/// <summary>
///
/// </summary>
/// <param name="wrapped">The wrapped sensor</param>
/// <param name="numStackedObservations">Number of stacked observations to keep</param>
public StackingSensor(ISensor wrapped, int numStackedObservations)
{
// TODO ensure numStackedObservations > 1
m_WrappedSensor = wrapped;
m_NumStackedObservations = numStackedObservations;
m_Name = $"StackingSensor_size{numStackedObservations}_{wrapped.GetName()}";
var shape = wrapped.GetFloatObservationShape();
m_Shape = new int[shape.Length];
m_UnstackedObservationSize = wrapped.ObservationSize();
for (int d = 0; d < shape.Length; d++)
{
m_Shape[d] = shape[d];
}
// TODO support arbitrary stacking dimension
m_Shape[0] *= numStackedObservations;
m_StackedObservations = new float[numStackedObservations][];
for (var i = 0; i < numStackedObservations; i++)
{
m_StackedObservations[i] = new float[m_UnstackedObservationSize];
}
}
/// <summary>
/// Get the total number of elements in the ISensor's observation (i.e. the product of the shape elements).
/// </summary>
/// <param name="sensor"></param>
/// <returns></returns>
public static int ObservationSize(this ISensor sensor)
{
var shape = sensor.GetFloatObservationShape();
int count = 1;
for (var i = 0; i < shape.Length; i++)
{
count *= shape[i];
}
return(count);
}