public bool HasDetectionResult(out DetectionResult result)
{
if (Sensor != null)
{
result = Sensor.Detector.Result;
return(true);
}
result = null;
return(false);
}
public override void Encode(DetectionResult result)
{
int n = m_Grid.Shape.ChannelsPerStackLayer;
int channel = n * m_CrntStackIndex;
m_Grid.ClearChannels(channel, n);
int shortestDistanceChannel = channel;
channel += m_ChannelOffset;
foreach (string tag in m_Tags)
{
var list = result.GetDetectionDataList(tag);
foreach (var item in list)
{
switch (m_EncodingType)
{
case ColliderEncodingType.DistancesOnly:
EncodeItem(item, channel);
break;
case ColliderEncodingType.OneHotAndShortestDistance:
EncodeItem(item, shortestDistanceChannel, channel);
break;
case ColliderEncodingType.OneHotAndDistances:
EncodeItem(item, channel, channel + 1);
break;
}
}
channel += m_ChannelIncr;
}
base.Encode(result);
}
public Detector(IEnumerable <string> tags)
{
Result = new DetectionResult(tags);
m_Tags = tags.ToList();
}
public virtual void Encode(DetectionResult result)
{
// Implement in subclass.
m_CrntStackIndex = ++m_CrntStackIndex % m_Grid.Shape.StackSize;
}