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);
}
