public void TestEnsureBufferDiscrete() { var manager = new ActuatorManager(); var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3, 4 }), "actuator1"); var actuator2 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 1, 1 }), "actuator2"); manager.Add(actuator1); manager.Add(actuator2); var actuator1ActionSpaceDef = actuator1.ActionSpec; var actuator2ActionSpaceDef = actuator2.ActionSpec; manager.ReadyActuatorsForExecution(new[] { actuator1, actuator2 }, actuator1ActionSpaceDef.NumContinuousActions + actuator2ActionSpaceDef.NumContinuousActions, actuator1ActionSpaceDef.SumOfDiscreteBranchSizes + actuator2ActionSpaceDef.SumOfDiscreteBranchSizes, actuator1ActionSpaceDef.NumDiscreteActions + actuator2ActionSpaceDef.NumDiscreteActions); manager.UpdateActions(new ActionBuffers(Array.Empty <float>(), new[] { 0, 1, 2, 3, 4, 5, 6 })); Assert.IsTrue(0 == manager.NumContinuousActions); Assert.IsTrue(7 == manager.NumDiscreteActions); Assert.IsTrue(13 == manager.SumOfDiscreteBranchSizes); Assert.IsTrue(0 == manager.StoredActions.ContinuousActions.Length); Assert.IsTrue(7 == manager.StoredActions.DiscreteActions.Length); }
public void TestEnsureBufferSizeContinuous() { var manager = new ActuatorManager(); var actuator1 = new TestActuator(ActionSpec.MakeContinuous(10), "actuator1"); var actuator2 = new TestActuator(ActionSpec.MakeContinuous(2), "actuator2"); manager.Add(actuator1); manager.Add(actuator2); var actuator1ActionSpaceDef = actuator1.ActionSpec; var actuator2ActionSpaceDef = actuator2.ActionSpec; manager.ReadyActuatorsForExecution(new[] { actuator1, actuator2 }, actuator1ActionSpaceDef.NumContinuousActions + actuator2ActionSpaceDef.NumContinuousActions, actuator1ActionSpaceDef.SumOfDiscreteBranchSizes + actuator2ActionSpaceDef.SumOfDiscreteBranchSizes, actuator1ActionSpaceDef.NumDiscreteActions + actuator2ActionSpaceDef.NumDiscreteActions); manager.UpdateActions(new ActionBuffers(new[] { 0f, 1f, 2f, 3f, 4f, 5f, 6f, 7f, 8f, 9f, 10f, 11f }, Array.Empty <int>())); Assert.IsTrue(12 == manager.NumContinuousActions); Assert.IsTrue(0 == manager.NumDiscreteActions); Assert.IsTrue(0 == manager.SumOfDiscreteBranchSizes); Assert.IsTrue(12 == manager.StoredActions.ContinuousActions.Length); Assert.IsTrue(0 == manager.StoredActions.DiscreteActions.Length); }
public void TestUpdateActionsContinuous() { var manager = new ActuatorManager(); var actuator1 = new TestActuator(ActionSpec.MakeContinuous(3), "actuator1"); var actuator2 = new TestActuator(ActionSpec.MakeContinuous(3), "actuator2"); manager.Add(actuator1); manager.Add(actuator2); var continuousActionBuffer = new[] { 0f, 1f, 2f, 3f, 4f, 5f }; manager.UpdateActions(new ActionBuffers(continuousActionBuffer, Array.Empty <int>())); Assert.IsTrue(manager.StoredActions.ContinuousActions.SequenceEqual(continuousActionBuffer)); }
public void TestUpdateActionsDiscrete() { var manager = new ActuatorManager(); var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3 }), "actuator1"); var actuator2 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3 }), "actuator2"); manager.Add(actuator1); manager.Add(actuator2); var discreteActionBuffer = new[] { 0, 1, 2, 3, 4, 5 }; manager.UpdateActions(new ActionBuffers(Array.Empty <float>(), discreteActionBuffer)); Debug.Log(manager.StoredActions.DiscreteActions); Debug.Log(discreteActionBuffer); Assert.IsTrue(manager.StoredActions.DiscreteActions.SequenceEqual(discreteActionBuffer)); }
public void TestExecuteActionsDiscrete() { var manager = new ActuatorManager(); var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3, 4 }), "actuator1"); var actuator2 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 1, 1 }), "actuator2"); manager.Add(actuator1); manager.Add(actuator2); var discreteActionBuffer = new[] { 0, 1, 2, 3, 4, 5, 6 }; manager.UpdateActions(new ActionBuffers(Array.Empty <float>(), discreteActionBuffer)); manager.ExecuteActions(); var actuator1Actions = actuator1.LastActionBuffer.DiscreteActions; var actuator2Actions = actuator2.LastActionBuffer.DiscreteActions; TestSegmentEquality(actuator1Actions, discreteActionBuffer); TestSegmentEquality(actuator2Actions, discreteActionBuffer); }
public void TestExecuteActionsContinuous() { var manager = new ActuatorManager(); var actuator1 = new TestActuator(ActionSpec.MakeContinuous(3), "actuator1"); var actuator2 = new TestActuator(ActionSpec.MakeContinuous(3), "actuator2"); manager.Add(actuator1); manager.Add(actuator2); var continuousActionBuffer = new[] { 0f, 1f, 2f, 3f, 4f, 5f }; manager.UpdateActions(new ActionBuffers(continuousActionBuffer, Array.Empty <int>())); manager.ExecuteActions(); var actuator1Actions = actuator1.LastActionBuffer.ContinuousActions; var actuator2Actions = actuator2.LastActionBuffer.ContinuousActions; TestSegmentEquality(actuator1Actions, continuousActionBuffer); TestSegmentEquality(actuator2Actions, continuousActionBuffer); }