/// <summary> /// Generates the observations for the provided sensor, and returns true if they equal the /// expected values. If they are unequal, errorMessage is also set. /// This should not generally be used in production code. It is only intended for /// simplifying unit tests. /// </summary> /// <param name="sensor"></param> /// <param name="expected"></param> /// <param name="errorMessage"></param> /// <returns></returns> public static bool CompareObservation(ISensor sensor, float[,,] expected, out string errorMessage) { var tensorShape = new TensorShape(0, expected.GetLength(0), expected.GetLength(1), expected.GetLength(2)); var numExpected = tensorShape.height * tensorShape.width * tensorShape.channels; const float fill = -1337f; var output = new float[numExpected]; for (var i = 0; i < numExpected; i++) { output[i] = fill; } if (numExpected > 0) { if (fill != output[0]) { errorMessage = "Error setting output buffer."; return(false); } } ObservationWriter writer = new ObservationWriter(); writer.SetTarget(output, sensor.GetObservationShape(), 0); // Make sure ObservationWriter didn't touch anything if (numExpected > 0) { if (fill != output[0]) { errorMessage = "ObservationWriter.SetTarget modified a buffer it shouldn't have."; return(false); } } sensor.Write(writer); for (var h = 0; h < tensorShape.height; h++) { for (var w = 0; w < tensorShape.width; w++) { for (var c = 0; c < tensorShape.channels; c++) { if (expected[h, w, c] != output[tensorShape.Index(0, h, w, c)]) { errorMessage = $"Expected and actual differed in position [{h}, {w}, {c}]. " + $"Expected: {expected[h, w, c]} Actual: {output[tensorShape.Index(0, h, w, c)]} "; return(false); } } } } errorMessage = null; return(true); }
/// <summary> /// Generates the observations for the provided sensor, and returns true if they equal the /// expected values. If they are unequal, errorMessage is also set. /// This should not generally be used in production code. It is only intended for /// simplifying unit tests. /// </summary> /// <param name="sensor"></param> /// <param name="expected"></param> /// <param name="errorMessage"></param> /// <returns></returns> public static bool CompareObservation(ISensor sensor, float[] expected, out string errorMessage) { var numExpected = expected.Length; const float fill = -1337f; var output = new float[numExpected]; for (var i = 0; i < numExpected; i++) { output[i] = fill; } if (numExpected > 0) { if (fill != output[0]) { errorMessage = "Error setting output buffer."; return(false); } } ObservationWriter writer = new ObservationWriter(); writer.SetTarget(output, sensor.GetObservationShape(), 0); // Make sure ObservationWriter didn't touch anything if (numExpected > 0) { if (fill != output[0]) { errorMessage = "ObservationWriter.SetTarget modified a buffer it shouldn't have."; return(false); } } sensor.Write(writer); for (var i = 0; i < output.Length; i++) { if (expected[i] != output[i]) { errorMessage = $"Expected and actual differed in position {i}. Expected: {expected[i]} Actual: {output[i]} "; return(false); } } errorMessage = null; return(true); }
/// <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.AddList(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_WrappedSpec, 0); m_WrappedSensor.Write(m_LocalWriter); // Now write the saved observations (oldest first) var numWritten = 0; if (m_WrappedSpec.Rank == 1) { for (var i = 0; i < m_NumStackedObservations; i++) { var obsIndex = (m_CurrentIndex + 1 + i) % m_NumStackedObservations; writer.AddList(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_WrappedSpec.Shape[0]; h++) { for (var w = 0; w < m_WrappedSpec.Shape[1]; w++) { for (var c = 0; c < m_WrappedSpec.Shape[2]; c++) { writer[h, w, i *m_WrappedSpec.Shape[2] + c] = m_StackedObservations[obsIndex][m_tensorShape.Index(0, h, w, c)]; } } } } numWritten = m_WrappedSpec.Shape[0] * m_WrappedSpec.Shape[1] * m_WrappedSpec.Shape[2] * m_NumStackedObservations; } return(numWritten); }