File size: 4,792 Bytes
05c9ac2 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 |
using Unity.Barracuda;
namespace Unity.MLAgents.Sensors
{
/// <summary>
/// Utility methods related to <see cref="ISensor"/> implementations.
/// </summary>
public static class SensorHelper
{
/// <summary>
/// Generates the observations for the provided sensor, and returns true if they equal the
/// expected values. If they are unequal, errorMessage is also set.
/// This should not generally be used in production code. It is only intended for
/// simplifying unit tests.
/// </summary>
/// <param name="sensor"></param>
/// <param name="expected"></param>
/// <param name="errorMessage"></param>
/// <returns></returns>
public static bool CompareObservation(ISensor sensor, float[] expected, out string errorMessage)
{
var numExpected = expected.Length;
const float fill = -1337f;
var output = new float[numExpected];
for (var i = 0; i < numExpected; i++)
{
output[i] = fill;
}
if (numExpected > 0)
{
if (fill != output[0])
{
errorMessage = "Error setting output buffer.";
return false;
}
}
ObservationWriter writer = new ObservationWriter();
writer.SetTarget(output, sensor.GetObservationSpec(), 0);
// Make sure ObservationWriter didn't touch anything
if (numExpected > 0)
{
if (fill != output[0])
{
errorMessage = "ObservationWriter.SetTarget modified a buffer it shouldn't have.";
return false;
}
}
sensor.Write(writer);
for (var i = 0; i < output.Length; i++)
{
if (expected[i] != output[i])
{
errorMessage = $"Expected and actual differed in position {i}. Expected: {expected[i]} Actual: {output[i]} ";
return false;
}
}
errorMessage = null;
return true;
}
/// <summary>
/// Generates the observations for the provided sensor, and returns true if they equal the
/// expected values. If they are unequal, errorMessage is also set.
/// This should not generally be used in production code. It is only intended for
/// simplifying unit tests.
/// </summary>
/// <param name="sensor"></param>
/// <param name="expected"></param>
/// <param name="errorMessage"></param>
/// <returns></returns>
public static bool CompareObservation(ISensor sensor, float[,,] expected, out string errorMessage)
{
var tensorShape = new TensorShape(0, expected.GetLength(0), expected.GetLength(1), expected.GetLength(2));
var numExpected = tensorShape.height * tensorShape.width * tensorShape.channels;
const float fill = -1337f;
var output = new float[numExpected];
for (var i = 0; i < numExpected; i++)
{
output[i] = fill;
}
if (numExpected > 0)
{
if (fill != output[0])
{
errorMessage = "Error setting output buffer.";
return false;
}
}
ObservationWriter writer = new ObservationWriter();
writer.SetTarget(output, sensor.GetObservationSpec(), 0);
// Make sure ObservationWriter didn't touch anything
if (numExpected > 0)
{
if (fill != output[0])
{
errorMessage = "ObservationWriter.SetTarget modified a buffer it shouldn't have.";
return false;
}
}
sensor.Write(writer);
for (var h = 0; h < tensorShape.height; h++)
{
for (var w = 0; w < tensorShape.width; w++)
{
for (var c = 0; c < tensorShape.channels; c++)
{
if (expected[h, w, c] != output[tensorShape.Index(0, h, w, c)])
{
errorMessage = $"Expected and actual differed in position [{h}, {w}, {c}]. " +
$"Expected: {expected[h, w, c]} Actual: {output[tensorShape.Index(0, h, w, c)]} ";
return false;
}
}
}
}
errorMessage = null;
return true;
}
}
}
|