/// <summary>
/// Create a sensor for the board with the specified observation type.
/// </summary>
/// <param name="board"></param>
/// <param name="obsType"></param>
/// <param name="name"></param>
public Match3Sensor(AbstractBoard board, Match3ObservationType obsType, string name)
{
m_Board = board;
m_Name = name;
m_Rows = board.Rows;
m_Columns = board.Columns;
m_NumCellTypes = board.NumCellTypes;
m_NumSpecialTypes = board.NumSpecialTypes;
m_ObservationType = obsType;
m_ObservationSpec = obsType == Match3ObservationType.Vector
? ObservationSpec.Vector(m_Rows * m_Columns * (m_NumCellTypes + SpecialTypeSize))
: ObservationSpec.Visual(m_Rows, m_Columns, m_NumCellTypes + SpecialTypeSize);
// See comment in GetCompressedObservation()
var cellTypePaddedSize = 3 * ((m_NumCellTypes + 2) / 3);
m_SparseChannelMapping = new int[cellTypePaddedSize + SpecialTypeSize];
// If we have 4 cell types and 2 special types (3 special size), we'd have
// [0, 1, 2, 3, -1, -1, 4, 5, 6]
for (var i = 0; i < m_NumCellTypes; i++)
{
m_SparseChannelMapping[i] = i;
}
for (var i = m_NumCellTypes; i < cellTypePaddedSize; i++)
{
m_SparseChannelMapping[i] = -1;
}
for (var i = 0; i < SpecialTypeSize; i++)
{
m_SparseChannelMapping[cellTypePaddedSize + i] = i + m_NumCellTypes;
}
}
public BoardSensor(Board board)
{
this.board = board;
this.name = "BoardSensor";
// This might be 85 or 85*3
observationSpec = ObservationSpec.Vector(85 * 3);
}
public GameStateSensor(Board board)
{
this.board = board;
this.name = "GameStateSensor";
// This might be 85 or 85*3
observationSpec = ObservationSpec.Vector(2);
}
public ReflectionSensorBase(ReflectionSensorInfo reflectionSensorInfo, int size)
{
m_Object = reflectionSensorInfo.Object;
m_FieldInfo = reflectionSensorInfo.FieldInfo;
m_PropertyInfo = reflectionSensorInfo.PropertyInfo;
m_ObservableAttribute = reflectionSensorInfo.ObservableAttribute;
m_SensorName = reflectionSensorInfo.SensorName;
m_ObservationSpec = ObservationSpec.Vector(size);
m_NumFloats = size;
}
/// <summary>
/// Create a sensor for the GridValueProvider with the specified observation type.
/// </summary>
/// <remarks>
/// Use Match3Sensor.CellTypeSensor() or Match3Sensor.SpecialTypeSensor() instead of calling
/// the constructor directly.
/// </remarks>
/// <param name="board">The abstract board. This is only used to get the size.</param>
/// <param name="gvp">The GridValueProvider, should be either board.GetCellType or board.GetSpecialType.</param>
/// <param name="oneHotSize">The number of possible values that the GridValueProvider can return.</param>
/// <param name="obsType">Whether to produce vector or visual observations</param>
/// <param name="name">Name of the sensor.</param>
public Match3Sensor(AbstractBoard board, GridValueProvider gvp, int oneHotSize, Match3ObservationType obsType, string name)
{
m_Name = name;
m_Rows = board.Rows;
m_Columns = board.Columns;
m_GridValues = gvp;
m_OneHotSize = oneHotSize;
m_ObservationType = obsType;
m_ObservationSpec = obsType == Match3ObservationType.Vector
? ObservationSpec.Vector(m_Rows * m_Columns * oneHotSize)
: ObservationSpec.Visual(m_Rows, m_Columns, oneHotSize);
}
/// <summary>
/// Create a sensor for the GridValueProvider with the specified observation type.
/// </summary>
/// <remarks>
/// Use Match3Sensor.CellTypeSensor() or Match3Sensor.SpecialTypeSensor() instead of calling
/// the constructor directly.
/// </remarks>
/// <param name="board">The abstract board.</param>
/// <param name="gvp">The GridValueProvider, should be either board.GetCellType or board.GetSpecialType.</param>
/// <param name="oneHotSize">The number of possible values that the GridValueProvider can return.</param>
/// <param name="obsType">Whether to produce vector or visual observations</param>
/// <param name="name">Name of the sensor.</param>
public Match3Sensor(AbstractBoard board, GridValueProvider gvp, int oneHotSize, Match3ObservationType obsType, string name)
{
var maxBoardSize = board.GetMaxBoardSize();
m_Name = name;
m_MaxBoardSize = maxBoardSize;
m_GridValues = gvp;
m_OneHotSize = oneHotSize;
m_Board = board;
m_ObservationType = obsType;
m_ObservationSpec = obsType == Match3ObservationType.Vector
? ObservationSpec.Vector(maxBoardSize.Rows * maxBoardSize.Columns * oneHotSize)
: ObservationSpec.Visual(maxBoardSize.Rows, maxBoardSize.Columns, oneHotSize);
}
public void TestVectorObsSpec()
{
var obsSpec = ObservationSpec.Vector(5);
Assert.AreEqual(1, obsSpec.Rank);
var shape = obsSpec.Shape;
Assert.AreEqual(1, shape.Length);
Assert.AreEqual(5, shape[0]);
var dimensionProps = obsSpec.DimensionProperties;
Assert.AreEqual(1, dimensionProps.Length);
Assert.AreEqual(DimensionProperty.None, dimensionProps[0]);
Assert.AreEqual(ObservationType.Default, obsSpec.ObservationType);
}
public PhysicsBodySensor(ArticulationBody rootBody, PhysicsSensorSettings settings, string sensorName = null)
{
var poseExtractor = new ArticulationBodyPoseExtractor(rootBody);
m_PoseExtractor = poseExtractor;
m_SensorName = string.IsNullOrEmpty(sensorName) ? $"ArticulationBodySensor:{rootBody?.name}" : sensorName;
m_Settings = settings;
var numJointExtractorObservations = 0;
m_JointExtractors = new List <IJointExtractor>(poseExtractor.NumEnabledPoses);
foreach (var articBody in poseExtractor.GetEnabledArticulationBodies())
{
var jointExtractor = new ArticulationBodyJointExtractor(articBody);
numJointExtractorObservations += jointExtractor.NumObservations(settings);
m_JointExtractors.Add(jointExtractor);
}
var numTransformObservations = m_PoseExtractor.GetNumPoseObservations(settings);
m_ObservationSpec = ObservationSpec.Vector(numTransformObservations + numJointExtractorObservations);
}
/// <summary>
/// Construct a new PhysicsBodySensor
/// </summary>
/// <param name="poseExtractor"></param>
/// <param name="settings"></param>
/// <param name="sensorName"></param>
public PhysicsBodySensor(
RigidBodyPoseExtractor poseExtractor,
PhysicsSensorSettings settings,
string sensorName
)
{
m_PoseExtractor = poseExtractor;
m_SensorName = sensorName;
m_Settings = settings;
var numJointExtractorObservations = 0;
m_JointExtractors = new List <IJointExtractor>(poseExtractor.NumEnabledPoses);
foreach (var rb in poseExtractor.GetEnabledRigidbodies())
{
var jointExtractor = new RigidBodyJointExtractor(rb);
numJointExtractorObservations += jointExtractor.NumObservations(settings);
m_JointExtractors.Add(jointExtractor);
}
var numTransformObservations = m_PoseExtractor.GetNumPoseObservations(settings);
m_ObservationSpec = ObservationSpec.Vector(numTransformObservations + numJointExtractorObservations);
}
public DummySensor(int dim1)
{
m_ObservationSpec = ObservationSpec.Vector(dim1);
}
/// <inheritdoc/>
public override ObservationSpec GetObservationSpec()
{
return(ObservationSpec.Vector(BasicController.k_Extents));
}
