Class RayPerceptionSensor

A sensor implementation that supports ray cast-based observations.

Inheritance

object

RayPerceptionSensor

Implements

ISensor

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Namespace: Unity.MLAgents.Sensors

Assembly: Unity.ML-Agents.dll

Syntax

public class RayPerceptionSensor : ISensor

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()

Return the corresponding BuiltInSensorType for the sensor.

Declaration

public BuiltInSensorType GetBuiltInSensorType()

Returns

Type	Description
BuiltInSensorType	A BuiltInSensorType corresponding to the sensor.

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.

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.

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.

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.

Perceive(RayPerceptionInput, bool)

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

Declaration

public static RayPerceptionOutput Perceive(RayPerceptionInput input, bool batched)

Parameters

Type	Name	Description
RayPerceptionInput	input	Input defining the rays that will be cast.
bool	batched	Use batched raycasts.

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()

Update()

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

Declaration

public void 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
int	The number of written observations.

Implements

ISensor

Extension Methods

SensorExtensions.ObservationSize(ISensor)