/// <summary>
/// Constructs a CyclicNetwork with the provided pre-built neurons and connections.
/// </summary>
public CyclicNetwork(List <Neuron> neuronList,
List <Connection> connectionList,
int inputNeuronCount,
int outputNeuronCount,
int timestepsPerActivation,
bool boundedOutput)
{
_neuronList = neuronList;
_connectionList = connectionList;
_inputNeuronCount = inputNeuronCount;
_outputNeuronCount = outputNeuronCount;
_inputAndBiasNeuronCount = inputNeuronCount + 1;
_timestepsPerActivation = timestepsPerActivation;
_inputSignalArray = new double[_inputNeuronCount];
_outputSignalArray = new double[_outputNeuronCount];
_inputSignalArrayWrapper = new SignalArray(_inputSignalArray, 0, _inputNeuronCount);
if (boundedOutput)
{
_outputSignalArrayWrapper = new OutputSignalArray(_outputSignalArray, 0, outputNeuronCount);
}
else
{
_outputSignalArrayWrapper = new SignalArray(_outputSignalArray, 0, outputNeuronCount);
}
}
/// <summary>
/// Constructs a FastCyclicNetwork with the provided pre-built FastConnection array and
/// associated data.
/// </summary>
public FastCyclicNetwork(FastConnection[] connectionArray,
IActivationFunction[] neuronActivationFnArray,
double[][] neuronAuxArgsArray,
int neuronCount,
int inputNeuronCount,
int outputNeuronCount,
int timestepsPerActivation)
{
_connectionArray = connectionArray;
_neuronActivationFnArray = neuronActivationFnArray;
_neuronAuxArgsArray = neuronAuxArgsArray;
// Create neuron pre- and post-activation signal arrays.
_preActivationArray = new double[neuronCount];
_postActivationArray = new double[neuronCount];
// Wrap sub-ranges of the neuron signal arrays as input and output arrays for IBlackBox.
// Offset is 1 to skip bias neuron (The value at index 1 is the first black box input).
_inputSignalArrayWrapper = new SignalArray(_postActivationArray, 1, inputNeuronCount);
// Offset to skip bias and input neurons. Output neurons follow input neurons in the arrays.
_outputSignalArrayWrapper = new SignalArray(_postActivationArray, inputNeuronCount + 1, outputNeuronCount);
// Store counts for use during activation.
_inputNeuronCount = inputNeuronCount;
_inputAndBiasNeuronCount = inputNeuronCount + 1;
_outputNeuronCount = outputNeuronCount;
_timestepsPerActivation = timestepsPerActivation;
// Initialise the bias neuron's fixed output value.
_postActivationArray[0] = 1.0;
}
public QuickBlackBox(QEAGenome genome)
{
this.genome = genome;
inputs = new double[InputCount];
outputs = new double[OutputCount];
_inputSignalArray = new SignalArray(inputs, 0, inputs.Length);
_outputSignalArray = new SignalArray(outputs, 0, outputs.Length);
}
public RandomBlackBoxNetwork(int inputCount, int outputCount, bool isPositiveOnly)
{
InputCount = inputCount;
OutputCount = outputCount;
_isPositiveOnly = isPositiveOnly;
InputSignalArray = new SignalArray(new double[inputCount], 0, inputCount);
OutputSignalArray = new SignalArray(new double[outputCount], 0, outputCount);
}
/// <summary>
/// Called at every step in the world. Given the sensor input, returns the change in orientation and velocity
/// in the range [0,1].
/// </summary>
public override ISignalArray activateNetwork(double[] sensors)
{
// Update the value function for the previously-chosen actions
updateValueFunction(sensors);
// Select the actions to take
_prevState = selectEpsilonGreedy(sensors);
// Return the result
var results = new SignalArray(new double[] { _prevState[_prevState.Length - 2], _prevState[_prevState.Length - 1] }, 0, 2);
//Console.WriteLine("Selecting: ({0},{1})", results[0], results[1]);
return(results);
}
/// <summary>
/// Construct a FastAcyclicNetwork with provided network definition data structures.
/// </summary>
/// <param name="nodeActivationFnArr">Array of neuron activation functions.</param>
/// <param name="nodeAuxArgsArr">Array of neuron activation function arguments.</param>
/// <param name="connectionArr">Array of connections.</param>
/// <param name="layerInfoArr">Array of layer information.</param>
/// <param name="outputNodeIdxArr">An array that specifies the index of each output neuron within _activationArr.
/// This is necessary because the neurons have been sorted by their depth in the network structure and are therefore
/// no longer in their original positions. Note however that the bias and input neurons *are* in their original
/// positions as they are defined as being at depth zero.</param>
/// <param name="nodeCount">Number of nodes in the network.</param>
/// <param name="inputNodeCount">Number of input nodes in the network.</param>
/// <param name="outputNodeCount">Number of output nodes in the network.</param>
/// <param name="boundedOutput">Indicates that the output values at the output nodes should be bounded to the interval [0,1]</param>
public FastAcyclicNetwork(IActivationFunction[] nodeActivationFnArr,
double[][] nodeAuxArgsArr,
FastConnection[] connectionArr,
LayerInfo[] layerInfoArr,
int[] outputNodeIdxArr,
int nodeCount,
int inputNodeCount,
int outputNodeCount,
bool boundedOutput)
{
// Store refs to network structure data.
_nodeActivationFnArr = nodeActivationFnArr;
_nodeAuxArgsArr = nodeAuxArgsArr;
_connectionArr = connectionArr;
_layerInfoArr = layerInfoArr;
// Create working array for node activation signals.
_activationArr = new double[nodeCount];
// Wrap a sub-range of the _activationArr that holds the activation values for the input nodes.
// Offset is 1 to skip bias neuron (The value at index 1 is the first black box input).
_inputSignalArrayWrapper = new SignalArray(_activationArr, 1, inputNodeCount);
// Wrap the output nodes. Nodes have been sorted by depth within the network therefore the output
// nodes can no longer be guaranteed to be in a contiguous segment at a fixed location. As such their
// positions are indicated by outputNodeIdxArr, and so we package up this array with the node signal
// array to abstract away the level of indirection described by outputNodeIdxArr.
if (boundedOutput)
{
_outputSignalArrayWrapper = new OutputMappingSignalArray(_activationArr, outputNodeIdxArr);
}
else
{
_outputSignalArrayWrapper = new MappingSignalArray(_activationArr, outputNodeIdxArr);
}
// Store counts for use during activation.
_inputNodeCount = inputNodeCount;
_inputAndBiasNodeCount = inputNodeCount + 1;
_outputNodeCount = outputNodeCount;
// Initialise the bias neuron's fixed output value.
_activationArr[0] = 1.0;
}
/// <summary>
/// Constructs a CyclicNetwork with the provided pre-built neurons and connections.
/// </summary>
public CyclicNetwork(List<Neuron> neuronList,
List<Connection> connectionList,
int inputNeuronCount,
int outputNeuronCount,
int timestepsPerActivation)
{
_neuronList = neuronList;
_connectionList = connectionList;
_inputNeuronCount = inputNeuronCount;
_outputNeuronCount = outputNeuronCount;
_inputAndBiasNeuronCount = inputNeuronCount + 1;
_timestepsPerActivation = timestepsPerActivation;
_inputSignalArray = new double[_inputNeuronCount];
_outputSignalArray = new double[_outputNeuronCount];
_inputSignalArrayWrapper = new SignalArray(_inputSignalArray, 0, _inputNeuronCount);
_outputSignalArrayWrapper = new SignalArray(_outputSignalArray, 0, outputNeuronCount);
}
/// <summary>
/// Constructs a FastCyclicNetwork with the provided pre-built FastConnection array and
/// associated data.
/// </summary>
public FastCyclicNetwork(FastConnection[] connectionArray,
IActivationFunction[] neuronActivationFnArray,
double[][] neuronAuxArgsArray,
int neuronCount,
int inputNeuronCount,
int outputNeuronCount,
int timestepsPerActivation)
{
_connectionArray = connectionArray;
_neuronActivationFnArray = neuronActivationFnArray;
_neuronAuxArgsArray = neuronAuxArgsArray;
// Create neuron pre- and post-activation signal arrays.
_preActivationArray = new double[neuronCount];
_postActivationArray = new double[neuronCount];
// Wrap sub-ranges of the neuron signal arrays as input and output arrays for IBlackBox.
// Offset is 1 to skip bias neuron (The value at index 1 is the first black box input).
_inputSignalArrayWrapper = new SignalArray(_postActivationArray, 1, inputNeuronCount);
// Offset to skip bias and input neurons. Output neurons follow input neurons in the arrays.
_outputSignalArrayWrapper = new SignalArray(_postActivationArray, inputNeuronCount+1, outputNeuronCount);
// Store counts for use during activation.
_inputNeuronCount = inputNeuronCount;
_inputAndBiasNeuronCount = inputNeuronCount+1;
_outputNeuronCount = outputNeuronCount;
_timestepsPerActivation = timestepsPerActivation;
// Initialise the bias neuron's fixed output value.
_postActivationArray[0] = 1.0;
}
/// <summary>
/// Construct a FastAcyclicNetwork with provided network definition data structures.
/// </summary>
/// <param name="nodeActivationFnArr">Array of neuron activation functions.</param>
/// <param name="nodeAuxArgsArr">Array of neuron activation function arguments.</param>
/// <param name="connectionArr">Array of connections.</param>
/// <param name="layerInfoArr">Array of layer information.</param>
/// <param name="outputNodeIdxArr">An array that specifies the index of each output neuron within _activationArr.
/// This is necessary because the neurons have been sorted by their depth in the network structure and are therefore
/// no longer in their original positions. Note however that the bias and input neurons *are* in their original
/// positions as they are defined as being at depth zero.</param>
/// <param name="nodeCount">Number of nodes in the network.</param>
/// <param name="inputNodeCount">Number of input nodes in the network.</param>
/// <param name="outputNodeCount">Number of output nodes in the network.</param>
public FastAcyclicNetwork(IActivationFunction[] nodeActivationFnArr,
double[][] nodeAuxArgsArr,
FastConnection[] connectionArr,
LayerInfo[] layerInfoArr,
int[] outputNodeIdxArr,
int nodeCount,
int inputNodeCount,
int outputNodeCount)
{
// Store refs to network structrue data.
_nodeActivationFnArr = nodeActivationFnArr;
_nodeAuxArgsArr = nodeAuxArgsArr;
_connectionArr = connectionArr;
_layerInfoArr = layerInfoArr;
// Create working array for node activation signals.
_activationArr = new double[nodeCount];
// Wrap a sub-range of the _activationArr that holds the activation values for the input nodes.
// Offset is 1 to skip bias neuron (The value at index 1 is the first black box input).
_inputSignalArrayWrapper = new SignalArray(_activationArr, 1, inputNodeCount);
// Wrap the output nodes. Nodes have been sorted by depth within the network therefore the output
// nodes can no longer be guaranteed to be in a contiguous segment at a fixed location. As such their
// positions are indicated by outputNodeIdxArr, and so we package up this array with the node signal
// array to abstract away the level of indirection described by outputNodeIdxArr.
_outputSignalArrayWrapper = new MappingSignalArray(_activationArr, outputNodeIdxArr);
// Store counts for use during activation.
_inputNodeCount = inputNodeCount;
_inputAndBiasNodeCount = inputNodeCount+1;
_outputNodeCount = outputNodeCount;
// Initialise the bias neuron's fixed output value.
_activationArr[0] = 1.0;
}
/// <summary>
/// Constructs a FastCyclicNetwork.
/// </summary>
public EspCyclicNetwork(PhenomeVariables phenomeVariables)
{
// This structure contains all we need. However, we will make a
// local copy of a few variables for extra performance.
_phenVars = phenomeVariables;
// Connectivity data
_connectionArray = _phenVars.fastConnectionArray;
_localOutToRegLInConnect = _phenVars.localOutToRegOrLInConnect;
_localOutToOutConnect = _phenVars.localOutToOutConnect;
_localOutToRegLInModuleCount = _phenVars.lOutToRegOrLInModuleCount;
_localOutToOutModuleCount = _phenVars.localOutToOutModuleCount;
// Create neuron pre- and post-activation signal arrays.
_preActivationArray = new double[_phenVars.neuronCount];
_postActivationArray = new double[_phenVars.neuronCount];
// Sets activation values to 0.
ResetState();
// Wrap sub-ranges of the neuron signal arrays as input and output
// arrays for IBlackBox.
// Input neurons: offset is 1 to skip bias neuron.
_inputSignalArrayWrapper = new SignalArray(_postActivationArray, 1,
_phenVars.inputBiasCount - 1);
// Output neurons: offset to skip bias and input neurons.
_outputSignalArrayWrapper = new SignalArray(_postActivationArray,
_phenVars.inputBiasCount,
_phenVars.outputCount);
// Pandemonium data
// _numberOfPandem (use _phenVars.numberOfPandem)
_pandemoniumCounts = _phenVars.pandemoniumCounts;
_pandemonium = _phenVars.pandemonium;
// Counts and indices
_inputCount = _phenVars.inputBiasCount - 1;
_inToRegEndIndex = _connectionArray.Length - _phenVars.nonProtectedCount;
_connectionArrayLength = _connectionArray.Length;
// We get the index for the first regulatory because we are counting
// elements. The index for the las element is our result - 1 (because
// of the index 0) so we already have the index for the next element!
_firstRegIndex = _phenVars.inputBiasCount + _phenVars.outputCount;
_inBiasOutRegEndIndex = _firstRegIndex + _phenVars.regulatoryCount;
_localOutToOutFirstIndex = _phenVars.neuronCount -
_phenVars.localOutToOnlyOut;
_localInFromBiasInEndIndex = _localOutToOutFirstIndex -
_phenVars.localInFromLocalOutCount;
_hiddenLocalOutNoOutEndIndex = _localInFromBiasInEndIndex -
_phenVars.localInFromBiasInCount;
// The first connection is always the auxiliary connection, which
// is protected and has maximum weight:
//_maxWeight = _connectionArray[0]._weight;
// BUT: For protected connections we may not consider the weight,
// since it is constant.
// Activation functions
/*
* _neuronActivationFnArray = _phenVars.neuronActivationFnArray;
* _neuronAuxArgsArray = _phenVars.neuronAuxArgsArray;
*/
_normalNeuronActivFn = _phenVars.normalNeuronActivFn;
_regulatoryActivFn = _phenVars.regulatoryActivFn;
_outputNeuronActivFn = _phenVars.outputNeuronActivFn;
// Initialise the bias neuron's fixed output value.
_postActivationArray[0] = 1.0;
/* UnityEngine.Debug.Log("TIMESTEPS TO 2");
* _phenVars.timestepsPerActivation = 2;*/
}