/// <summary>
/// Calculates the adjusted fitness of all genomes.
/// Also syncs up species fitness information.
/// </summary>
public void AdjustFitness()
{
Fitness.TotalAdjustedScore = 0.0;
foreach (var genome in Genomes)
{
GenomeFitnessInformation genomeFitness = genome.Fitness;
genomeFitness.AdjustedScore = genomeFitness.Score;
if ((Age - AgePrime + 1 - Const.SpeciesStagnationAge >= 0) || OnDeathBed)
{
genomeFitness.AdjustedScore *= 0.01;
}
if (Age <= Const.AgeOfYouthThresh)
{
genomeFitness.AdjustedScore *= Const.YouthRewardCoefficient;
}
if (genomeFitness.AdjustedScore < 0)
{
genomeFitness.AdjustedScore = 0;
}
genomeFitness.AdjustedScore /= Size();
Fitness.TotalAdjustedScore += genomeFitness.AdjustedScore;
}
Fitness.AverageAdjustedScore = Fitness.TotalAdjustedScore / Size();
}
public static void Pole2_Evaluate(Random rando, Network network, GenomeFitnessInformation fitnessInfo)
{
}
public static void Pole1_Evaluate(Random rando, Network network, GenomeFitnessInformation fitnessInfo)
{
int maxSteps = 100000;
int steps = 0;
int y;
Dictionary <int, double> inputArray = new Dictionary <int, double>()
{
{ 1, 0.0 },
{ 2, 0.0 },
{ 3, 0.0 },
{ 4, 0.0 },
};
CartInfo cartInfo = new CartInfo(rando);
if (false)
{
inputArray[1] = (cartInfo.x + 2.4) / 4.8;;
inputArray[2] = (cartInfo.x_Dot + .75) / 1.5;
inputArray[3] = (cartInfo.theta + twelve_degrees) / .41;
inputArray[4] = (cartInfo.theta_Dot + 1.0) / 2.0;
network.LoadSensors(inputArray);
network.Initialize();
}
while (steps++ < maxSteps)
{
inputArray[1] = (cartInfo.x + 2.4) / 4.8;
inputArray[2] = (cartInfo.x_Dot + .75) / 1.5;
inputArray[3] = (cartInfo.theta + twelve_degrees) / .41;
inputArray[4] = (cartInfo.theta_Dot + 1.0) / 2.0;
network.LoadSensors(inputArray);
Dictionary <int, double> outputArray = network.Activate();
double val5 = 0.0;
double val6 = 0.0;
if (outputArray.Keys.Contains(5))
{
val5 = outputArray[5];
}
if (outputArray.Keys.Contains(6))
{
val6 = outputArray[6];
}
if (val5 > val6)
{
y = 0;
}
else
{
y = 1;
}
cartInfo.AdjustCart(y);
if (!cartInfo.IsStable())
{
break;
}
}
fitnessInfo.Score = steps;
}
