public void NullMask()
{
var masker = new ActuatorDiscreteActionMask(new List <IActuator>(), 0, 0);
var mask = masker.GetMask();
Assert.IsNull(mask);
}
public void CanOverwriteMask()
{
var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 4, 5, 6 }), "actuator1");
var masker = new ActuatorDiscreteActionMask(new IActuator[] { actuator1 }, 15, 3);
masker.SetActionEnabled(0, 1, false);
var mask = masker.GetMask();
Assert.IsTrue(mask[1]);
masker.SetActionEnabled(0, 1, true);
Assert.IsFalse(mask[1]);
}
public void MaskReset()
{
var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 4, 5, 6 }), "actuator1");
var masker = new ActuatorDiscreteActionMask(new IActuator[] { actuator1 }, 15, 3);
masker.WriteMask(1, new[] { 1, 2, 3 });
masker.ResetMask();
var mask = masker.GetMask();
for (var i = 0; i < 15; i++)
{
Assert.IsFalse(mask[i]);
}
}
public void SecondBranchMask()
{
var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 4, 5, 6 }), "actuator1");
var masker = new ActuatorDiscreteActionMask(new[] { actuator1 }, 15, 3);
masker.WriteMask(1, new[] { 1, 2, 3 });
var mask = masker.GetMask();
Assert.IsFalse(mask[0]);
Assert.IsFalse(mask[4]);
Assert.IsTrue(mask[5]);
Assert.IsTrue(mask[6]);
Assert.IsTrue(mask[7]);
Assert.IsFalse(mask[8]);
Assert.IsFalse(mask[9]);
}
public void FirstBranchMask()
{
var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 4, 5, 6 }), "actuator1");
var masker = new ActuatorDiscreteActionMask(new IActuator[] { actuator1 }, 15, 3);
var mask = masker.GetMask();
Assert.IsNull(mask);
masker.WriteMask(0, new[] { 1, 2, 3 });
mask = masker.GetMask();
Assert.IsFalse(mask[0]);
Assert.IsTrue(mask[1]);
Assert.IsTrue(mask[2]);
Assert.IsTrue(mask[3]);
Assert.IsFalse(mask[4]);
Assert.AreEqual(mask.Length, 15);
}
public void TestWriteDiscreteActionMask()
{
var ar = new TestActionReceiver();
var va = new VectorActuator(ar, ActionSpec.MakeDiscrete(1, 2, 3), "name");
var bdam = new ActuatorDiscreteActionMask(new[] { va }, 6, 3);
var groundTruthMask = new[] { false, true, false, false, true, true };
ar.Branch = 1;
ar.Mask = new[] { 0 };
va.WriteDiscreteActionMask(bdam);
ar.Branch = 2;
ar.Mask = new[] { 1, 2 };
va.WriteDiscreteActionMask(bdam);
Assert.IsTrue(groundTruthMask.SequenceEqual(bdam.GetMask()));
}
public void ThrowsError()
{
var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 4, 5, 6 }), "actuator1");
var masker = new ActuatorDiscreteActionMask(new IActuator[] { actuator1 }, 15, 3);
Assert.Catch <UnityAgentsException>(
() => masker.WriteMask(0, new[] { 5 }));
Assert.Catch <UnityAgentsException>(
() => masker.WriteMask(1, new[] { 5 }));
masker.WriteMask(2, new[] { 5 });
Assert.Catch <UnityAgentsException>(
() => masker.WriteMask(3, new[] { 1 }));
masker.GetMask();
masker.ResetMask();
masker.WriteMask(0, new[] { 0, 1, 2, 3 });
Assert.Catch <UnityAgentsException>(
() => masker.GetMask());
}
public void ThrowsError()
{
var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 4, 5, 6 }), "actuator1");
var masker = new ActuatorDiscreteActionMask(new IActuator[] { actuator1 }, 15, 3);
Assert.Catch <UnityAgentsException>(
() => masker.SetActionEnabled(0, 5, false));
Assert.Catch <UnityAgentsException>(
() => masker.SetActionEnabled(1, 5, false));
masker.SetActionEnabled(2, 5, false);
Assert.Catch <UnityAgentsException>(
() => masker.SetActionEnabled(3, 1, false));
masker.GetMask();
masker.ResetMask();
masker.SetActionEnabled(0, 0, false);
masker.SetActionEnabled(0, 1, false);
masker.SetActionEnabled(0, 2, false);
masker.SetActionEnabled(0, 3, false);
Assert.Catch <UnityAgentsException>(
() => masker.GetMask());
}
public void MultipleMaskEdit()
{
var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 4, 5, 6 }), "actuator1");
var masker = new ActuatorDiscreteActionMask(new IActuator[] { actuator1 }, 15, 3);
masker.WriteMask(0, new[] { 0, 1 });
masker.WriteMask(0, new[] { 3 });
masker.WriteMask(2, new[] { 1 });
var mask = masker.GetMask();
for (var i = 0; i < 15; i++)
{
if ((i == 0) || (i == 1) || (i == 3) || (i == 10))
{
Assert.IsTrue(mask[i]);
}
else
{
Assert.IsFalse(mask[i]);
}
}
}
public void Construction()
{
var masker = new ActuatorDiscreteActionMask(new List <IActuator>(), 0, 0);
Assert.IsNotNull(masker);
}
