Class RayPerceptionSensor

A sensor implementation that supports ray cast-based observations.

Inheritance
Object
RayPerceptionSensor
Namespace: Unity.MLAgents.Sensors
Syntax
public class RayPerceptionSensor : object, ISensor, IBuiltInSensor

Constructors

RayPerceptionSensor(String, RayPerceptionInput)

Creates the RayPerceptionSensor.

Declaration
public RayPerceptionSensor(string name, RayPerceptionInput rayInput)
Parameters
Type Name Description
String name

The name of the sensor.
RayPerceptionInput rayInput

The inputs for the sensor.

Properties

RayPerceptionOutput

The most recent raycast results.

Declaration
public RayPerceptionOutput RayPerceptionOutput { get; }
Property Value
Type Description
RayPerceptionOutput

Methods

GetBuiltInSensorType()

Declaration
public BuiltInSensorType GetBuiltInSensorType()
Returns
Type Description
BuiltInSensorType

GetCompressedObservation()

Return a compressed representation of the observation. For small observations, this should generally not be implemented. However, compressing large observations (such as visual results) can significantly improve model training time.

Declaration
public virtual byte[] GetCompressedObservation()
Returns
Type Description
Byte[]

Compressed observation.
Implements

GetCompressionSpec()

Return information on the compression type being used. If no compression is used, return Default().

Declaration
public CompressionSpec GetCompressionSpec()
Returns
Type Description
CompressionSpec

An object describing the compression used by the sensor.
Implements

GetName()

Get the name of the sensor. This is used to ensure deterministic sorting of the sensors on an Agent, so the naming must be consistent across all sensors and agents.

Declaration
public string GetName()
Returns
Type Description
String

The name of the sensor.
Implements

GetObservationSpec()

Returns a description of the observations that will be generated by the sensor. See ObservationSpec for more details, and helper methods to create one.

Declaration
public ObservationSpec GetObservationSpec()
Returns
Type Description
ObservationSpec

An object describing the observation.
Implements

Perceive(RayPerceptionInput)

Evaluates the raycasts to be used as part of an observation of an agent.

Declaration
public static RayPerceptionOutput Perceive(RayPerceptionInput input)
Parameters
Type Name Description
RayPerceptionInput input

Input defining the rays that will be cast.
Returns
Type Description
RayPerceptionOutput

Output struct containing the raycast results.

Reset()

Resets the internal state of the sensor. This is called at the end of an Agent's episode. Most implementations can leave this empty.

Declaration
public void Reset()
Implements

Update()

Update any internal state of the sensor. This is called once per each agent step.

Declaration
public void Update()
Implements

Write(ObservationWriter)

Computes the ray perception observations and saves them to the provided ObservationWriter.

Declaration
public int Write(ObservationWriter writer)
Parameters
Type Name Description
ObservationWriter writer

Where the ray perception observations are written to.
Returns
Type Description
Int32
Implements