/// <inheritdoc />
/// <summary>
/// Creates the maze navigation world, omitting the maze niche grid, maximum distance to the target (required for
/// fitness-based evaluations), and number of bridging applications.
/// </summary>
/// <param name="walls">The walls in the maze environemnt.</param>
/// <param name="navigatorLocation">The starting location of the maze navigator.</param>
/// <param name="goalLocation">The location of the goal (target).</param>
/// <param name="minSuccessDistance">The minimum distance from the target for the trial to be considered a success.</param>
/// <param name="maxTimeSteps">The maximum number of time steps to run a given trial.</param>
/// <param name="behaviorCharacterization">The behavior characterization for a navigator.</param>
public MazeNavigationWorld(List <Wall> walls, DoublePoint navigatorLocation, DoublePoint goalLocation,
int minSuccessDistance, int maxTimeSteps, IBehaviorCharacterization behaviorCharacterization)
: this(
walls, navigatorLocation, goalLocation, minSuccessDistance, 0, maxTimeSteps, 0,
behaviorCharacterization)
{
}
/// <summary>
/// Constructs a new maze navigation world with a null behavior characterization reference and using the first maze
/// configuration in the collection of maze configurations.
/// </summary>
/// <param name="behaviorCharacterization">
/// The way in which an agents behavior is characterized (i.e. end point,
/// trajectory, etc.).
/// </param>
/// <returns>A constructed maze navigation world ready for evaluation.</returns>
public MazeNavigationWorld <TTrialInfo> CreateMazeNavigationWorld(
IBehaviorCharacterization behaviorCharacterization = null)
{
return(new MazeNavigationWorld <TTrialInfo>(_mazeConfigurations[_currentHashKeys[0]].Walls,
_mazeConfigurations[_currentHashKeys[0]].NavigatorLocation,
_mazeConfigurations[_currentHashKeys[0]].GoalLocation, _minSuccessDistance, _maxDistanceToTarget,
_mazeConfigurations[_currentHashKeys[0]].MaxSimulationTimesteps, behaviorCharacterization));
}
public void setBehavioralCharacterization(string behaviorName)
{
if (behaviorName == null || behaviorName.Equals("null"))
{
return;
}
behaviorCharacterization = BehaviorCharacterizationFactory.getBehaviorCharacterization(behaviorName);
behaviorCharacterization.reset();
}
/// <summary>
/// Constructs a new maze navigation world using the maze at the specified index and a given behavior characterization.
/// </summary>
/// <param name="hashCodeIndex">The index of the maze configuration to use in the maze navigation world.</param>
/// <param name="behaviorCharacterization">
/// The way in which an agents behavior is characterized (i.e. end point,
/// trajectory, etc.).
/// </param>
/// <returns>A constructed maze navigation world ready for evaluation.</returns>
public MazeNavigationWorld <TTrialInfo> CreateMazeNavigationWorld(int hashCodeIndex,
IBehaviorCharacterization behaviorCharacterization)
{
// Get the maze configuration corresponding to the hash code at the given hash index
MazeConfiguration mazeConfig = _mazeConfigurations[_currentHashKeys[hashCodeIndex]];
// Create maze navigation world and return
return(new MazeNavigationWorld <TTrialInfo>(mazeConfig.Walls, mazeConfig.NavigatorLocation,
mazeConfig.GoalLocation, _minSuccessDistance, _maxDistanceToTarget, mazeConfig.MaxSimulationTimesteps,
behaviorCharacterization));
}
/// <summary>
/// Constructs a new maze navigation world using the given maze structure and behavior characterization.
/// </summary>
/// <param name="mazeStructure">The maze structure to convert into a maze configuration.</param>
/// <param name="behaviorCharacterization">
/// The way in which an agents behavior is characterized (i.e. end point,
/// trajectory, etc.).
/// </param>
/// <returns>A constructed maze navigation world ready for evaluation.</returns>
public MazeNavigationWorld <TTrialInfo> CreateMazeNavigationWorld(MazeStructure mazeStructure,
IBehaviorCharacterization behaviorCharacterization)
{
// Build the single maze configuration
var mazeConfig = new MazeConfiguration(ExtractMazeWalls(mazeStructure.Walls),
ExtractStartEndPoint(mazeStructure.StartLocation), ExtractStartEndPoint(mazeStructure.TargetLocation),
mazeStructure.MaxTimesteps);
// Create maze navigation world and return
return(new MazeNavigationWorld <TTrialInfo>(mazeConfig.Walls, mazeConfig.NavigatorLocation,
mazeConfig.GoalLocation, _minSuccessDistance, _maxDistanceToTarget, mazeConfig.MaxSimulationTimesteps,
behaviorCharacterization));
}
/// <summary>
/// Creates the maze navigation world (environment) given the experiment parameters.
/// </summary>
/// <param name="walls">The walls in the maze environment.</param>
/// <param name="navigatorLocation">The starting location of the maze navigator.</param>
/// <param name="goalLocation">The location of the goal (target).</param>
/// <param name="minSuccessDistance">The minimum distance from the target for the trial to be considered a success.</param>
/// <param name="maxDistanceToTarget">The maximum distance from the target possible.</param>
/// <param name="maxTimeSteps">The maximum number of time steps to run a given trial.</param>
/// <param name="numBridgingApplications">The number of times to apply bridging during a given trial.</param>
/// <param name="behaviorCharacterization">The behavior characterization for a navigator.</param>
private MazeNavigationWorld(List <Wall> walls, DoublePoint navigatorLocation,
DoublePoint goalLocation,
int minSuccessDistance,
int maxDistanceToTarget, int maxTimeSteps,
int numBridgingApplications,
IBehaviorCharacterization behaviorCharacterization = null)
{
_walls = walls;
_goalLocation = goalLocation;
_minSuccessDistance = minSuccessDistance;
_maxDistanceToTarget = maxDistanceToTarget;
_maxTimesteps = maxTimeSteps;
_behaviorCharacterization = behaviorCharacterization;
_numBridgingApplications = numBridgingApplications;
// Instantiate the navigator
_navigator = new MazeNavigator(navigatorLocation);
}
public override void Initialize(string name, XmlElement xmlConfig)
{
base.Initialize(name, xmlConfig);
// Read in the behavior characterization
_behaviorCharacterization =
BehaviorCharacterizationUtil.GenerateBehaviorCharacterization(
BehaviorCharacterizationUtil.ConvertStringToBehavioralCharacterization(
XmlUtils.TryGetValueAsString(xmlConfig, "BehaviorCharacterization")));
// Read in the novelty archive parameters
_archiveAdditionThreshold = XmlUtils.GetValueAsDouble(xmlConfig, "ArchiveAdditionThreshold");
_archiveThresholdDecreaseMultiplier = XmlUtils.GetValueAsDouble(xmlConfig,
"ArchiveThresholdDecreaseMultiplier");
_archiveThresholdIncreaseMultiplier = XmlUtils.GetValueAsDouble(xmlConfig,
"ArchiveThresholdIncreaseMultiplier");
_maxGenerationalArchiveAddition = XmlUtils.GetValueAsInt(xmlConfig, "MaxGenerationalArchiveAddition");
_maxGenerationsWithoutArchiveAddition = XmlUtils.GetValueAsInt(xmlConfig, "MaxGenerationsWithoutArchiveAddition");
// Read in nearest neighbors for behavior distance calculations
_nearestNeighbors = XmlUtils.GetValueAsInt(xmlConfig, "NearestNeighbors");
}
public override void Initialize(string name, XmlElement xmlConfig)
{
base.Initialize(name, xmlConfig);
// Read in the behavior characterization
_behaviorCharacterization = ExperimentUtils.ReadBehaviorCharacterization(xmlConfig);
// Read in the novelty archive parameters
ExperimentUtils.ReadNoveltyParameters(xmlConfig, out _archiveAdditionThreshold,
out _archiveThresholdDecreaseMultiplier, out _archiveThresholdIncreaseMultiplier,
out _maxGenerationArchiveAddition, out _maxGenerationsWithoutArchiveAddition);
// Read in nearest neighbors for behavior distance calculations
_nearestNeighbors = XmlUtils.GetValueAsInt(xmlConfig, "NearestNeighbors");
// Read in steady-state specific parameters
_batchSize = XmlUtils.GetValueAsInt(xmlConfig, "OffspringBatchSize");
_populationEvaluationFrequency = XmlUtils.GetValueAsInt(xmlConfig, "PopulationEvaluationFrequency");
// Read in log file path/name
_generationalLogFile = XmlUtils.TryGetValueAsString(xmlConfig, "GenerationalLogFile");
}
public void setupBehaviorCharazterization(string behavior)
{
foreach (Type t in this.GetType().Assembly.GetTypes())
{
if (t.GetInterface("IBehaviorCharacterization", true) != null)
{
behaviorComboBox.Items.Add(t.Name);
}
}
bc = BehaviorCharacterizationFactory.getBehaviorCharacterization(behavior);
if (bc != null)
{
for (int j = 0; j < behaviorComboBox.Items.Count; j++)
{
if (behaviorComboBox.Items[j].ToString().Equals(bc.name))
{
behaviorComboBox.SelectedIndex = j;
break;
}
}
}
fillTexBehaviorTextBox();
}
public void setBehavioralCharacterization(string behaviorName)
{
if (behaviorName == null || behaviorName.Equals("null")) return;
behaviorCharacterization = BehaviorCharacterizationFactory.getBehaviorCharacterization(behaviorName);
behaviorCharacterization.reset();
}
private void behaviorComboBox_SelectedIndexChanged(object sender, EventArgs e)
{
bc = BehaviorCharacterizationFactory.getBehaviorCharacterization(behaviorComboBox.SelectedItem.ToString());
fillTexBehaviorTextBox();
Invalidate();
}
public void setupBehaviorCharazterization(string behavior)
{
foreach (Type t in this.GetType().Assembly.GetTypes())
{
if (t.GetInterface("IBehaviorCharacterization", true) != null)
behaviorComboBox.Items.Add(t.Name);
}
bc = BehaviorCharacterizationFactory.getBehaviorCharacterization(behavior);
if (bc != null)
{
for (int j = 0; j < behaviorComboBox.Items.Count; j++)
if (behaviorComboBox.Items[j].ToString().Equals(bc.name))
{
behaviorComboBox.SelectedIndex = j;
break;
}
}
fillTexBehaviorTextBox();
}
private void behaviorComboBox_SelectedIndexChanged(object sender, EventArgs e)
{
bc = BehaviorCharacterizationFactory.getBehaviorCharacterization(behaviorComboBox.SelectedItem.ToString());
fillTexBehaviorTextBox();
Invalidate();
}