public void TestEnsureBufferSizeContinuous()
{
var manager = new ActuatorManager();
var actuator1 = new TestActuator(ActionSpec.MakeContinuous(10), "actuator1");
var actuator2 = new TestActuator(ActionSpec.MakeContinuous(2), "actuator2");
manager.Add(actuator1);
manager.Add(actuator2);
var actuator1ActionSpaceDef = actuator1.ActionSpec;
var actuator2ActionSpaceDef = actuator2.ActionSpec;
manager.ReadyActuatorsForExecution(new[] { actuator1, actuator2 },
actuator1ActionSpaceDef.NumContinuousActions + actuator2ActionSpaceDef.NumContinuousActions,
actuator1ActionSpaceDef.SumOfDiscreteBranchSizes + actuator2ActionSpaceDef.SumOfDiscreteBranchSizes,
actuator1ActionSpaceDef.NumDiscreteActions + actuator2ActionSpaceDef.NumDiscreteActions);
manager.UpdateActions(new ActionBuffers(new[]
{ 0f, 1f, 2f, 3f, 4f, 5f, 6f, 7f, 8f, 9f, 10f, 11f }, Array.Empty <int>()));
Assert.IsTrue(12 == manager.NumContinuousActions);
Assert.IsTrue(0 == manager.NumDiscreteActions);
Assert.IsTrue(0 == manager.SumOfDiscreteBranchSizes);
Assert.IsTrue(12 == manager.StoredActions.ContinuousActions.Length);
Assert.IsTrue(0 == manager.StoredActions.DiscreteActions.Length);
}
public void TestEnsureBufferDiscrete()
{
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 actuator1ActionSpaceDef = actuator1.ActionSpec;
var actuator2ActionSpaceDef = actuator2.ActionSpec;
manager.ReadyActuatorsForExecution(new[] { actuator1, actuator2 },
actuator1ActionSpaceDef.NumContinuousActions + actuator2ActionSpaceDef.NumContinuousActions,
actuator1ActionSpaceDef.SumOfDiscreteBranchSizes + actuator2ActionSpaceDef.SumOfDiscreteBranchSizes,
actuator1ActionSpaceDef.NumDiscreteActions + actuator2ActionSpaceDef.NumDiscreteActions);
manager.UpdateActions(new ActionBuffers(Array.Empty <float>(),
new[] { 0, 1, 2, 3, 4, 5, 6 }));
Assert.IsTrue(0 == manager.NumContinuousActions);
Assert.IsTrue(7 == manager.NumDiscreteActions);
Assert.IsTrue(13 == manager.SumOfDiscreteBranchSizes);
Assert.IsTrue(0 == manager.StoredActions.ContinuousActions.Length);
Assert.IsTrue(7 == manager.StoredActions.DiscreteActions.Length);
}
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 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 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);
LogAssert.Expect(LogType.Assert, "Actuators on the same Agent must have the same action SpaceType.");
manager.ReadyActuatorsForExecution(new[] { actuator1, actuator2 }, 3, 10, 4);
}
