public CoverageFitness()
{
dist_trav=0.0;
coll_count=0;
grid=null;
accum = 0.0;
stop_accum=0.0;
}
public CoverageFitness()
{
dist_trav = 0.0;
coll_count = 0;
grid = null;
accum = 0.0;
stop_accum = 0.0;
}
void IBehaviorCharacterization.update(SimulatorExperiment exp)
{
grid = ((GridCollision)((MultiAgentExperiment)exp).collisionManager).grid;
dim = grid.coarseness;
if (exp.timeSteps <=1)
{
for (int x = 0; x < dim; x++)
{
for (int y = 0; y < dim; y++)
{
int gx = (int)((double)x * grid.gridx) + (int)(grid.gridx / 2.0);
int gy = (int)((double)y * grid.gridy) + (int)(grid.gridy / 2.0);
grid.grid[x, y].viewed = 0.0f;
grid.grid[x, y].idleness = 0.0f;
grid.grid[x, y].avg_idle=0.0f;
}
}
}
//if(!(Experiment.timeSteps % 5 ==0))
//{
// grid.decay_viewed(0.3);
// return;
//}
for (int x = 0; x < dim; x++)
{
for (int y = 0; y < dim; y++)
{
int gx = (int)((double)x * grid.gridx) + (int)(grid.gridx / 2.0);
int gy = (int)((double)y * grid.gridy) + (int)(grid.gridy / 2.0);
if ((exp.environment.AOIRectangle.Contains(gx, gy)))
{
if (grid.grid[x, y].viewed>=0.95f)
{
grid.grid[x, y].idleness = 0.0f;
}
else
{
if (grid.grid[x, y].idleness<255)
grid.grid[x, y].idleness += 1.0f;
grid.grid[x,y].avg_idle += grid.grid[x, y].idleness;
}
//accum +=
}
}
}
}
void IBehaviorCharacterization.update(SimulatorExperiment exp)
{
grid = ((GridCollision)((MultiAgentExperiment)exp).collisionManager).grid;
dim = grid.coarseness;
if (exp.timeSteps <= 1)
{
for (int x = 0; x < dim; x++)
{
for (int y = 0; y < dim; y++)
{
int gx = (int)((double)x * grid.gridx) + (int)(grid.gridx / 2.0);
int gy = (int)((double)y * grid.gridy) + (int)(grid.gridy / 2.0);
grid.grid[x, y].viewed = 0.0f;
grid.grid[x, y].idleness = 0.0f;
grid.grid[x, y].avg_idle = 0.0f;
}
}
}
//if(!(Experiment.timeSteps % 5 ==0))
//{
// grid.decay_viewed(0.3);
// return;
//}
for (int x = 0; x < dim; x++)
{
for (int y = 0; y < dim; y++)
{
int gx = (int)((double)x * grid.gridx) + (int)(grid.gridx / 2.0);
int gy = (int)((double)y * grid.gridy) + (int)(grid.gridy / 2.0);
if ((exp.environment.AOIRectangle.Contains(gx, gy)))
{
if (grid.grid[x, y].viewed >= 0.95f)
{
grid.grid[x, y].idleness = 0.0f;
}
else
{
if (grid.grid[x, y].idleness < 255)
{
grid.grid[x, y].idleness += 1.0f;
}
grid.grid[x, y].avg_idle += grid.grid[x, y].idleness;
}
//accum +=
}
}
}
}
void IFitnessFunction.update(SimulatorExperiment Experiment, Environment environment, instance_pack ip)
{
grid = ((GridCollision)(ip.collisionManager)).grid;
if (!(ip.timeSteps % (int)(1 / Experiment.timestep) == 0))
{
return;
}
int dim = grid.coarseness;
for (int x = 0; x < dim; x++)
{
for (int y = 0; y < dim; y++)
{
int gx = (int)((double)x * grid.gridx) + (int)(grid.gridx / 2.0);
int gy = (int)((double)y * grid.gridy) + (int)(grid.gridy / 2.0);
if ((environment.AOIRectangle.Contains(gx, gy)))
{
accum += grid.grid[x, y].viewed;
stop_accum += grid.grid[x, y].viewed2;
}
}
}
foreach (Robot r in ip.robots)
{
if (!r.autopilot)
{
foreach (ISensor s in r.sensors)
{
if (s is SignalSensor)
{
SignalSensor ss = (SignalSensor)s;
double val = ss.get_value();
val += 0.05;
if (val > 1.0)
{
val = 1.0;
}
ss.setSignal(val);
}
}
}
}
grid.decay_viewed(0);
//grid.decay_viewed(.95);
}
public override void Initialize(Environment e, SimulatorExperiment _exp, List <Robot> _rbts)
{
rbts = _rbts;
env = e;
exp = _exp;
if (_exp is MultiAgentExperiment)
{
agentCollide = ((MultiAgentExperiment)_exp).agentsCollide;
agentVisible = ((MultiAgentExperiment)_exp).agentsVisible;
}
grid = new collision_grid(e, coarseness);
foreach (Wall w in env.walls)
{
grid.insert_into_grid(w);
}
}
public override void Initialize (Environment e,SimulatorExperiment _exp,List<Robot> _rbts)
{
rbts=_rbts;
env=e;
exp=_exp;
if (_exp is MultiAgentExperiment)
{
agentCollide = ((MultiAgentExperiment)_exp).agentsCollide;
agentVisible = ((MultiAgentExperiment)_exp).agentsVisible;
}
grid = new collision_grid(e,coarseness);
foreach (Wall w in env.walls)
{
grid.insert_into_grid(w);
}
}
void IFitnessFunction.update(SimulatorExperiment Experiment, Environment environment)
{
if (!(Experiment.timeSteps % (int)(1 / Experiment.timestep) == 0))
{
//grid.decay_viewed(0);
return;
}
if (!allLeft)
{
bool allOut = true;
for (int j = 0; j < Experiment.robots.Count; j++)
{
if (!environment.AOIRectangle.Contains((int)Experiment.robots[j].location.x, (int)Experiment.robots[j].location.y))
{
allOut = false;
break;
}
}
if (allOut)
{
allLeft = true;
}
}
grid = ((GridCollision)((MultiAgentExperiment)Experiment).collisionManager).grid;
int dim = grid.coarseness;
for (int x = 0; x < dim; x++)
{
for (int y = 0; y < dim; y++)
{
int gx = (int)((double)x * grid.gridx) + (int)(grid.gridx / 2.0);
int gy = (int)((double)y * grid.gridy) + (int)(grid.gridy / 2.0);
if ((environment.AOIRectangle.Contains(gx, gy)))
{
accum += grid.grid[x, y].viewed;
}
}
}
//grid.decay_viewed(.9);
}
void IFitnessFunction.update(SimulatorExperiment Experiment, Environment environment,instance_pack ip)
{
grid = ((GridCollision)(ip.collisionManager)).grid;
if (!(ip.timeSteps % (int)(1 / Experiment.timestep) == 0))
{
return;
}
int dim = grid.coarseness;
for (int x = 0; x < dim; x++)
{
for (int y = 0; y < dim; y++)
{
int gx = (int)((double)x * grid.gridx) + (int)(grid.gridx / 2.0);
int gy = (int)((double)y * grid.gridy) + (int)(grid.gridy / 2.0);
if ((environment.AOIRectangle.Contains(gx, gy)))
{
accum += grid.grid[x, y].viewed;
stop_accum+= grid.grid[x,y].viewed2;
}
}
}
foreach(Robot r in ip.robots) {
if (!r.autopilot) {
foreach(ISensor s in r.sensors)
if(s is SignalSensor) {
SignalSensor ss = (SignalSensor)s;
double val = ss.get_value();
val+=0.05;
if(val>1.0) val=1.0;
ss.setSignal(val);
}
}
}
grid.decay_viewed(0);
//grid.decay_viewed(.95);
}
public EscapeAndCoverageFitness()
{
grid = null;
accum = 0.0;
}
void IFitnessFunction.update(SimulatorExperiment Experiment, Environment environment)
{
if (!(Experiment.timeSteps % (int)(1 / Experiment.timestep) == 0))
{
//grid.decay_viewed(0);
return;
}
if(!allLeft)
{
bool allOut = true;
for (int j = 0; j < Experiment.robots.Count; j++)
{
if(!environment.AOIRectangle.Contains((int)Experiment.robots[j].location.x,(int)Experiment.robots[j].location.y))
{
allOut = false;
break;
}
}
if(allOut)
allLeft = true;
}
grid = ((GridCollision)((MultiAgentExperiment)Experiment).collisionManager).grid;
int dim = grid.coarseness;
for (int x = 0; x < dim; x++)
{
for (int y = 0; y < dim; y++)
{
int gx = (int)((double)x * grid.gridx) + (int)(grid.gridx / 2.0);
int gy = (int)((double)y * grid.gridy) + (int)(grid.gridy / 2.0);
if ((environment.AOIRectangle.Contains(gx, gy)))
accum += grid.grid[x, y].viewed;
}
}
//grid.decay_viewed(.9);
}
public EscapeAndCoverageFitness()
{
grid=null;
accum = 0.0;
}
