public override void CollectObservations()
{
float[] toSend = new float[19];
float[] acceleration = accelerometer.GetAcceleration();
float[] angularAcceleration = accelerometer.GetAngularAcceleration();
float[] rotation = accelerometer.GetRotation();
// acceleration data
int toSendCell = 0;
acceleration.CopyTo(toSend, toSendCell);
// angular acceleration data
toSendCell += acceleration.Length;
angularAcceleration.CopyTo(toSend, toSendCell);
// rotation data
toSendCell += angularAcceleration.Length;
rotation.CopyTo(toSend, toSendCell);
// depth data
toSendCell += rotation.Length;
toSend[toSendCell] = depthSensor.GetDepth();
// bounding box
toSendCell += 1;
if (dataCollection && positiveExamples)
{
annotations.GetBoundingBox().CopyTo(toSend, toSendCell);
}
// positive/negative example
toSendCell += 4;
if (positiveExamples)
{
toSend[toSendCell] = 1.0f;
}
else
{
toSend[toSendCell] = 0.0f;
}
// relative position data
if (sendRelativeData)
{
toSend[toSendCell + 1] = pos.x;
toSend[toSendCell + 2] = pos.y;
toSend[toSendCell + 3] = pos.z;
toSend[toSendCell + 4] = angle;
}
AddVectorObs(toSend);
}