Bálint Hodossy
75 lines
3.0 KiB
C#
75 lines
3.0 KiB
C#
// Copyright 2019 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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using System;
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using System.Linq;
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using System.Xml;
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using UnityEngine;
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namespace Mujoco {
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// The base class for Mujoco sensors.
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//
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// Mujoco offers a very wide range of sensors, each contingent on the following three aspects:
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// 1. the Mujoco Component it observes: Body, Joint, etc.
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// 2. the type of data it returns: scalar, Vector3, quaternion, etc.
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// 3. the field it reads to retreive the data: xpos, xquat, cfrc, etc.
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//
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// In Mujoco proper, names of some of the sensors repeat for many data types. In order to get rid
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// of this ambiguity, we chose to split the sensors into groups.
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// Each sensor class represents a group of aspects (1) and (2), which is reflected in its name.
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// For example, the class of sensors that listen to Bodies and produce Vector3 observations is
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// called MjBodyVectorSensor.
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//
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// That very class contains a wide range of sensing capabilities - as in fact most of the classes
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// do. What each sensor can sense can be controlled by the sensor's Type field. Using the
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// MjBodyVectorSensor as an example, one can set it to SubtreeCom, FramePos or any of the other
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// supported observation types.
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public abstract class MjBaseSensor : MjComponent {
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[Tooltip("When this value is positive, it limits the absolute value of the sensor output.")]
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[AbsoluteValue]
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public float Cutoff = 0.0f;
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public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_SENSOR;
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// Address of the sensor, that can be used to index into MujocoLib.mjData_.sensordata.
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protected int _sensorAddress;
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// Parse the component settings from an external Mjcf.
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protected override void OnParseMjcf(XmlElement mjcf) {
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Cutoff = mjcf.GetFloatAttribute("cutoff", defaultValue: 0.0f);
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FromMjcf(mjcf);
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}
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// Generate implementation specific XML element.
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protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
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var mjcf = ToMjcf(doc);
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mjcf.SetAttribute("cutoff", Cutoff.ToString());
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return mjcf;
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}
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// Perform bind time initialization of the component.
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protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
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_sensorAddress = model->sensor_adr[MujocoId];
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}
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// Create the implementation dependent Mjcf node.
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protected abstract XmlElement ToMjcf(XmlDocument doc);
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// Parse the implementation dependent details from the provided Mjcf node.
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protected abstract void FromMjcf(XmlElement mjcf);
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}
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}
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