Struct RayPerceptionOutput.RayOutput

Contains the data generated from a single ray of a ray perception sensor.

Inherited Members
Namespace: Unity.MLAgents.Sensors
Assembly: solution.dll
Syntax
public struct RayPerceptionOutput.RayOutput

Fields

Name Description
EndPositionWorld

End position of the ray in world space.
HasHit

Whether or not the ray hit anything.
HitFraction

Normalized distance to the hit object.
HitGameObject

The hit GameObject (or null if there was no hit).
HitTagIndex

The index of the hit object's tag in the DetectableTags list, or -1 if there was no hit, or the hit object has a different tag.
HitTaggedObject

Whether or not the ray hit an object whose tag is in the input's DetectableTags list.
ScaledCastRadius

The scaled size of the cast.
StartPositionWorld

Start position of the ray in world space.

Properties

Name Description
ScaledRayLength

The scaled length of the ray.

Methods

Name Description
ToFloatArray(int, int, float[])

Writes the ray output information to a subset of the float array. Each element in the rayAngles array determines a sublist of data to the observation. The sublist contains the observation data for a single cast. The list is composed of the following:

  1. A one-hot encoding for detectable tags. For example, if DetectableTags.Length = n, the first n elements of the sublist will be a one-hot encoding of the detectableTag that was hit, or all zeroes otherwise.
  2. The 'numDetectableTags' element of the sublist will be 1 if the ray missed everything, or 0 if it hit something (detectable or not).
  3. The 'numDetectableTags+1' element of the sublist will contain the normalized distance to the object hit, or 1.0 if nothing was hit.