public void TestStacking()
{
VectorSensor wrapped = new VectorSensor(2);
ISensor sensor = new StackingSensor(wrapped, 3);
wrapped.AddObservation(new[] { 1f, 2f });
SensorTestHelper.CompareObservation(sensor, new[] { 0f, 0f, 0f, 0f, 1f, 2f });
sensor.Update();
wrapped.AddObservation(new[] { 3f, 4f });
SensorTestHelper.CompareObservation(sensor, new[] { 0f, 0f, 1f, 2f, 3f, 4f });
sensor.Update();
wrapped.AddObservation(new[] { 5f, 6f });
SensorTestHelper.CompareObservation(sensor, new[] { 1f, 2f, 3f, 4f, 5f, 6f });
sensor.Update();
wrapped.AddObservation(new[] { 7f, 8f });
SensorTestHelper.CompareObservation(sensor, new[] { 3f, 4f, 5f, 6f, 7f, 8f });
sensor.Update();
wrapped.AddObservation(new[] { 9f, 10f });
SensorTestHelper.CompareObservation(sensor, new[] { 5f, 6f, 7f, 8f, 9f, 10f });
// Check that if we don't call Update(), the same observations are produced
SensorTestHelper.CompareObservation(sensor, new[] { 5f, 6f, 7f, 8f, 9f, 10f });
}
public void Test3DStacking()
{
var wrapped = new Dummy3DSensor();
wrapped.ObservationSpec = ObservationSpec.Visual(2, 1, 2);
var sensor = new StackingSensor(wrapped, 2);
// Check the stacking is on the last dimension
wrapped.CurrentObservation = new[, , ] {
{ { 1f, 2f } }, { { 3f, 4f } }
};
SensorTestHelper.CompareObservation(sensor, new[, , ] {
{ { 0f, 0f, 1f, 2f } }, { { 0f, 0f, 3f, 4f } }
});
sensor.Update();
wrapped.CurrentObservation = new[, , ] {
{ { 5f, 6f } }, { { 7f, 8f } }
};
SensorTestHelper.CompareObservation(sensor, new[, , ] {
{ { 1f, 2f, 5f, 6f } }, { { 3f, 4f, 7f, 8f } }
});
sensor.Update();
wrapped.CurrentObservation = new[, , ] {
{ { 9f, 10f } }, { { 11f, 12f } }
};
SensorTestHelper.CompareObservation(sensor, new[, , ] {
{ { 5f, 6f, 9f, 10f } }, { { 7f, 8f, 11f, 12f } }
});
// Check that if we don't call Update(), the same observations are produced
SensorTestHelper.CompareObservation(sensor, new[, , ] {
{ { 5f, 6f, 9f, 10f } }, { { 7f, 8f, 11f, 12f } }
});
// Test reset
sensor.Reset();
wrapped.CurrentObservation = new[, , ] {
{ { 13f, 14f } }, { { 15f, 16f } }
};
SensorTestHelper.CompareObservation(sensor, new[, , ] {
{ { 0f, 0f, 13f, 14f } }, { { 0f, 0f, 15f, 16f } }
});
}
public void TestStackedGetCompressedObservation()
{
var wrapped = new Dummy3DSensor();
wrapped.ObservationSpec = ObservationSpec.Visual(1, 1, 3);
var sensor = new StackingSensor(wrapped, 2);
wrapped.CurrentObservation = new[, , ] {
{ { 1f, 2f, 3f } }
};
var expected1 = sensor.CreateEmptyPNG();
expected1 = expected1.Concat(Array.ConvertAll(new[] { 1f, 2f, 3f }, (z) => (byte)z)).ToArray();
Assert.AreEqual(sensor.GetCompressedObservation(), expected1);
sensor.Update();
wrapped.CurrentObservation = new[, , ] {
{ { 4f, 5f, 6f } }
};
var expected2 = Array.ConvertAll(new[] { 1f, 2f, 3f, 4f, 5f, 6f }, (z) => (byte)z);
Assert.AreEqual(sensor.GetCompressedObservation(), expected2);
sensor.Update();
wrapped.CurrentObservation = new[, , ] {
{ { 7f, 8f, 9f } }
};
var expected3 = Array.ConvertAll(new[] { 4f, 5f, 6f, 7f, 8f, 9f }, (z) => (byte)z);
Assert.AreEqual(sensor.GetCompressedObservation(), expected3);
// Test reset
sensor.Reset();
wrapped.CurrentObservation = new[, , ] {
{ { 10f, 11f, 12f } }
};
var expected4 = sensor.CreateEmptyPNG();
expected4 = expected4.Concat(Array.ConvertAll(new[] { 10f, 11f, 12f }, (z) => (byte)z)).ToArray();
Assert.AreEqual(sensor.GetCompressedObservation(), expected4);
}
public void TestVectorStacking()
{
VectorSensor wrapped = new VectorSensor(2);
StackingSensor sensor = new StackingSensor(wrapped, 3);
wrapped.AddObservation(new[] { 1f, 2f });
SensorTestHelper.CompareObservation(sensor, new[] { 0f, 0f, 0f, 0f, 1f, 2f });
var data = sensor.GetStackedObservations();
Assert.IsTrue(data.ToArray().SequenceEqual(new[] { 0f, 0f, 0f, 0f, 1f, 2f }));
sensor.Update();
wrapped.AddObservation(new[] { 3f, 4f });
SensorTestHelper.CompareObservation(sensor, new[] { 0f, 0f, 1f, 2f, 3f, 4f });
data = sensor.GetStackedObservations();
Assert.IsTrue(data.ToArray().SequenceEqual(new[] { 0f, 0f, 1f, 2f, 3f, 4f }));
sensor.Update();
wrapped.AddObservation(new[] { 5f, 6f });
SensorTestHelper.CompareObservation(sensor, new[] { 1f, 2f, 3f, 4f, 5f, 6f });
data = sensor.GetStackedObservations();
Assert.IsTrue(data.ToArray().SequenceEqual(new[] { 1f, 2f, 3f, 4f, 5f, 6f }));
sensor.Update();
wrapped.AddObservation(new[] { 7f, 8f });
SensorTestHelper.CompareObservation(sensor, new[] { 3f, 4f, 5f, 6f, 7f, 8f });
data = sensor.GetStackedObservations();
Assert.IsTrue(data.ToArray().SequenceEqual(new[] { 3f, 4f, 5f, 6f, 7f, 8f }));
sensor.Update();
wrapped.AddObservation(new[] { 9f, 10f });
SensorTestHelper.CompareObservation(sensor, new[] { 5f, 6f, 7f, 8f, 9f, 10f });
data = sensor.GetStackedObservations();
Assert.IsTrue(data.ToArray().SequenceEqual(new[] { 5f, 6f, 7f, 8f, 9f, 10f }));
// Check that if we don't call Update(), the same observations are produced
SensorTestHelper.CompareObservation(sensor, new[] { 5f, 6f, 7f, 8f, 9f, 10f });
data = sensor.GetStackedObservations();
Assert.IsTrue(data.ToArray().SequenceEqual(new[] { 5f, 6f, 7f, 8f, 9f, 10f }));
}
public void TestStackingReset()
{
VectorSensor wrapped = new VectorSensor(2);
ISensor sensor = new StackingSensor(wrapped, 3);
wrapped.AddObservation(new[] { 1f, 2f });
SensorTestHelper.CompareObservation(sensor, new[] { 0f, 0f, 0f, 0f, 1f, 2f });
sensor.Update();
wrapped.AddObservation(new[] { 3f, 4f });
SensorTestHelper.CompareObservation(sensor, new[] { 0f, 0f, 1f, 2f, 3f, 4f });
sensor.Reset();
wrapped.AddObservation(new[] { 5f, 6f });
SensorTestHelper.CompareObservation(sensor, new[] { 0f, 0f, 0f, 0f, 5f, 6f });
}