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    Class RayPerceptionSensor

    A sensor implementation that supports ray cast-based observations.

    Inheritance
    Object
    RayPerceptionSensor
    Inherited Members
    Object.ToString()
    Object.Equals(Object)
    Object.Equals(Object, Object)
    Object.ReferenceEquals(Object, Object)
    Object.GetHashCode()
    Object.GetType()
    Object.MemberwiseClone()
    Namespace: Unity.MLAgents.Sensors
    Syntax
    public class RayPerceptionSensor : 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
    ISensor.GetCompressedObservation()

    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
    ISensor.GetCompressionSpec()

    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
    ISensor.GetName()

    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
    ISensor.GetObservationSpec()

    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
    ISensor.Reset()

    Update()

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

    Declaration
    public void Update()
    Implements
    ISensor.Update()

    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
    ISensor.Write(ObservationWriter)

    Extension Methods

    SensorExtensions.ObservationSize(ISensor)
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