internal override double evaluateNetwork(INetwork network, out SharpNeatLib.BehaviorType behavior, System.Threading.Semaphore sem)
{
double fitness = 0;//SharpNeatLib.Utilities.random.NextDouble();
NeatGenome tempGenome;
INetwork controller;
behavior = new SharpNeatLib.BehaviorType();
double[] accumObjectives = new double[6];
for (int i = 0; i < 6; i++) accumObjectives[i] = 0.0;
IFitnessFunction fit_copy;
IBehaviorCharacterization bc_copy;
CollisionManager cm;
instance_pack inst = new instance_pack();
inst.timestep=timestep;
foreach (Environment env2 in environmentList)
{
fit_copy = fitnessFunction.copy();
if (behaviorCharacterization != null)
{
bc_copy = behaviorCharacterization.copy();
inst.bc = bc_copy;
}
inst.ff = fit_copy;
double tempFit = 0;
double[] fitnesses = new double[timesToRunEnvironments];
SharpNeatLib.Maths.FastRandom evalRand = new SharpNeatLib.Maths.FastRandom(100);
for (int evals = 0; evals < timesToRunEnvironments; evals++)
{
int agent_trials = timesToRunEnvironments;
inst.num_rbts=this.numberRobots;
Environment env = env2.copy();
double evalTime = evaluationTime;
inst.eval = evals;
env.seed = evals;
env.rng = new SharpNeatLib.Maths.FastRandom(env.seed + 1);
int noise_lev = (int)this.sensorNoise+1;
float new_sn = evalRand.NextUInt() % noise_lev;
float new_ef = evalRand.NextUInt() % noise_lev;
inst.agentBrain = new AgentBrain(homogeneousTeam, inst.num_rbts, substrateDescription, network, normalizeWeights, adaptableANN, modulatoryANN, multibrain, evolveSubstrate, dirComm);
initializeRobots(agentBrain, env, headingNoise, new_sn, new_ef, inst);
inst.elapsed = 0;
inst.timestep = this.timestep;
//Console.WriteLine(this.timestep);
inst.timeSteps = 0;
inst.collisionManager = collisionManager.copy();
inst.collisionManager.Initialize(env, this, inst.robots);
try {
while (inst.elapsed < evalTime)
{
runEnvironment(env,inst,sem);
}
} catch( Exception e) {
for(int x=0;x<inst.robots.Count;x++) {
for(int y=0;y<inst.robots[x].history.Count;y++) {
Console.WriteLine(x+" " + y+ " "+ inst.robots[x].history[y].x + " " + inst.robots[x].history[y].y);
}
}
behavior=new SharpNeatLib.BehaviorType();
Console.WriteLine(e.Message);
Console.WriteLine(e.StackTrace);
throw(e);
return 0.0001;
}
double thisFit = inst.ff.calculate(this, env, inst, out behavior.objectives);
fitnesses[evals] = thisFit;
tempFit += thisFit;
if (behavior != null && behavior.objectives != null && inst.bc!=null)
{
for (int i = 0; i < behavior.objectives.Length; i++)
accumObjectives[i] += behavior.objectives[i];
if(behavior.behaviorList==null)
behavior.behaviorList=new List<double>();
behavior.behaviorList.AddRange(inst.bc.calculate(this, inst));
inst.bc.reset();
}
inst.ff.reset();
}
fitness += tempFit / timesToRunEnvironments;
}
behavior.objectives = accumObjectives;
return fitness / environmentList.Count;
}
// Schrum: Had to remove the internal from this too so that I could override it in AdversarialRoomClearingExperiment
public override double evaluateNetwork(INetwork network, out SharpNeatLib.BehaviorType behavior, System.Threading.Semaphore sem)
{
// Schrum: Used when punishing links in substrate networks.
int linksInSubstrate = 0;
double fitness = multiplicativeFitness ? 1 : 0;
behavior = new SharpNeatLib.BehaviorType();
// Schrum: Why is there a magic number 6 here?
double[] accumObjectives = new double[6];
for (int i = 0; i < 6; i++)
{
accumObjectives[i] = 0.0;
}
// Schrum: Special handling for FourTasks domain again
if (fitnessFunction is FourTasksFitness)
{
// Pass the experiment into the fitness function once so its parameters can be changed for each environment
((FourTasksFitness)fitnessFunction).setExperiment(this);
}
IFitnessFunction fit_copy;
IBehaviorCharacterization bc_copy;
//CollisionManager cm;
int envNum = 0;
// Schrum: Separate fitness for each environment.
// Should this be put in accumObjectives instead? What is that for?
double[] environmentScores = new double[environmentList.Count];
foreach (Environment env2 in environmentList)
{
//Console.WriteLine("====================Environment loop " + envNum);
// Schrum: moved this here to deal with consistency issues
instance_pack inst = new instance_pack();
fit_copy = fitnessFunction.copy();
if (behaviorCharacterization != null)
{
bc_copy = behaviorCharacterization.copy();
inst.bc = bc_copy;
}
inst.ff = fit_copy;
// Schrum: Just add special handling for FourTasks to get settings right
if (inst.ff is FourTasksFitness)
{
// FourTasks needs to know the current environment. Experiment reference provided earlier.
((FourTasksFitness)inst.ff).setupFitness(envNum);
}
// Schrum: moved here from outside/before the loop. Most domains use the same timestep in each environment,
// but the FourTasks domain is an exception to this, so the setting needed to be moved after setupFitness
inst.timestep = timestep;
double tempFit = 0;
double[] fitnesses = new double[timesToRunEnvironments];
SharpNeatLib.Maths.FastRandom evalRand = new SharpNeatLib.Maths.FastRandom(100);
for (int evals = 0; evals < timesToRunEnvironments; evals++)
{
int agent_trials = timesToRunEnvironments;
inst.num_rbts = this.numberRobots;
Environment env = env2.copy();
double evalTime = this.evaluationTime;
inst.eval = evals;
env.seed = evals;
env.rng = new SharpNeatLib.Maths.FastRandom(env.seed + 1);
int noise_lev = (int)this.sensorNoise + 1;
float new_sn = evalRand.NextUInt() % noise_lev;
float new_ef = evalRand.NextUInt() % noise_lev;
inst.agentBrain = new AgentBrain(homogeneousTeam, inst.num_rbts, substrateDescription, network, normalizeWeights, adaptableANN, modulatoryANN, multibrain, numBrains, evolveSubstrate, preferenceNeurons, forcedSituationalPolicyGeometry);
// Add up the links in each substrate brain
// Recalculates each evaluation, but resets to 0 each time.
linksInSubstrate = 0;
foreach (INetwork b in inst.agentBrain.multiBrains)
{
linksInSubstrate += b.NumLinks;
}
if (eval)
{
Console.WriteLine("Links In Substrate: " + linksInSubstrate);
}
initializeRobots(inst.agentBrain, env, headingNoise, new_sn, new_ef, inst);
inst.elapsed = 0;
inst.timestep = this.timestep;
//Console.WriteLine(this.timestep);
inst.timeSteps = 0;
inst.collisionManager = collisionManager.copy();
inst.collisionManager.Initialize(env, this, inst.robots);
try
{
//Console.WriteLine("Environment " + environmentName + " " + envNum);
while (inst.elapsed < evalTime)
{
// Schrum2: Only called for non-visual evaluations
//Console.WriteLine("MAE:" + inst.elapsed + "/" + evalTime);
runEnvironment(env, inst, sem);
}
}
catch (Exception e)
{
for (int x = 0; x < inst.robots.Count; x++)
{
for (int y = 0; y < inst.robots[x].history.Count; y++)
{
Console.WriteLine(x + " " + y + " " + inst.robots[x].history[y].x + " " + inst.robots[x].history[y].y);
}
}
behavior = new SharpNeatLib.BehaviorType();
Console.WriteLine(e.Message);
Console.WriteLine(e.StackTrace);
throw (e);
}
double thisFit = inst.ff.calculate(this, env, inst, out behavior.objectives);
//Console.WriteLine(env.name + ": Fitness for one eval: " + thisFit);
fitnesses[evals] = thisFit;
tempFit += thisFit;
if (behavior != null && behavior.objectives != null && inst.bc != null)
{
for (int i = 0; i < behavior.objectives.Length; i++)
{
accumObjectives[i] += behavior.objectives[i];
}
if (behavior.behaviorList == null)
{
behavior.behaviorList = new List <double>();
}
behavior.behaviorList.AddRange(inst.bc.calculate(this, inst));
inst.bc.reset();
}
inst.ff.reset();
}
// Schrum: Save each fitness separately
environmentScores[envNum] = tempFit;
envNum++; // go to the next environment
// Schrum: Product fitness might encourage better performance in all environments
if (multiplicativeFitness)
{
fitness *= tempFit / timesToRunEnvironments;
}
else // default is sum/average
{
fitness += tempFit / timesToRunEnvironments;
}
}
// Punish CPPN modules: Must use with multiobjective option
if (cppnModuleCost)
{
behavior.objectives = new double[] { fitness / environmentList.Count, -network.NumOutputModules };
}
// Punish CPPN links: Must use with multiobjective option
else if (cppnLinkCost)
{
behavior.objectives = new double[] { fitness / environmentList.Count, -network.NumLinks };
}
// Punish substrate links: Must use with multiobjective option
else if (substrateLinkCost)
{
behavior.objectives = new double[] { fitness / environmentList.Count, -linksInSubstrate };
}
else if (fitnessFunction is FourTasksFitness)
{ // Schrum: Special handling for FourTasksFitness ... could I just use accumObjectives?
behavior.objectives = environmentScores;
}
else // Original default
{
behavior.objectives = accumObjectives;
}
behavior.modules = network.NumOutputModules;
behavior.cppnLinks = network.NumLinks;
behavior.substrateLinks = linksInSubstrate;
//Console.WriteLine("Total: " + (fitness / environmentList.Count));
// Schrum: Averaging helps normalize range when adding fitness values, but not when multiplying fitness values
return(multiplicativeFitness ? fitness : fitness / environmentList.Count);
}
internal override double evaluateNetwork(INetwork network, out SharpNeatLib.BehaviorType behavior, System.Threading.Semaphore sem)
{
double fitness = 0;//SharpNeatLib.Utilities.random.NextDouble();
NeatGenome tempGenome;
INetwork controller;
behavior = new SharpNeatLib.BehaviorType();
double[] accumObjectives = new double[6];
for (int i = 0; i < 6; i++)
{
accumObjectives[i] = 0.0;
}
IFitnessFunction fit_copy;
IBehaviorCharacterization bc_copy;
CollisionManager cm;
instance_pack inst = new instance_pack();
inst.timestep = timestep;
foreach (Environment env2 in environmentList)
{
fit_copy = fitnessFunction.copy();
if (behaviorCharacterization != null)
{
bc_copy = behaviorCharacterization.copy();
inst.bc = bc_copy;
}
inst.ff = fit_copy;
double tempFit = 0;
double[] fitnesses = new double[timesToRunEnvironments];
SharpNeatLib.Maths.FastRandom evalRand = new SharpNeatLib.Maths.FastRandom(100);
for (int evals = 0; evals < timesToRunEnvironments; evals++)
{
int agent_trials = timesToRunEnvironments;
inst.num_rbts = this.numberRobots;
Environment env = env2.copy();
double evalTime = evaluationTime;
inst.eval = evals;
env.seed = evals;
env.rng = new SharpNeatLib.Maths.FastRandom(env.seed + 1);
int noise_lev = (int)this.sensorNoise + 1;
float new_sn = evalRand.NextUInt() % noise_lev;
float new_ef = evalRand.NextUInt() % noise_lev;
inst.agentBrain = new AgentBrain(homogeneousTeam, inst.num_rbts, substrateDescription, network, normalizeWeights, adaptableANN, modulatoryANN, multibrain, evolveSubstrate);
initializeRobots(agentBrain, env, headingNoise, new_sn, new_ef, inst);
inst.elapsed = 0;
inst.timestep = this.timestep;
//Console.WriteLine(this.timestep);
inst.timeSteps = 0;
inst.collisionManager = collisionManager.copy();
inst.collisionManager.Initialize(env, this, inst.robots);
try
{
while (inst.elapsed < evalTime)
{
runEnvironment(env, inst, sem);
}
}
catch (Exception e)
{
for (int x = 0; x < inst.robots.Count; x++)
{
for (int y = 0; y < inst.robots[x].history.Count; y++)
{
Console.WriteLine(x + " " + y + " " + inst.robots[x].history[y].x + " " + inst.robots[x].history[y].y);
}
}
behavior = new SharpNeatLib.BehaviorType();
Console.WriteLine(e.Message);
Console.WriteLine(e.StackTrace);
throw (e);
return(0.0001);
}
double thisFit = inst.ff.calculate(this, env, inst, out behavior.objectives);
fitnesses[evals] = thisFit;
tempFit += thisFit;
if (behavior != null && behavior.objectives != null && inst.bc != null)
{
for (int i = 0; i < behavior.objectives.Length; i++)
{
accumObjectives[i] += behavior.objectives[i];
}
if (behavior.behaviorList == null)
{
behavior.behaviorList = new List <double>();
}
behavior.behaviorList.AddRange(inst.bc.calculate(this, inst));
inst.bc.reset();
}
inst.ff.reset();
}
fitness += tempFit / timesToRunEnvironments;
}
behavior.objectives = accumObjectives;
return(fitness / environmentList.Count);
}
