/// <summary>
/// Sends the Agent info to the linked Brain.
/// </summary>
void SendInfoToBrain()
{
if (!m_Initialized)
{
throw new UnityAgentsException("Call to SendInfoToBrain when Agent hasn't been initialized." +
"Please ensure that you are calling 'base.OnEnable()' if you have overridden OnEnable.");
}
if (m_Brain == null)
{
return;
}
if (m_Info.done)
{
Array.Clear(m_Info.storedVectorActions, 0, m_Info.storedVectorActions.Length);
}
else
{
Array.Copy(m_Action.vectorActions, m_Info.storedVectorActions, m_Action.vectorActions.Length);
}
m_ActionMasker.ResetMask();
UpdateSensors();
using (TimerStack.Instance.Scoped("CollectObservations"))
{
CollectObservations(collectObservationsSensor);
}
using (TimerStack.Instance.Scoped("CollectDiscreteActionMasks"))
{
if (m_PolicyFactory.brainParameters.vectorActionSpaceType == SpaceType.Discrete)
{
CollectDiscreteActionMasks(m_ActionMasker);
}
}
m_Info.discreteActionMasks = m_ActionMasker.GetMask();
m_Info.reward = m_Reward;
m_Info.done = false;
m_Info.maxStepReached = false;
m_Info.episodeId = m_EpisodeId;
m_Brain.RequestDecision(m_Info, sensors);
// If we have any DemonstrationWriters, write the AgentInfo and sensors to them.
foreach (var demoWriter in DemonstrationWriters)
{
demoWriter.Record(m_Info, sensors);
}
}
/// <summary>
/// Sends the Agent info to the linked Brain.
/// </summary>
void SendInfoToBrain()
{
if (m_Brain == null)
{
return;
}
m_Info.storedVectorActions = m_Action.vectorActions;
m_ActionMasker.ResetMask();
UpdateSensors();
using (TimerStack.Instance.Scoped("CollectObservations"))
{
CollectObservations(collectObservationsSensor);
}
using (TimerStack.Instance.Scoped("CollectDiscreteActionMasks"))
{
if (m_PolicyFactory.brainParameters.vectorActionSpaceType == SpaceType.Discrete)
{
CollectDiscreteActionMasks(m_ActionMasker);
}
}
m_Info.discreteActionMasks = m_ActionMasker.GetMask();
m_Info.reward = m_Reward;
m_Info.done = false;
m_Info.maxStepReached = false;
m_Info.episodeId = m_EpisodeId;
m_Brain.RequestDecision(m_Info, sensors);
// If we have any DemonstrationWriters, write the AgentInfo and sensors to them.
foreach (var demoWriter in DemonstrationWriters)
{
demoWriter.Record(m_Info, sensors);
}
}