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    Class RayPerceptionSensorComponentBase

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

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

    Fields

    m_AlternatingRayOrder

    Declaration
    [HideInInspector]
    [SerializeField]
    [Tooltip("Disable to provide the rays in left to right order.  Warning: Alternating order will be deprecated, disable it to ensure compatibility with future versions of ML-Agents.")]
    public bool m_AlternatingRayOrder
    Field Value
    Type Description
    Boolean

    Properties

    AlternatingRayOrder

    Determines how the rays are ordered. By default the ordering is as follows: middle ray is first; then alternates outward adding rays to the left and right. If set to false, then the rays are ordered from left to right (viewed from above) which is more amenable to processing with conv nets. This property will be deprecated with the next major version update and the left to right ordering will be used thereafter.

    Declaration
    public bool AlternatingRayOrder { get; set; }
    Property Value
    Type Description
    Boolean

    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

    CreateSensors()

    Returns an initialized raycast sensor.

    Declaration
    public override ISensor[] CreateSensors()
    Returns
    Type Description
    ISensor[]
    Overrides
    SensorComponent.CreateSensors()

    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

    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
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