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using System;
using UnityEngine;
using NUnit.Framework;
using Unity.MLAgents.Extensions.Sensors;
namespace Unity.MLAgents.Extensions.Tests.Sensors
{
public class PoseExtractorTests
{
class BasicPoseExtractor : PoseExtractor
{
protected internal override Pose GetPoseAt(int index)
{
return Pose.identity;
}
protected internal override Vector3 GetLinearVelocityAt(int index)
{
return Vector3.zero;
}
}
class UselessPoseExtractor : BasicPoseExtractor
{
public void Init(int[] parentIndices)
{
Setup(parentIndices);
}
}
[Test]
public void TestEmptyExtractor()
{
var poseExtractor = new UselessPoseExtractor();
// These should be no-ops
poseExtractor.UpdateLocalSpacePoses();
poseExtractor.UpdateModelSpacePoses();
Assert.AreEqual(0, poseExtractor.NumPoses);
// Iterating through poses and velocities should be an empty loop
foreach (var pose in poseExtractor.GetEnabledModelSpacePoses())
{
throw new UnityAgentsException("This shouldn't happen");
}
foreach (var pose in poseExtractor.GetEnabledLocalSpacePoses())
{
throw new UnityAgentsException("This shouldn't happen");
}
foreach (var vel in poseExtractor.GetEnabledModelSpaceVelocities())
{
throw new UnityAgentsException("This shouldn't happen");
}
foreach (var vel in poseExtractor.GetEnabledLocalSpaceVelocities())
{
throw new UnityAgentsException("This shouldn't happen");
}
// Getting a parent index should throw an index exception
Assert.Throws<NullReferenceException>(
() => poseExtractor.GetParentIndex(0)
);
// DisplayNodes should be empty
var displayNodes = poseExtractor.GetDisplayNodes();
Assert.AreEqual(0, displayNodes.Count);
}
[Test]
public void TestSimpleExtractor()
{
var poseExtractor = new UselessPoseExtractor();
var parentIndices = new[] { -1, 0 };
poseExtractor.Init(parentIndices);
Assert.AreEqual(2, poseExtractor.NumPoses);
}
/// <summary>
/// A simple "chain" hierarchy, where each object is parented to the one before it.
/// 0 <- 1 <- 2 <- ...
/// </summary>
class ChainPoseExtractor : PoseExtractor
{
public Vector3 offset;
public ChainPoseExtractor(int size)
{
var parents = new int[size];
for (var i = 0; i < size; i++)
{
parents[i] = i - 1;
}
Setup(parents);
}
protected internal override Pose GetPoseAt(int index)
{
var rotation = Quaternion.identity;
var translation = offset + new Vector3(index, index, index);
return new Pose
{
rotation = rotation,
position = translation
};
}
protected internal override Vector3 GetLinearVelocityAt(int index)
{
return Vector3.zero;
}
}
[Test]
public void TestChain()
{
var size = 4;
var chain = new ChainPoseExtractor(size);
chain.offset = new Vector3(.5f, .75f, .333f);
chain.UpdateModelSpacePoses();
chain.UpdateLocalSpacePoses();
var modelPoseIndex = 0;
foreach (var modelSpace in chain.GetEnabledModelSpacePoses())
{
if (modelPoseIndex == 0)
{
// Root transforms are currently always the identity.
Assert.IsTrue(modelSpace == Pose.identity);
}
else
{
var expectedModelTranslation = new Vector3(modelPoseIndex, modelPoseIndex, modelPoseIndex);
Assert.IsTrue(expectedModelTranslation == modelSpace.position);
}
modelPoseIndex++;
}
Assert.AreEqual(size, modelPoseIndex);
var localPoseIndex = 0;
foreach (var localSpace in chain.GetEnabledLocalSpacePoses())
{
if (localPoseIndex == 0)
{
// Root transforms are currently always the identity.
Assert.IsTrue(localSpace == Pose.identity);
}
else
{
var expectedLocalTranslation = new Vector3(1, 1, 1);
Assert.IsTrue(expectedLocalTranslation == localSpace.position, $"{expectedLocalTranslation} != {localSpace.position}");
}
localPoseIndex++;
}
Assert.AreEqual(size, localPoseIndex);
}
[Test]
public void TestChainDisplayNodes()
{
var size = 4;
var chain = new ChainPoseExtractor(size);
var displayNodes = chain.GetDisplayNodes();
Assert.AreEqual(size, displayNodes.Count);
for (var i = 0; i < size; i++)
{
var displayNode = displayNodes[i];
Assert.AreEqual(i, displayNode.OriginalIndex);
Assert.AreEqual(null, displayNode.NodeObject);
Assert.AreEqual(i, displayNode.Depth);
Assert.AreEqual(true, displayNode.Enabled);
}
}
[Test]
public void TestDisplayNodesLoop()
{
// Degenerate case with a loop
var poseExtractor = new UselessPoseExtractor();
poseExtractor.Init(new[] { -1, 2, 1 });
// This just shouldn't blow up
poseExtractor.GetDisplayNodes();
// Self-loop
poseExtractor.Init(new[] { -1, 1 });
// This just shouldn't blow up
poseExtractor.GetDisplayNodes();
}
class BadPoseExtractor : BasicPoseExtractor
{
public BadPoseExtractor()
{
var size = 2;
var parents = new int[size];
// Parents are intentionally invalid - expect -1 at root
for (var i = 0; i < size; i++)
{
parents[i] = i;
}
Setup(parents);
}
}
[Test]
public void TestExpectedRoot()
{
Assert.Throws<UnityAgentsException>(() =>
{
var unused = new BadPoseExtractor();
});
}
}
public class PoseExtensionTests
{
[Test]
public void TestInverse()
{
Pose t = new Pose
{
rotation = Quaternion.AngleAxis(23.0f, new Vector3(1, 1, 1).normalized),
position = new Vector3(-1.0f, 2.0f, 3.0f)
};
var inverseT = t.Inverse();
var product = inverseT.Multiply(t);
Assert.IsTrue(Vector3.zero == product.position);
Assert.IsTrue(Quaternion.identity == product.rotation);
Assert.IsTrue(Pose.identity == product);
}
}
}
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