Class OnnxPolicy

Defined in File OnnxPolicy.h

Inheritance Relationships

Base Type

public legged::Policy (Class Policy)

Class Documentation

class OnnxPolicy : public legged::Policy 

Public Types

using SharedPtr = std::shared_ptr<OnnxPolicy>

using tensor_element_t = float

using tensor2d_t = Eigen::Matrix<tensor_element_t, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>

Public Functions

explicit OnnxPolicy(const std::string &modelPath)

inline virtual size_t getObservationSize() const override

inline virtual size_t getActionSize() const override

virtual void init() override

inline virtual void reset() override

inline virtual vector_t getLastAction() override

virtual vector_t forward(const vector_t &observations) override

Protected Functions

inline std::string getMetadataStr(const std::string &key) const

inline vector_t getMetadataVector(const std::string &key, bool verbose = true) const

virtual void parseMetadata()

virtual void parseInputOutput()

virtual void checkInputOutput()

void run()

Protected Attributes

std::shared_ptr<Ort::Env> onnxEnvPrt_

std::unique_ptr<Ort::Session> sessionPtr_

std::map<std::string, std::string> name2Metadata_

std::vector<Ort::AllocatedStringPtr> inputNamesRaw_

std::vector<Ort::AllocatedStringPtr> outputNamesRaw_

std::vector<const char*> inputNames_

std::vector<const char*> outputNames_

std::vector<std::vector<int64_t>> inputShapes_

std::vector<std::vector<int64_t>> outputShapes_

std::map<std::string, size_t> name2Index_

std::vector<tensor2d_t> inputTensors_

std::vector<tensor2d_t> outputTensors_