예제 #1
0
        /// <inheritdoc/>
        public int Write(ObservationWriter writer)
        {
            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);
                }
            }
            writer.AddList(m_Observations);
            return(expectedObservations);
        }
예제 #2
0
        /// <summary>
        /// Computes the ray perception observations and saves them to the provided
        /// <see cref="ObservationWriter"/>.
        /// </summary>
        /// <param name="writer">Where the ray perception observations are written to.</param>
        /// <returns></returns>
        public int Write(ObservationWriter writer)
        {
            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;

                // For each ray, write the information to the observation buffer
                for (var rayIndex = 0; rayIndex < numRays; rayIndex++)
                {
                    m_RayPerceptionOutput.RayOutputs[rayIndex].ToFloatArray(numDetectableTags, rayIndex, m_Observations);
                }

                // Finally, add the observations to the ObservationWriter
                writer.AddList(m_Observations);
            }
            return(m_Observations.Length);
        }
예제 #3
0
        /// <inheritdoc/>
        public int Write(ObservationWriter writer)
        {
            // First, call the wrapped sensor's write method. Make sure to use our own writer, not the passed one.
            var wrappedShape = m_WrappedSensor.GetObservationShape();

            m_LocalWriter.SetTarget(m_StackedObservations[m_CurrentIndex], wrappedShape, 0);
            m_WrappedSensor.Write(m_LocalWriter);

            // Now write the saved observations (oldest first)
            var numWritten = 0;

            for (var i = 0; i < m_NumStackedObservations; i++)
            {
                var obsIndex = (m_CurrentIndex + 1 + i) % m_NumStackedObservations;
                writer.AddList(m_StackedObservations[obsIndex], numWritten);
                numWritten += m_UnstackedObservationSize;
            }

            return(numWritten);
        }
예제 #4
0
        /// <inheritdoc/>
        public int Write(ObservationWriter writer)
        {
            // First, call the wrapped sensor's write method. Make sure to use our own writer, not the passed one.
            m_LocalWriter.SetTarget(m_StackedObservations[m_CurrentIndex], m_WrappedSpec, 0);
            m_WrappedSensor.Write(m_LocalWriter);

            // Now write the saved observations (oldest first)
            var numWritten = 0;

            if (m_WrappedSpec.Rank == 1)
            {
                for (var i = 0; i < m_NumStackedObservations; i++)
                {
                    var obsIndex = (m_CurrentIndex + 1 + i) % m_NumStackedObservations;
                    writer.AddList(m_StackedObservations[obsIndex], numWritten);
                    numWritten += m_UnstackedObservationSize;
                }
            }
            else
            {
                for (var i = 0; i < m_NumStackedObservations; i++)
                {
                    var obsIndex = (m_CurrentIndex + 1 + i) % m_NumStackedObservations;
                    for (var h = 0; h < m_WrappedSpec.Shape[0]; h++)
                    {
                        for (var w = 0; w < m_WrappedSpec.Shape[1]; w++)
                        {
                            for (var c = 0; c < m_WrappedSpec.Shape[2]; c++)
                            {
                                writer[h, w, i *m_WrappedSpec.Shape[2] + c] = m_StackedObservations[obsIndex][m_tensorShape.Index(0, h, w, c)];
                            }
                        }
                    }
                }
                numWritten = m_WrappedSpec.Shape[0] * m_WrappedSpec.Shape[1] * m_WrappedSpec.Shape[2] * m_NumStackedObservations;
            }

            return(numWritten);
        }
예제 #5
0
        /// <summary>
        /// Computes the ray perception observations and saves them to the provided
        /// <see cref="ObservationWriter"/>.
        /// </summary>
        /// <param name="writer">Where the ray perception observations are written to.</param>
        /// <returns></returns>
        public int Write(ObservationWriter writer)
        {
            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 ObservationWriter
                writer.AddList(m_Observations);
            }
            return(m_Observations.Length);
        }