/// <inheritdoc/>
public int Write(ObservationWriter writer)
{
var expectedObservations = m_Shape[0];
if (m_Observations.Count > expectedObservations)
{
// Too many observations, truncate
Debug.LogWarningFormat(
"More observations ({0}) made than vector observation size ({1}). The observations will be truncated.",
m_Observations.Count, expectedObservations
);
m_Observations.RemoveRange(expectedObservations, m_Observations.Count - expectedObservations);
}
else if (m_Observations.Count < expectedObservations)
{
// Not enough observations; pad with zeros.
Debug.LogWarningFormat(
"Fewer observations ({0}) made than vector observation size ({1}). The observations will be padded.",
m_Observations.Count, expectedObservations
);
for (int i = m_Observations.Count; i < expectedObservations; i++)
{
m_Observations.Add(0);
}
}
writer.AddRange(m_Observations);
return(expectedObservations);
}
/// <inheritdoc/>
public int Write(ObservationWriter writer)
{
// First, call the wrapped sensor's write method. Make sure to use our own writer, not the passed one.
var wrappedShape = m_WrappedSensor.GetObservationShape();
m_LocalWriter.SetTarget(m_StackedObservations[m_CurrentIndex], wrappedShape, 0);
m_WrappedSensor.Write(m_LocalWriter);
// Now write the saved observations (oldest first)
var numWritten = 0;
for (var i = 0; i < m_NumStackedObservations; i++)
{
var obsIndex = (m_CurrentIndex + 1 + i) % m_NumStackedObservations;
writer.AddRange(m_StackedObservations[obsIndex], numWritten);
numWritten += m_UnstackedObservationSize;
}
return(numWritten);
}
/// <inheritdoc/>
public int Write(ObservationWriter writer)
{
// First, call the wrapped sensor's write method. Make sure to use our own writer, not the passed one.
m_LocalWriter.SetTarget(m_StackedObservations[m_CurrentIndex], m_WrappedShape, 0);
m_WrappedSensor.Write(m_LocalWriter);
// Now write the saved observations (oldest first)
var numWritten = 0;
if (m_WrappedShape.Length == 1)
{
for (var i = 0; i < m_NumStackedObservations; i++)
{
var obsIndex = (m_CurrentIndex + 1 + i) % m_NumStackedObservations;
writer.AddRange(m_StackedObservations[obsIndex], numWritten);
numWritten += m_UnstackedObservationSize;
}
}
else
{
for (var i = 0; i < m_NumStackedObservations; i++)
{
var obsIndex = (m_CurrentIndex + 1 + i) % m_NumStackedObservations;
for (var h = 0; h < m_WrappedShape[0]; h++)
{
for (var w = 0; w < m_WrappedShape[1]; w++)
{
for (var c = 0; c < m_WrappedShape[2]; c++)
{
writer[h, w, i *m_WrappedShape[2] + c] = m_StackedObservations[obsIndex][m_tensorShape.Index(0, h, w, c)];
}
}
}
}
numWritten = m_WrappedShape[0] * m_WrappedShape[1] * m_WrappedShape[2] * m_NumStackedObservations;
}
return(numWritten);
}
/// <summary>
/// Computes the ray perception observations and saves them to the provided
/// <see cref="ObservationWriter"/>.
/// </summary>
/// <param name="writer">Where the ray perception observations are written to.</param>
/// <returns></returns>
public int Write(ObservationWriter writer)
{
using (TimerStack.Instance.Scoped("RayPerceptionSensor.Perceive"))
{
Array.Clear(m_Observations, 0, m_Observations.Length);
var numRays = m_RayPerceptionInput.Angles.Count;
var numDetectableTags = m_RayPerceptionInput.DetectableTags.Count;
if (m_DebugDisplayInfo != null)
{
// Reset the age information, and resize the buffer if needed.
m_DebugDisplayInfo.Reset();
if (m_DebugDisplayInfo.rayInfos == null || m_DebugDisplayInfo.rayInfos.Length != numRays)
{
m_DebugDisplayInfo.rayInfos = new DebugDisplayInfo.RayInfo[numRays];
}
}
// For each ray, do the casting, and write the information to the observation buffer
for (var rayIndex = 0; rayIndex < numRays; rayIndex++)
{
DebugDisplayInfo.RayInfo debugRay;
var rayOutput = PerceiveSingleRay(m_RayPerceptionInput, rayIndex, out debugRay);
if (m_DebugDisplayInfo != null)
{
m_DebugDisplayInfo.rayInfos[rayIndex] = debugRay;
}
rayOutput.ToFloatArray(numDetectableTags, rayIndex, m_Observations);
}
// Finally, add the observations to the ObservationWriter
writer.AddRange(m_Observations);
}
return(m_Observations.Length);
}
