public CreateWalkerInterface ( ) : |
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Résultat |
private double EvaluateInner(IBlackBox box) { const double angleLimit = System.Math.PI / 3.0; // Init Box2D world. WalkerWorld world = new WalkerWorld(_rng); world.InitSimulationWorld(); // Create an interface onto the walker. WalkerInterface walkerIface = world.CreateWalkerInterface(); // Create a neural net controller for the walker. NeuralNetController walkerController = new NeuralNetController(walkerIface, box, world.SimulationParameters._frameRate); Vec2 hipPos = walkerIface.LeftLegIFace.HipJointPosition; double torsoYMin = hipPos.Y; double torsoYMax = hipPos.Y; // Run the simulation. LegInterface leftLeg = walkerIface.LeftLegIFace; LegInterface rightLeg = walkerIface.RightLegIFace; //double totalAppliedTorque = 0.0; int timestep = 0; for (; timestep < _maxTimesteps; timestep++) { // Simulate one timestep. world.Step(); walkerController.Step(); //totalAppliedTorque += walkerIface.TotalAppliedTorque; // Track hip joint height and min/max extents. hipPos = walkerIface.LeftLegIFace.HipJointPosition; if (hipPos.Y < torsoYMin) { torsoYMin = hipPos.Y; } else if (hipPos.Y > torsoYMax) { torsoYMax = hipPos.Y; } double heightRange = torsoYMax - torsoYMin; // Test for stopping conditions. if (hipPos.X < -0.7 || hipPos.X > 150f || heightRange > 0.20 || System.Math.Abs(leftLeg.HipJointAngle) > angleLimit || System.Math.Abs(leftLeg.KneeJointAngle) > angleLimit || System.Math.Abs(rightLeg.HipJointAngle) > angleLimit || System.Math.Abs(rightLeg.KneeJointAngle) > angleLimit) { // Stop simulation. break; } } // Final fitness calcs / adjustments. return(System.Math.Max(hipPos.X, 0.0)); }
/// <summary> /// Create a Box2D simulation world. /// </summary> protected override SimulationWorld CreateSimulationWorld() { // Init Box2D world. WalkerWorld world = new WalkerWorld(new XorShiftRandom()); world.InitSimulationWorld(); // Create an interface onto the walker. WalkerInterface walkerIface = world.CreateWalkerInterface(); // Create a neural net controller for the walker. _walkerController = new NeuralNetController(walkerIface, _box, world.SimulationParameters._frameRate); return world; }
/// <summary> /// Create a Box2D simulation world. /// </summary> protected override SimulationWorld CreateSimulationWorld() { // Init Box2D world. WalkerWorld world = new WalkerWorld(); world.InitSimulationWorld(); // Create an interface onto the walker. WalkerInterface walkerIface = world.CreateWalkerInterface(); // Create a neural net controller for the walker. _walkerController = new NeuralNetController(walkerIface, _box); return world; }
/// <summary> /// Create a Box2D simulation world. /// </summary> protected override SimulationWorld CreateSimulationWorld() { // Init Box2D world. WalkerWorld world = new WalkerWorld(new XorShiftRandom()); world.InitSimulationWorld(); // Create an interface onto the walker. WalkerInterface walkerIface = world.CreateWalkerInterface(); // Create a neural net controller for the walker. _walkerController = new NeuralNetController(walkerIface, _box, world.SimulationParameters._frameRate); return(world); }
/// <summary> /// Create a Box2D simulation world. /// </summary> protected override SimulationWorld CreateSimulationWorld() { // Init Box2D world. WalkerWorld world = new WalkerWorld(); world.InitSimulationWorld(); // Create an interface onto the walker. WalkerInterface walkerIface = world.CreateWalkerInterface(); // Create a neural net controller for the walker. _walkerController = new NeuralNetController(walkerIface, _box); return(world); }
/// <summary> /// Evaluate the provided IBlackBox. /// </summary> public FitnessInfo Evaluate(IBlackBox box) { // Init Box2D world. WalkerWorld world = new WalkerWorld(_rng); world.InitSimulationWorld(); // Create an interface onto the walker. WalkerInterface walkerIface = world.CreateWalkerInterface(); // Create a neural net controller for the walker. NeuralNetController walkerController = new NeuralNetController(walkerIface, box); // Run the simulation. LegInterface leftLeg = walkerIface.LeftLegIFace; LegInterface rightLeg = walkerIface.RightLegIFace; double angleLimit = Math.PI * 0.8; double totalAppliedTorque = 0.0; int timestep = 0; for (; timestep < _maxTimesteps; timestep++) { // Simulate one timestep. world.Step(); walkerController.Step(); totalAppliedTorque += walkerIface.TotalAppliedTorque; // Test for stopping conditions scoring zero. if (leftLeg.FootHeight > 0.3f && rightLeg.FootHeight > 0.3f || Math.Abs(leftLeg.HipJointAngle) > angleLimit || Math.Abs(leftLeg.KneeJointAngle) > angleLimit || Math.Abs(rightLeg.HipJointAngle) > angleLimit || Math.Abs(rightLeg.KneeJointAngle) > angleLimit) { // Stop simulation. return(new FitnessInfo(0.0, walkerIface.TorsoPosition.X)); } // Test for scoring stopping conditions. if (walkerIface.TorsoPosition.X < -0.7 || walkerIface.TorsoPosition.X > 150f || walkerIface.TorsoPosition.Y < 0.6f) { // Stop simulation. break; } } _evalCount++; double fitness = Math.Max(0.0, walkerIface.TorsoPosition.X); return(new FitnessInfo(fitness, walkerIface.TorsoPosition.X)); }