private void UpdateRoboticArm(RoboticArm ra)
{
if (PropertyChanged != null)
{
PropertyChanged(this, new PropertyChangedEventArgs("RoboticArm"));
}
}
int iter; // Which iteration of training are we on
// Use this for initialization
void Awake()
{
DontDestroyOnLoad(this); // Dont delete when resetting the scene
if (FindObjectsOfType(GetType()).Length > 1)
{
Destroy(gameObject);
}
server = GameObject.FindObjectOfType <TCPServer>();
arm = GameObject.FindObjectOfType <RoboticArm>();
iter = 1;
}
private void MakeRoboticArm()
{
RoboticArm arm = DataContext as RoboticArm;
arm.Clear();
var parameters = GetMDHParameters();
foreach (var parameter in parameters)
{
arm.AddLink(new Link(parameter));
}
var tipPose = RoboticMath.GetPositionVector(RoboticMath.GetTransformMatrix(arm.GetParameters()));
tipPosition.Text = String.Format("{0:0.00}; {1:0.00}; {2:0.00};", tipPose[0], tipPose[1], tipPose[2]);
}
// Update is called once per frame
void Update()
{
if (arm == null)
{
arm = GameObject.FindObjectOfType <RoboticArm> ();
if (arm == null)
{
print("ARM STILL NULL");
return;
}
}
print("Iteration " + iter + ", tick " + arm.tick);
if (arm.next_iter == true)
{
iter++;
print("RESETTING SCENE FOR NEXT ITERATION...");
SceneManager.LoadScene("RobotBoxScene");
server = GameObject.FindObjectOfType <TCPServer>();
arm = GameObject.FindObjectOfType <RoboticArm>();
}
}
// Update is called once per frame
void Update()
{
// if user paused the iteration
if (!Pause)
{
// Unfreeze arms
if (!playAnimation)
{
population[0].StopTween();
foreach (RoboticArm arm in population)
{
arm.freeze = false;
arm.gameObject.SetActive(true);
}
playAnimation = true;
}
// update the scene with the defined intervals
if (!updateScene)
{
return;
}
updateScene = false;
// TODO: stop optimization when reached at the target!
if (generationCounter < numOfGenerations)
{
//Debug.Log("Generation: " + generationCounter);
NewGeneration();
generationCounter++;
}
else // This is to update only if we want to show the final result of the optimization!
{
//foreach (RoboticArm p in population)
//{
// p.freeze = false;
//}
}
//Current Gen and Fittest Text
UIcurrentGeneration.text = "Current Generation: " + generationCounter;
}
else
{
if (playAnimation)
{
playAnimation = false;
foreach (RoboticArm arm in population)
{
arm.freeze = true;
arm.gameObject.SetActive(false);
}
population = population.OrderBy(o => o.fitness).ToList();
population.Reverse();
RoboticArm currentFittest = population[0];
Vector3[] jointAngles = new Vector3[currentFittest.Joints.Length];
for (int i = 0; i < jointAngles.Length; i++)
{
jointAngles[i] = currentFittest.Joints[i].transform.rotation.eulerAngles;
}
foreach (GameObject joint in currentFittest.Joints)
{
joint.transform.rotation = Quaternion.identity;
}
currentFittest.gameObject.SetActive(true);
//jointAngles.Reverse();
currentFittest.JointsRotationalVector = jointAngles;
currentFittest.PlayTween();
}
}
}
public RoboticArmViewModel()
{
roboticArm = StatusUpdater.Instance.RoverStatus.RoboArm;
StatusUpdater.Instance.RoboticArmUpdated += new StatusUpdater.RoboticArmUpdatedDelegate(UpdateRoboticArm);
}
