public static void genomeToPath(Genome pathGenome)
{
// Initialize Path List
//LinkedList<EZPathFollowing.PathPart> output = new LinkedList<EZPathFollowing.PathPart>();
// Resets the global path
Variables.resetPath();
// Resets the gloabl genome
Variables.resetGenome();
// Initialize Variables
double length; // Length is a number n from 0 to 7. 0.5 + n * 0.5 is the length of a Pathpart
double angle; // Angle a is a number from 0 to 7, 10 + a * 5 is the angle in DEGREE
bool driveRight;
double direction = (360 - Variables.configuration_start.Theta[0]) * Math.PI / 180;
EZPathFollowing.Point2D start = Variables.start;
// Iterate over all 20 GenomeParts
for (int i = 0; i < 20; i++)
{
// Length is saved in Bits 1,2 and 3 and is required for both PathParts
length = GenomePart.getDouble(pathGenome.genome.Get(i * 8 + 1), pathGenome.genome.Get(i * 8 + 2), pathGenome.genome.Get(i * 8 + 3));
length = 0.5 + length * 0.5;
// Bit 0 says whether its a curve or line
if (pathGenome.genome.Get(i * 8) == false)
{
// The first Pathpart needs a start and direction
if (i == 0)
{
Variables.path.AddLast(EZPathFollowing.PathPrimitives.line(length, direction, start));
}
else
{
Variables.path.AddLast(EZPathFollowing.PathPrimitives.line(length));
}
}
else
{
// Angle and driveRight are only necessary for curves (Bit 0 = true)
angle = GenomePart.getDouble(pathGenome.genome.Get(i * 8 + 4), pathGenome.genome.Get(i * 8 + 5), pathGenome.genome.Get(i * 8 + 6));
angle = (10 + angle * 5) * Math.PI / 180;
driveRight = pathGenome.genome.Get(i * 8 + 7);
// Again, first PathPart needs a start and direction
if (i == 0)
{
Variables.path.AddLast(EZPathFollowing.PathPrimitives.curve(length, direction, angle, driveRight, start));
}
else
{
Variables.path.AddLast(EZPathFollowing.PathPrimitives.curve(length, angle, driveRight));
}
}
}
}
public void add(GenomePart value)
{
// Paths have a maximum lengths of 20
if (this.length < 20)
{
// Get the BitArray from the GenomePart
BitArray array = value.getBitArray();
// Temporary array of bools since BitArrays don't have the needed functions
bool[] temp = new bool[8];
// Copy the BitArray from GenomePart to the array of bool
array.CopyTo(temp, 0);
// Copy the values to the Genome, offset by length * 8
for (int i = 0; i < 8; i++)
{
genome.Set(length * 8 + i, temp[i]);
}
// Increment the length
this.length++;
}
}
// This function uses genomePart Uniform Crossover. It works like a crossover function but uses a significantly shorter mask genome
// because it always chooses an entire 8bit block
public void eightBitCrossover()
{
// Size of current new generation is 40% of old generation (before crossover)
int selectionSize = Convert.ToInt32(0.4 * populationSize);
int r;
Genome parent1 = new Genome();
Genome parent2 = new Genome();
bool[] mask;
Genome child1 = new Genome();
Genome child2 = new Genome();
// Iterates from selection Size (current maximum of the new population) to population size, the wanted maximum. That means 60% come from crossover
for (int i = selectionSize; i < populationSize; i++)
{
// Randomly selects first parent
r = Variables.getRandomInt(0, selectionSize);
parent1 = oldPopulation[r].Genome;
// Randomly selects second parent
r = Variables.getRandomInt(0, selectionSize);
parent2 = oldPopulation[r].Genome;
// Crates a random mask genome in form of a char[]. char[] is much faster than bool[], genome or bitarray and for our purpose the format doesn't matter
mask = GenomePart.getRandomGenome();
for (int j = 0; j < 20; j++)
{
// Checks the mask
if (mask[j])
{
// If mask == 1 then the i'th 8bit block will be selected from parent1 for child1 and from parent2 for child2
// k = j*8 since every position in the mask genome covers 8 positions in the actual genome
for (int k = j * 8; k < j * 8 + 8; k++)
{
child1.Genome1.Set(k, parent1.Genome1.Get(k));
child2.Genome1.Set(k, parent2.Genome1.Get(k));
}
}
else
{
// If mask == 0 then the i'th 8bit block will be selected from parent1 for child2 and from parent2 for child1
// k = j*8 since every position in the mask genome covers 8 positions in the actual genome
for (int k = j * 8; k < j * 8 + 8; k++)
{
child1.Genome1.Set(k, parent2.Genome1.Get(k));
child2.Genome1.Set(k, parent1.Genome1.Get(k));
}
}
}
Genome.genomeToPath(child1);
population[i] = new Population(Variables.path, child1, 0, false, false);
// Counts up since we are adding 2 children per iteration, not just one
i++;
// If we are not yet at maximum (which could happen due to double->int conversion) we add the second child too
if (i < populationSize)
{
Genome.genomeToPath(child2);
population[i] = new Population(Variables.path, child2, 0, false, false);
}
}
}
public void add(GenomePart value)
{
// Paths have a maximum lengths of 20
if (this.length < 20)
{
// Get the BitArray from the GenomePart
BitArray array = value.getBitArray();
// Temporary array of bools since BitArrays don't have the needed functions
bool[] temp = new bool[8];
// Copy the BitArray from GenomePart to the array of bool
array.CopyTo(temp,0);
// Copy the values to the Genome, offset by length * 8
for (int i = 0; i < 8; i++)
{
genome.Set(length * 8 + i, temp[i]);
}
// Increment the length
this.length++;
}
}
