Class StackingSensor
Sensor that wraps around another Sensor to provide temporal stacking. Conceptually, consecutive observations are stored left-to-right, which is how they're output For example, 4 stacked sets of observations would be output like | t = now - 3 | t = now -3 | t = now - 2 | t = now | Internally, a circular buffer of arrays is used. The m_CurrentIndex represents the most recent observation. Currently, observations are stacked on the last dimension.
Inherited Members
Namespace: Unity.MLAgents.Sensors
Syntax
public class StackingSensor : ISensor, IBuiltInSensorConstructors
StackingSensor(ISensor, Int32)
Initializes the sensor.
Declaration
public StackingSensor(ISensor wrapped, int numStackedObservations)Parameters
| Type | Name | Description |
|---|---|---|
| ISensor | wrapped | The wrapped sensor. |
| Int32 | numStackedObservations | Number of stacked observations to keep. |
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 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
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()
Updates the index of the "current" buffer.
Declaration
public void Update()Implements
Write(ObservationWriter)
Write the observation data directly to the ObservationWriter. Note that this (and GetCompressedObservation()) may be called multiple times per agent step, so should not mutate any internal state.
Declaration
public int Write(ObservationWriter writer)Parameters
| Type | Name | Description |
|---|---|---|
| ObservationWriter | writer | Where the observations will be written to. |
Returns
| Type | Description |
|---|---|
| Int32 | The number of elements written. |