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59 lines
1.7 KiB
59 lines
1.7 KiB
using Unity.MLAgents.Sensors;
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namespace Unity.MLAgentsExamples
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{
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/// <summary>
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/// A simple sensor that provides a number default implementations.
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/// </summary>
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public abstract class SensorBase : ISensor
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{
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/// <summary>
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/// Write the observations to the output buffer. This size of the buffer will be product
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/// of the Shape array values returned by <see cref="ObservationSpec"/>.
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/// </summary>
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/// <param name="output"></param>
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public abstract void WriteObservation(float[] output);
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/// <inheritdoc/>
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public abstract ObservationSpec GetObservationSpec();
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/// <inheritdoc/>
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public abstract string GetName();
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/// <summary>
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/// Default implementation of Write interface. This creates a temporary array,
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/// calls WriteObservation, and then writes the results to the ObservationWriter.
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/// </summary>
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/// <param name="writer"></param>
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/// <returns>The number of elements written.</returns>
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public virtual int Write(ObservationWriter writer)
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{
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// TODO reuse buffer for similar agents
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var numFloats = this.ObservationSize();
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float[] buffer = new float[numFloats];
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WriteObservation(buffer);
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writer.AddList(buffer);
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return numFloats;
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}
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/// <inheritdoc/>
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public void Update() { }
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/// <inheritdoc/>
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public void Reset() { }
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/// <inheritdoc/>
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public virtual byte[] GetCompressedObservation()
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{
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return null;
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}
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/// <inheritdoc/>
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public virtual CompressionSpec GetCompressionSpec()
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{
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return CompressionSpec.Default();
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}
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}
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}
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