//per default we use the goal point of the environment as our target point.
public void update(Engine.Environment env, List <Robot> robots, CollisionManager cm)
{
// Schrum: Provides an easy way to clear sensors for domains
// where way points should not be sensed
if (env == null)
{
for (int i = 0; i < radarAngles1.Count; i++)
{
signalsSensors[i].setSignal(0.0);
}
return;
}
Point2D temp = new Point2D((int)env.goal_point.x, (int)env.goal_point.y);
temp.rotate((float)-(owner.heading), owner.circle.p); //((float)-(owner.heading * 180.0 / 3.14), owner.circle.p);
//translate with respect to location of navigator
temp.x -= (float)owner.circle.p.x;
temp.y -= (float)owner.circle.p.y;
//what angle is the vector between target & navigator
float angle = angleValue((float)temp.x, (float)temp.y); // (float)temp.angle();
//! angle *= 57.297f;//convert to degrees
//fire the appropriate radar sensor
for (int i = 0; i < radarAngles1.Count; i++)
{
signalsSensors[i].setSignal(0.0);
//radar[i] = 0.0f;
if (angle >= radarAngles1[i] && angle < radarAngles2[i])
{
signalsSensors[i].setSignal(1.0);
// Console.WriteLine(i);
}
//radar[i] = 1.0f;
if (angle + 360.0 >= radarAngles1[i] && angle + 360.0 < radarAngles2[i])
{
signalsSensors[i].setSignal(1.0);
// Console.WriteLine(i);
}
// radar[i] = 1.0f;
// inputs[sim_engine.robots[0].rangefinders.Count + i] = sim_engine.radar[i];
}
}
//Different from PieSliceSensorArray in that EnemyRobots are used as targets instead
// of goal points.
public void update(Engine.Environment env, List <Robot> robots, CollisionManager cm)
{
List <float> translatedEnemyAngles = new List <float>();
// Start at 1: Assume all robots after first are enemies
for (int i = 1; i < robots.Count; i++)
{
EnemyRobot er = (EnemyRobot)robots[i];
if (!er.stopped) // Only sense prey robots that are active
{
Point2D temp = new Point2D((int)er.location.x, (int)er.location.y);
temp.rotate((float)-(owner.heading), owner.circle.p); //((float)-(owner.heading * 180.0 / 3.14), owner.circle.p);
//translate with respect to location of navigator
temp.x -= (float)owner.circle.p.x;
temp.y -= (float)owner.circle.p.y;
//what angle is the vector between target & navigator
float angle = angleValue((float)temp.x, (float)temp.y);// (float)temp.angle();
translatedEnemyAngles.Add(angle);
}
}
//fire the appropriate radar sensor
for (int i = 0; i < radarAngles1.Count; i++)
{
signalsSensors[i].setSignal(0.0);
for (int a = 0; a < translatedEnemyAngles.Count; a++)
{
float angle = translatedEnemyAngles[a];
if (angle >= radarAngles1[i] && angle < radarAngles2[i])
{
signalsSensors[i].setSignal(1.0);
}
if (angle + 360.0 >= radarAngles1[i] && angle + 360.0 < radarAngles2[i])
{
signalsSensors[i].setSignal(1.0);
}
}
}
}
void IFitnessFunction.update(SimulatorExperiment Experiment, Environment environment, instance_pack ip)
{
// Schrum: brain-switching policy
// Schrum: Restricting numBrains == 2 assures that this switch won't occur in the FourTasks experiments with 5 brains
if (Experiment.multibrain && !Experiment.preferenceNeurons && Experiment.numBrains == 2)
{
// Schrum: These magic numbers directly correspond to the Two Rooms environment.
// This range of y values is the portion of the environment that is taken
// up by the hallway.
if (ip.agentBrain.getBrainCounter() == 1 && // Don't "switch" if already using right brain
ip.robots[0].location.y < 716 && ip.robots[0].location.y > 465) //hallway
{
//Console.WriteLine("Switch to 0");
ip.agentBrain.switchBrains(0); // use brain 0 for hallway
}
else if (ip.agentBrain.getBrainCounter() == 0) //room
{
//Console.WriteLine("Switch to 1");
ip.agentBrain.switchBrains(1); // use brain 1 when in the open
}
}
// Schrum: Debug: For comparing non-visual eval with visual
// Prints out locations visited by all robots
/*
for (int i = 0; i < ip.robots.Count; i++)
{
Console.Write(ip.robots[i].location.x + "\t" + ip.robots[i].location.y + "\t");
if (ip.robots[i] is EnemyRobot)
{
Console.Write(((EnemyRobot)ip.robots[i]).wallResponse + "\t" + ((EnemyRobot)ip.robots[i]).chaseResponse + "\t" + ip.robots[i].heading + "\t" + ((EnemyRobot)ip.robots[i]).angle + "\t");
}
}
Console.WriteLine();
*/
// End debug
//For food gathering
if (ip.timeSteps == 1)
{
environment.goal_point.x = environment.POIPosition[0].X;
environment.goal_point.y = environment.POIPosition[0].Y;
collectedFood = 0;
POINr = 0;
collided = false;
finished = false;
portionAlive = 0;
}
Point2D goalPoint = new Point2D (environment.POIPosition [POINr].X, environment.POIPosition [POINr].Y);
float d = (float)ip.robots[0].location.distance(goalPoint);
bool guidance = true;
if (d < 20.0f && !finished)
{
collectedFood++;
POINr++;
if (POINr >= environment.POIPosition.Count) {
POINr = 0;
finished = true;
}
if (POINr > 4 && POINr < 11) {
guidance = false;
}
if (guidance) {
environment.goal_point.x = environment.POIPosition [POINr].X;
environment.goal_point.y = environment.POIPosition [POINr].Y;
}
}
// Schrum2: Added to detect robot collisions and end the evaluation when they happen
if (ip.robots[0].collisions > 0)
{ // Disabling prevents further action
collided = true;
portionAlive = (ip.elapsed * 1.0) / Experiment.evaluationTime;
//Console.WriteLine("Fitness before:" + ip.elapsed + "/" + Experiment.evaluationTime + ":" + ip.timeSteps);
ip.elapsed = Experiment.evaluationTime; // force end time: only affects non-visual evaluation
Experiment.running = false; // Ends visual evaluation
//Console.WriteLine("Collision");
//Console.WriteLine("Fitness after:" + ip.elapsed + "/" + Experiment.evaluationTime + ":" + ip.timeSteps);
}
}