public void TestCountingSensor()
{
testGo.tag = k_Tag2;
string[] tags = { k_Tag1, k_Tag2 };
gridSensorComponent.SetComponentParameters(tags, countColliders: true);
var gridSensor = (CountingGridSensor)gridSensorComponent.CreateSensors()[0];
Assert.AreEqual(gridSensor.PerceptionBuffer.Length, 10 * 10 * 2);
gridSensor.Update();
int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { 1, 0 }, 4);
float[] expectedDefault = new float[] { 0, 0 };
GridObsTestUtils.AssertSubarraysAtIndex(gridSensor.PerceptionBuffer, subarrayIndicies, expectedSubarrays, expectedDefault);
var boxGo2 = new GameObject("block");
boxGo2.tag = k_Tag1;
boxGo2.transform.position = new Vector3(3.1f, 0f, 3f);
boxGo2.AddComponent <BoxCollider>();
gridSensor.Update();
subarrayIndicies = new int[] { 77, 78, 87, 88 };
expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { 2, 0 }, 4);
expectedDefault = new float[] { 0, 0 };
GridObsTestUtils.AssertSubarraysAtIndex(gridSensor.PerceptionBuffer, subarrayIndicies, expectedSubarrays, expectedDefault);
Object.DestroyImmediate(boxGo2);
}
public void PerceiveNotSelf()
{
testGo.tag = k_Tag2;
string[] tags = { k_Tag1, k_Tag2 };
gridSensorComponent.SetComponentParameters(tags, useGridSensorBase: true);
var gridSensor = (GridSensorBase)gridSensorComponent.CreateSensors()[0];
gridSensor.Update();
int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { 1 }, 4);
float[] expectedDefault = new float[] { 0 };
GridObsTestUtils.AssertSubarraysAtIndex(gridSensor.PerceptionBuffer, subarrayIndicies, expectedSubarrays, expectedDefault);
}
public void TestOneHotSensor()
{
testGo.tag = k_Tag2;
string[] tags = { k_Tag1, k_Tag2 };
gridSensorComponent.SetComponentParameters(tags, useOneHotTag: true);
var gridSensor = (OneHotGridSensor)gridSensorComponent.CreateSensors()[0];
Assert.AreEqual(gridSensor.PerceptionBuffer.Length, 10 * 10 * 2);
gridSensor.Update();
int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { 1, 0 }, 4);
float[] expectedDefault = new float[] { 0, 0 };
GridObsTestUtils.AssertSubarraysAtIndex(gridSensor.PerceptionBuffer, subarrayIndicies, expectedSubarrays, expectedDefault);
}
public void TestReset()
{
testGo.tag = k_Tag2;
string[] tags = { k_Tag1, k_Tag2 };
gridSensorComponent.SetComponentParameters(tags, useGridSensorBase: true);
TestGridSensorConfig.SetParameters(3, false, false);
var gridSensor = (GridSensorBase)gridSensorComponent.CreateSensors()[0];
gridSensor.Update();
int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { 1 }, 4);
float[] expectedDefault = new float[] { 0 };
GridObsTestUtils.AssertSubarraysAtIndex(gridSensor.PerceptionBuffer, subarrayIndicies, expectedSubarrays, expectedDefault);
Object.DestroyImmediate(boxGo);
gridSensor.Update();
subarrayIndicies = new int[0];
expectedSubarrays = new float[0][];
GridObsTestUtils.AssertSubarraysAtIndex(gridSensor.PerceptionBuffer, subarrayIndicies, expectedSubarrays, expectedDefault);
}
