public override void InitializeAgent()
{
drone = (IDrone)rotorCtrlAgent;
if (detectionMode == DetectionMode.Raycast)
{
rayDetection = new RayDetection();
}
else
{
cam = GetComponentInChildren <Camera>();
Texture2D tex = new Texture2D(84, 84, TextureFormat.RGB24, false);
cam.GetComponent <DepthCam>().Initialize(ref tex);
// TODO add tex to agent observations.
}
}
public override void InitializeAgent()
{
base.InitializeAgent();
if (dummyAgent != null && dummyAgent.gameObject.activeSelf)
{
drone = (IDrone)dummyAgent;
}
if (detectionMode != DetectionMode.Raycast)
{
// Camera mode.
// Still need RayDetection for penalizing proximity to obtacles.
// TBD: Maybe replace with collision detection.
rayDetection = new RayDetection();
}
}
public override void InitializeAgent()
{
drone = (IDrone)rotorCtrlAgent;
rayDetection = new RayDetection();
}
