Esempio n. 1
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        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);
        }
Esempio n. 2
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        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);
        }
Esempio n. 3
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        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);
        }
Esempio n. 4
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        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);
        }