rename to Perceive() (#3527)

com.unity.ml-agents/CHANGELOG.md

  - A tutorial on adding custom SideChannels was added (#3391)
  - The stepping logic for the Agent and the Academy has been simplified (#3448)
  - Update Barracuda to 0.6.0-preview
- - The interface for `RayPerceptionSensor.PerceiveStatic()` was changed to take an input class and write to an output class.
+ * The interface for `RayPerceptionSensor.PerceiveStatic()` was changed to take an input class and write to an output class, and the method was renamed to `Perceive()`.
  - The checkpoint file suffix was changed from `.cptk` to `.ckpt` (#3470)
  - The command-line argument used to determine the port that an environment will listen on was changed from `--port` to `--mlagents-port`.
  - `DemonstrationRecorder` can now record observations outside of the editor.

com.unity.ml-agents/Runtime/Sensor/RayPerceptionSensor.cs

         /// </summary>
         /// <param name="input">Input defining the rays that will be cast.</param>
         /// <returns>Output struct containing the raycast results.</returns>
-        public static RayPerceptionOutput PerceiveStatic(RayPerceptionInput input)
+        public static RayPerceptionOutput Perceive(RayPerceptionInput input)
         {
             RayPerceptionOutput output = new RayPerceptionOutput();
             output.rayOutputs = new RayPerceptionOutput.RayOutput[input.angles.Count];

docs/Migrating.md

 * The `SetActionMask` method must now be called on the optional `ActionMasker` argument of the `CollectObservations` method. (We now consider an action mask as a type of observation)
 * The `Monitor` class has been moved to the Examples Project. (It was prone to errors during testing)
 * The `MLAgents.Sensor` namespace has been removed. All sensors now belong to the `MLAgents` namespace.
-* The interface for `RayPerceptionSensor.PerceiveStatic()` was changed to take an input class and write to an output class.
+* The interface for `RayPerceptionSensor.PerceiveStatic()` was changed to take an input class and write to an output class, and the method was renamed to `Perceive()`.
 * The `SetActionMask` method must now be called on the optional `ActionMasker` argument of the `CollectObservations` method. (We now consider an action mask as a type of observation)
 * The method `GetStepCount()` on the Agent class has been replaced with the property getter `StepCount`
 * The `--multi-gpu` option has been removed temporarily.
 * Replace your Agent's implementation of `CollectObservations()` with `CollectObservations(VectorSensor sensor)`. In addition, replace all calls to `AddVectorObs()` with `sensor.AddObservation()` or `sensor.AddOneHotObservation()` on the `VectorSensor` passed as argument.
 * Replace your calls to `SetActionMask` on your Agent to `ActionMasker.SetActionMask` in `CollectObservations`
-* If you call `RayPerceptionSensor.PerceiveStatic()` manually, add your inputs to a `RayPerceptionInput`. To get the previous float array output, use `RayPerceptionOutput.ToFloatArray()`
+* If you call `RayPerceptionSensor.PerceiveStatic()` manually, add your inputs to a `RayPerceptionInput`. To get the previous float array output,
+ iterate through `RayPerceptionOutput.rayOutputs` and call `RayPerceptionOutput.RayOutput.ToFloatArray()`.
 * Re-import all of your `*.NN` files to work with the updated Barracuda package.
 * Replace all calls to `Agent.GetStepCount()` with `Agent.StepCount`