/// <inheritdoc />
public ref readonly ActionBuffers DecideAction()
{
if (!m_Done && m_DecisionRequested)
{
m_ActuatorManager.ApplyHeuristic(m_ActionBuffers);
}
m_DecisionRequested = false;
return(ref m_ActionBuffers);
}
public void TestHeuristic()
{
var manager = new ActuatorManager(2);
var va1 = new TestActuator(ActionSpec.MakeDiscrete(1, 2, 3), "name");
var va2 = new TestActuator(ActionSpec.MakeDiscrete(3, 2, 1, 8), "name1");
manager.Add(va1);
manager.Add(va2);
var actionBuf = new ActionBuffers(Array.Empty <float>(), new[] { 0, 0, 0, 0, 0, 0, 0 });
manager.ApplyHeuristic(actionBuf);
Assert.IsTrue(va1.m_HeuristicCalled);
Assert.AreEqual(va1.m_DiscreteBufferSize, 3);
Assert.IsTrue(va2.m_HeuristicCalled);
Assert.AreEqual(va2.m_DiscreteBufferSize, 4);
}