Struct RayPerceptionOutput.RayOutput

Contains the data generated from a single ray of a ray perception sensor.

Namespace: Unity.MLAgents.Sensors

Syntax

public struct RayOutput

Fields

HasHit

Whether or not the ray hit anything.

Declaration

public bool HasHit

Field Value

Type	Description
Boolean

HitFraction

Normalized distance to the hit object.

Declaration

public float HitFraction

Field Value

Type	Description
Single

HitTaggedObject

Whether or not the ray hit an object whose tag is in the input's DetectableTags list.

Declaration

public bool HitTaggedObject

Field Value

Type	Description
Boolean

HitTagIndex

The index of the hit object's tag in the DetectableTags list, or -1 if there was no hit, or the hit object has a different tag.

Declaration

public int HitTagIndex

Field Value

Type	Description
Int32

Methods

ToFloatArray(Int32, Int32, Single[])

Writes the ray output information to a subset of the float array. Each element in the rayAngles array determines a sublist of data to the observation. The sublist contains the observation data for a single cast. The list is composed of the following:

1. A one-hot encoding for detectable tags. For example, if DetectableTags.Length = n, the first n elements of the sublist will be a one-hot encoding of the detectableTag that was hit, or all zeroes otherwise.
2. The 'numDetectableTags' element of the sublist will be 1 if the ray missed everything, or 0 if it hit something (detectable or not).
3. The 'numDetectableTags+1' element of the sublist will contain the normalized distance to the object hit, or 1.0 if nothing was hit.

Declaration

public void ToFloatArray(int numDetectableTags, int rayIndex, float[] buffer)

Parameters

Type	Name	Description
Int32	numDetectableTags
Int32	rayIndex
Single[]	buffer	Output buffer. The size must be equal to (numDetectableTags+2) * RayOutputs.Length