };
Color[] colors = { Color.magenta };
gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.Channel,
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
gridSensor.Start();
int[] expectedShape = { 10, 10, 7 };
GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetFloatObservationShape());
}
public void TwoChannelsDepthThreeThree()
{
string[] tags = { "Box", "Ball" };
int[] depths = { 3, 3 };
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, 6);
Assert.AreEqual(expectedShape, gridSensor.GetObservationSpec().Shape);
}
public IEnumerator OneChannelDepthOneAboveDepthException()
{
string[] tags = { k_Tag1 };
int[] depths = { 1 };
dummyData.Data = new[] { 1.1f };
Color[] colors = { Color.red, Color.magenta };
GridObsTestUtils.SetComponentParameters(gridSensorComponent, tags, depths, GridDepthType.ChannelHot,
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
var gridSensor = (GridSensor)gridSensorComponent.CreateSensors()[0];
yield return(null);
Assert.Throws <UnityAgentsException>(() =>
{
gridSensor.Perceive();
});
}
public IEnumerator OneChannelDepthOneCount()
{
string[] tags = { k_Tag1 };
int[] depths = { 1 };
Color[] colors = { Color.red, Color.magenta };
gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.Channel,
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
gridSensor.Start();
yield return(null);
float[] output = gridSensor.Perceive();
Assert.AreEqual(10 * 10 * 1, output.Length);
int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { 1f }, 4);
float[] expectedDefault = new float[] { 0 };
GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault);
}
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);
}
public IEnumerator ThreeChannelDepthFiveOneThreeGoodValues()
{
string[] tags = { k_Tag1 };
int[] depths = { 5, 1, 3 };
dummyData.Data = new[] { 3f, .6f, 2.2f };
Color[] colors = { Color.red, Color.magenta };
gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.ChannelHot,
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
gridSensor.Start();
yield return(null);
float[] output = gridSensor.Perceive();
Assert.AreEqual(10 * 10 * 9, output.Length);
int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new[] { 0, 0, 0, 1, 0, .6f, 0, 0, 1 }, 4);
float[] expectedDefault = new float[] { 1, 0, 0, 0, 0, 0, 1, 0, 0 };
GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault);
}
public IEnumerator TwoChannelDepthFourCount()
{
string[] tags = { k_Tag1, k_Tag2 };
int[] depths = { 4, 1 };
Color[] colors = { Color.red, Color.magenta };
gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.Channel,
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
gridSensor.Start();
boxGoTwo = CreateBlock(new Vector3(3.1f, 0f, 3.1f), k_Tag1, "box2");
boxGoThree = CreateBlock(new Vector3(2.9f, 0f, 2.9f), k_Tag2, "box2");
yield return(null);
float[] output = gridSensor.Perceive();
Assert.AreEqual(10 * 10 * 2, output.Length);
int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { .5f, 1 }, 4);
float[] expectedDefault = new float[] { 0, 0 };
GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault);
}
