Class RayPerceptionSensorComponentBase

A base class to support sensor components for raycast-based sensors.

Inheritance
Object
SensorComponent
RayPerceptionSensorComponentBase
RayPerceptionSensorComponent2D
RayPerceptionSensorComponent3D
Inherited Members
Namespace: Unity.MLAgents.Sensors
Syntax
public abstract class RayPerceptionSensorComponentBase : SensorComponent

Properties

DetectableTags

List of tags in the scene to compare against. Note that this should not be changed at runtime.

Declaration
public List<string> DetectableTags { get; set; }
Property Value
Type Description
List<String>

MaxRayDegrees

Cone size for rays. Using 90 degrees will cast rays to the left and right. Greater than 90 degrees will go backwards.

Declaration
public float MaxRayDegrees { get; set; }
Property Value
Type Description
Single

ObservationStacks

Whether to stack previous observations. Using 1 means no previous observations. Note that changing this after the sensor is created has no effect.

Declaration
public int ObservationStacks { get; set; }
Property Value
Type Description
Int32

RayLayerMask

Controls which layers the rays can hit.

Declaration
public LayerMask RayLayerMask { get; set; }
Property Value
Type Description
LayerMask

RayLength

Length of the rays to cast.

Declaration
public float RayLength { get; set; }
Property Value
Type Description
Single

RaySensor

Get the RayPerceptionSensor that was created.

Declaration
public RayPerceptionSensor RaySensor { get; }
Property Value
Type Description
RayPerceptionSensor

RaysPerDirection

Number of rays to the left and right of center. Note that this should not be changed at runtime.

Declaration
public int RaysPerDirection { get; set; }
Property Value
Type Description
Int32

SensorName

The name of the Sensor that this component wraps. Note that changing this at runtime does not affect how the Agent sorts the sensors.

Declaration
public string SensorName { get; set; }
Property Value
Type Description
String

SphereCastRadius

Radius of sphere to cast. Set to zero for raycasts.

Declaration
public float SphereCastRadius { get; set; }
Property Value
Type Description
Single

Methods

CreateSensor()

Returns an initialized raycast sensor.

Declaration
public override ISensor CreateSensor()
Returns
Type Description
ISensor
Overrides

GetCastType()

Returns the RayPerceptionCastType for the associated raycast sensor.

Declaration
public abstract RayPerceptionCastType GetCastType()
Returns
Type Description
RayPerceptionCastType

GetEndVerticalOffset()

Returns the amount that the ray end is offset up or down by.

Declaration
public virtual float GetEndVerticalOffset()
Returns
Type Description
Single

GetObservationShape()

Returns the observation shape for this raycast sensor which depends on the number of tags for detected objects and the number of rays.

Declaration
public override int[] GetObservationShape()
Returns
Type Description
Int32[]
Overrides

GetRayPerceptionInput()

Get the RayPerceptionInput that is used by the RayPerceptionSensor.

Declaration
public RayPerceptionInput GetRayPerceptionInput()
Returns
Type Description
RayPerceptionInput

GetStartVerticalOffset()

Returns the amount that the ray start is offset up or down by.

Declaration
public virtual float GetStartVerticalOffset()
Returns
Type Description
Single