[tryuan99]

This PR adds the ISensor and SensorBase implementations and changes the sensors to not inherit from MonoBehaviour. The old sensor classes have been renamed with a Legacy suffix and are slated for deletion after the complete hierarchy implementation.

This PR also changes the sensor output (and transformation) structs to adhere to the style guide of having capitalized public attributes.

Unit tests for the ideal sensor are provided although since the implementation uses the agent's GetRelativeTransformation, there is not much to test.

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[gemini-code-assist]

Summary of Changes

Hello @tryuan99, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request significantly refactors the sensor system by introducing a new interface-based architecture. The primary goal is to enhance flexibility and testability by decoupling sensor implementations from Unity's MonoBehaviour component system. This involves creating new base classes and interfaces, renaming existing components to denote their legacy status, and standardizing naming conventions across related data structures for improved code consistency.

Highlights

• New Sensor Architecture: Introduced an ISensor interface and a SensorBase abstract class to provide a more flexible and decoupled sensor architecture. This change allows sensor implementations to no longer inherit directly from MonoBehaviour.
• Legacy Sensor Renaming: Existing sensor classes, such as Sensor and IdealSensor, have been renamed to SensorLegacy and IdealSensorLegacy respectively. These legacy classes are slated for deletion once the new hierarchy is fully implemented.
• Style Guide Adherence for Structs: Public attributes within the Transformation, PositionTransformation, VelocityTransformation, AccelerationTransformation, and SensorOutput structs have been updated to use PascalCase, aligning with the project's style guide.
• Updated Unit Tests: New unit tests have been added for the IdealSensor implementation, and existing tests have been updated to reflect the new naming conventions and sensor architecture.

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[gemini-code-assist]

Code Review

This pull request introduces a significant and positive architectural change by creating a new sensor interface and base implementation, decoupling sensors from MonoBehaviour. The renaming of old classes and the capitalization of public members in data structures improve code clarity and adherence to C# conventions. My review includes suggestions to further enhance code style, improve encapsulation by using properties instead of public fields, and increase the readability of the new test code.

[daniellovell]

Resolution looks good and #116 covers the addition of init accessors. lgtm

[stacklane-pr-stack-visualizer]

🧱 Stack PR · Base of stack

Stack Structure:

• [Sensor] Add sensor interface and ideal sensor implementation #100 titan/sensor_interface ← YOU ARE HERE