public int Write(WriteAdapter adapter) { var expectedObservations = m_Shape[0]; if (m_Observations.Count > expectedObservations) { // Too many observations, truncate Debug.LogWarningFormat( "More observations ({0}) made than vector observation size ({1}). The observations will be truncated.", m_Observations.Count, expectedObservations ); m_Observations.RemoveRange(expectedObservations, m_Observations.Count - expectedObservations); } else if (m_Observations.Count < expectedObservations) { // Not enough observations; pad with zeros. Debug.LogWarningFormat( "Fewer observations ({0}) made than vector observation size ({1}). The observations will be padded.", m_Observations.Count, expectedObservations ); for (int i = m_Observations.Count; i < expectedObservations; i++) { m_Observations.Add(0); } } adapter.AddRange(m_Observations); return(expectedObservations); }
/// <summary> /// Default implementation of Write interface. This creates a temporary array, calls WriteObservation, /// and then writes the results to the WriteAdapter. /// </summary> /// <param name="adapter"></param> public virtual int Write(WriteAdapter adapter) { // TODO reuse buffer for similar agents, don't call GetObservationShape() var numFloats = this.ObservationSize(); float[] buffer = new float[numFloats]; WriteObservation(buffer); adapter.AddRange(buffer); return(numFloats); }
public int Write(WriteAdapter adapter) { using (TimerStack.Instance.Scoped("RayPerceptionSensor.Perceive")) { PerceiveStatic( m_RayDistance, m_Angles, m_DetectableObjects, m_StartOffset, m_EndOffset, m_CastRadius, m_Transform, m_CastType, m_Observations, m_LayerMask, m_DebugDisplayInfo ); adapter.AddRange(m_Observations); } return(m_Observations.Length); }
public int Write(WriteAdapter adapter) { using (TimerStack.Instance.Scoped("RayPerceptionSensor.Perceive")) { Array.Clear(m_Observations, 0, m_Observations.Length); var numRays = m_RayPerceptionInput.angles.Count; var numDetectableTags = m_RayPerceptionInput.detectableTags.Count; if (m_DebugDisplayInfo != null) { // Reset the age information, and resize the buffer if needed. m_DebugDisplayInfo.Reset(); if (m_DebugDisplayInfo.rayInfos == null || m_DebugDisplayInfo.rayInfos.Length != numRays) { m_DebugDisplayInfo.rayInfos = new DebugDisplayInfo.RayInfo[numRays]; } } // For each ray, do the casting, and write the information to the observation buffer for (var rayIndex = 0; rayIndex < numRays; rayIndex++) { DebugDisplayInfo.RayInfo debugRay; var rayOutput = PerceiveSingleRay(m_RayPerceptionInput, rayIndex, out debugRay); if (m_DebugDisplayInfo != null) { m_DebugDisplayInfo.rayInfos[rayIndex] = debugRay; } rayOutput.ToFloatArray(numDetectableTags, rayIndex, m_Observations); } // Finally, add the observations to the WriteAdapter adapter.AddRange(m_Observations); } return(m_Observations.Length); }