public void TestFailOnSameActuatorName() { var manager = new ActuatorManager(); var actuator1 = new TestActuator(ActionSpec.MakeContinuous(3), "actuator1"); var actuator2 = new TestActuator(ActionSpec.MakeContinuous(3), "actuator1"); manager.Add(actuator1); manager.Add(actuator2); manager.ReadyActuatorsForExecution(new[] { actuator1, actuator2 }, 3, 10, 4); LogAssert.Expect(LogType.Assert, "Actuator names must be unique."); }
public void TestFailOnMixedActionSpace() { var manager = new ActuatorManager(); var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3, 4 }), "actuator1"); var actuator2 = new TestActuator(ActionSpec.MakeContinuous(3), "actuator2"); manager.Add(actuator1); manager.Add(actuator2); manager.ReadyActuatorsForExecution(new[] { actuator1, actuator2 }, 3, 10, 4); LogAssert.Expect(LogType.Assert, "Actuators on the same Agent must have the same action SpaceType."); }
public void TestAllowMixedActions() { // Make sure discrete + continuous actuators are allowed. var manager = new ActuatorManager(); var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3, 4 }), "actuator1"); var actuator2 = new TestActuator(ActionSpec.MakeContinuous(3), "actuator2"); manager.Add(actuator1); manager.Add(actuator2); manager.ReadyActuatorsForExecution(new[] { actuator1, actuator2 }, 3, 10, 4); }
public void TestUpdateActionsContinuous() { var manager = new ActuatorManager(); var actuator1 = new TestActuator(ActionSpec.MakeContinuous(3), "actuator1"); var actuator2 = new TestActuator(ActionSpec.MakeContinuous(3), "actuator2"); manager.Add(actuator1); manager.Add(actuator2); var continuousActionBuffer = new[] { 0f, 1f, 2f, 3f, 4f, 5f }; manager.UpdateActions(new ActionBuffers(continuousActionBuffer, Array.Empty <int>())); Assert.IsTrue(manager.StoredActions.ContinuousActions.SequenceEqual(continuousActionBuffer)); }
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); }
public void TestClear() { var manager = new ActuatorManager(); var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3 }), "actuator1"); var actuator2 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3 }), "actuator2"); manager.Add(actuator1); manager.Add(actuator2); Assert.IsTrue(manager.NumDiscreteActions == 6); Assert.IsTrue(manager.SumOfDiscreteBranchSizes == 12); manager.Clear(); Assert.IsTrue(manager.NumDiscreteActions == 0); Assert.IsTrue(manager.SumOfDiscreteBranchSizes == 0); }
public void TestUpdateActionsDiscrete() { var manager = new ActuatorManager(); var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3 }), "actuator1"); var actuator2 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3 }), "actuator2"); manager.Add(actuator1); manager.Add(actuator2); var discreteActionBuffer = new[] { 0, 1, 2, 3, 4, 5 }; manager.UpdateActions(new ActionBuffers(Array.Empty <float>(), discreteActionBuffer)); Debug.Log(manager.StoredActions.DiscreteActions); Debug.Log(discreteActionBuffer); Assert.IsTrue(manager.StoredActions.DiscreteActions.SequenceEqual(discreteActionBuffer)); }
public void TestExecuteActionsDiscrete() { var manager = new ActuatorManager(); var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3, 4 }), "actuator1"); var actuator2 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 1, 1 }), "actuator2"); manager.Add(actuator1); manager.Add(actuator2); var discreteActionBuffer = new[] { 0, 1, 2, 3, 4, 5, 6 }; manager.UpdateActions(new ActionBuffers(Array.Empty <float>(), discreteActionBuffer)); manager.ExecuteActions(); var actuator1Actions = actuator1.LastActionBuffer.DiscreteActions; var actuator2Actions = actuator2.LastActionBuffer.DiscreteActions; TestSegmentEquality(actuator1Actions, discreteActionBuffer); TestSegmentEquality(actuator2Actions, discreteActionBuffer); }
public void TestExecuteActionsContinuous() { var manager = new ActuatorManager(); var actuator1 = new TestActuator(ActionSpec.MakeContinuous(3), "actuator1"); var actuator2 = new TestActuator(ActionSpec.MakeContinuous(3), "actuator2"); manager.Add(actuator1); manager.Add(actuator2); var continuousActionBuffer = new[] { 0f, 1f, 2f, 3f, 4f, 5f }; manager.UpdateActions(new ActionBuffers(continuousActionBuffer, Array.Empty <int>())); manager.ExecuteActions(); var actuator1Actions = actuator1.LastActionBuffer.ContinuousActions; var actuator2Actions = actuator2.LastActionBuffer.ContinuousActions; TestSegmentEquality(actuator1Actions, continuousActionBuffer); TestSegmentEquality(actuator2Actions, continuousActionBuffer); }
public void TestIndexSet() { var manager = new ActuatorManager(); var actuator1 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3, 4 }), "actuator1"); var actuator2 = new TestActuator(ActionSpec.MakeDiscrete(new[] { 1, 2, 3 }), "actuator2"); manager.Add(actuator1); Assert.IsTrue(manager.NumDiscreteActions == 4); Assert.IsTrue(manager.SumOfDiscreteBranchSizes == 10); manager[0] = actuator2; Assert.IsTrue(manager.NumDiscreteActions == 3); Assert.IsTrue(manager.SumOfDiscreteBranchSizes == 6); }