/// <summary>
/// Initialize the robot.
/// </summary>
public void init(int id, double locationX, double locationY, double heading, AgentBrain agentBrain, Environment environment, float sensorNoise, float effectorNoise, float headingNoise, float timeStep)
{
this.ID = id;
Radius = defaultRobotSize();
Location = new Point2D(locationX, locationY);
AreaOfImpact = new Circle2D(Location, Radius);
OldLocation = new Point2D(Location);
Heading = heading;
Velocity = 0.0;
HasCollided = false;
this.Timestep = timeStep;
this.CurrentEnvironment = environment;
this.Brain = agentBrain;
this.SensorNoise = sensorNoise;
this.EffectorNoise = effectorNoise;
this.HeadingNoise = headingNoise;
populateSensors();
if (environment.seed != -1)
{
rng = environment.rng;
}
else
{
rng = environment.rng;
}
this.Trajectory = new List <int>();
}
/// <summary>
/// Performs the actual initialization logic.
/// </summary>
protected void setupVariables()
{
substrateDescription = new SubstrateDescription(substrateDescriptionFilename);
agentBrain = new AgentBrain(homogeneousTeam, numberRobots, substrateDescription, genome != null ? genome.Decode(null) : null, normalizeWeights, adaptableANN, modulatoryANN, multibrain, evolveSubstrate, neatBrain, useCTRNNS);
loadEnvironments(this);
initializeRobots(agentBrain, environment, headingNoise, sensorNoise, effectorNoise, null);
setFitnessFunction(fitnessFunctionName);
setBehavioralCharacterization(behaviorCharacterizationName);
collisionManager = new StandardCollision();
collisionManager.initialize(environment, this, this.robots);
timeSteps = 0;
elapsedTime = 0;
}
public virtual void initializeRobots(AgentBrain agentBrain, Environment e, float headingNoise, float sensorNoise, float effectorNoise, instance_pack x) { }
/// <summary>
/// Initializes robot brains and positions them in the CurrentEnvironment.
/// </summary>
public override void initializeRobots(AgentBrain agentBrain, Environment e, float headingNoise, float sensorNoise, float effectorNoise, instance_pack ip)
{
double spacing = 0;
int num_bots;
double dx, dy; // Deltas for spacing the robots
if (overrideTeamFormation)
{
dx = Math.Cos(group_orientation / 180.0 * 3.14) * group_spacing;
dy = Math.Sin(group_orientation / 180.0 * 3.14) * group_spacing;
spacing = group_spacing;
}
else
{
dx = Math.Cos(e.group_orientation / 180.0 * 3.14) * e.robot_spacing;
dy = Math.Sin(e.group_orientation / 180.0 * 3.14) * e.robot_spacing;
spacing = e.robot_spacing;
}
AgentBrain ab;
List <Robot> rbts;
double _timestep = 0.0;
if (ip == null)
{
ab = agentBrain;
rbts = robots;
num_bots = numberRobots;
_timestep = this.timestep;
}
else
{
ab = ip.agentBrain;
rbts = new List <Robot>();
ip.robots = rbts;
num_bots = ip.num_rbts;
_timestep = ip.timestep;
}
rbts.Clear();
bool circle = false;
bool staggered = true;
double radius = (spacing) / (2.0 * Math.PI * (1.0 / num_bots));
double angleDelta = (2 * Math.PI) / num_bots;
// Add robots in their formation according to CurrentEnvironment
double nx, ny;
for (int num = 0; num < num_bots; num++)
{
double heading = overrideTeamFormation ? robot_heading : e.robot_heading;
Robot r;
if (robotValues != null && robotValues.Count > 0 && robotValues.Count >= num)
{
r = RobotModelFactory.getRobotModel(robotValues[num]);
}
else
{
r = RobotModelFactory.getRobotModel(robotModelName);
}
if (circle)
{
nx = e.start_point.X + radius * Math.Cos(num * angleDelta);
ny = e.start_point.Y + radius * Math.Sin(num * angleDelta);
heading = num * angleDelta - Math.PI;
}
else
{
if (staggered && num % 2 == 1 && e.stagger != 0)
{
nx = e.start_point.X + num * dx + (staggered ? e.stagger * num : 0);
}
else
{
nx = e.start_point.X + num * dx - (staggered ? e.stagger * num : 0);
}
ny = e.start_point.Y + num * dy;
heading = (heading / 180.0) * 3.14;
}
r.init(num, nx, ny,
heading, ab, e, sensorNoise, effectorNoise, headingNoise, (float)_timestep);
r.CollisionPenalty = collisionPenalty;
ab.registerRobot(r);
if (overrideDefaultSensorDensity)
{
r.populateSensors(sensorDensity);
}
else
{
r.populateSensors();
}
if (agentBrain.ZCoordinates == null)
{
r.ZStack = 0;
}
else
{
r.ZStack = ab.ZCoordinates[num];
}
rbts.Add(r);
}
ab.updateInputDensity();
}
/// <summary>
/// Initialize the robot.
/// </summary>
public void init(int id, double locationX, double locationY, double heading, AgentBrain agentBrain, Environment environment, float sensorNoise, float effectorNoise, float headingNoise, float timeStep)
{
this.ID = id;
Radius = defaultRobotSize();
Location = new Point2D(locationX, locationY);
AreaOfImpact = new Circle2D(Location, Radius);
OldLocation = new Point2D(Location);
Heading = heading;
Velocity = 0.0;
HasCollided = false;
this.Timestep = timeStep;
this.CurrentEnvironment = environment;
this.Brain = agentBrain;
this.SensorNoise = sensorNoise;
this.EffectorNoise = effectorNoise;
this.HeadingNoise = headingNoise;
populateSensors();
if (environment.seed != -1)
rng = environment.rng;
else
rng = environment.rng;
this.Trajectory = new List<int>();
}
/// <summary>
/// Initializes robot brains and positions them in the CurrentEnvironment.
/// </summary>
public override void initializeRobots(AgentBrain agentBrain, Environment e, float headingNoise, float sensorNoise, float effectorNoise, instance_pack ip)
{
double spacing = 0;
int num_bots;
double dx, dy; // Deltas for spacing the robots
if (overrideTeamFormation)
{
dx = Math.Cos(group_orientation / 180.0 * 3.14) * group_spacing;
dy = Math.Sin(group_orientation / 180.0 * 3.14) * group_spacing;
spacing = group_spacing;
}
else
{
dx = Math.Cos(e.group_orientation / 180.0 * 3.14) * e.robot_spacing;
dy = Math.Sin(e.group_orientation / 180.0 * 3.14) * e.robot_spacing;
spacing = e.robot_spacing;
}
AgentBrain ab;
List<Robot> rbts;
double _timestep = 0.0;
if (ip == null)
{
ab = agentBrain;
rbts = robots;
num_bots = numberRobots;
_timestep = this.timestep;
}
else
{
ab = ip.agentBrain;
rbts = new List<Robot>();
ip.robots = rbts;
num_bots = ip.num_rbts;
_timestep = ip.timestep;
}
rbts.Clear();
bool circle = false;
bool staggered = true;
double radius = (spacing) / (2.0 * Math.PI * (1.0 / num_bots));
double angleDelta = (2 * Math.PI) / num_bots;
// Add robots in their formation according to CurrentEnvironment
double nx, ny;
for (int num = 0; num < num_bots; num++)
{
double heading = overrideTeamFormation ? robot_heading : e.robot_heading;
Robot r;
if (robotValues != null && robotValues.Count > 0 && robotValues.Count >= num)
{
r = RobotModelFactory.getRobotModel(robotValues[num]);
}
else
r = RobotModelFactory.getRobotModel(robotModelName);
if (circle)
{
nx = e.start_point.X + radius * Math.Cos(num * angleDelta);
ny = e.start_point.Y + radius * Math.Sin(num * angleDelta);
heading = num * angleDelta - Math.PI;
}
else
{
if (staggered && num % 2 == 1 && e.stagger != 0)
nx = e.start_point.X + num * dx + (staggered ? e.stagger * num : 0);
else
nx = e.start_point.X + num * dx - (staggered ? e.stagger * num : 0);
ny = e.start_point.Y + num * dy;
heading = (heading / 180.0) * 3.14;
}
r.init(num, nx, ny,
heading, ab, e, sensorNoise, effectorNoise, headingNoise, (float)_timestep);
r.CollisionPenalty = collisionPenalty;
ab.registerRobot(r);
if (overrideDefaultSensorDensity)
r.populateSensors(sensorDensity);
else
r.populateSensors();
if (agentBrain.ZCoordinates == null) r.ZStack = 0;
else
r.ZStack = ab.ZCoordinates[num];
rbts.Add(r);
}
ab.updateInputDensity();
}
/// <summary>
/// Performs the actual initialization logic.
/// </summary>
protected void setupVariables()
{
substrateDescription = new SubstrateDescription(substrateDescriptionFilename);
agentBrain = new AgentBrain(homogeneousTeam, numberRobots, substrateDescription, genome != null ? genome.Decode(null) : null, normalizeWeights, adaptableANN, modulatoryANN, multibrain, evolveSubstrate, neatBrain, useCTRNNS);
loadEnvironments(this);
initializeRobots(agentBrain, environment, headingNoise, sensorNoise, effectorNoise, null);
setFitnessFunction(fitnessFunctionName);
setBehavioralCharacterization(behaviorCharacterizationName);
collisionManager = new StandardCollision();
collisionManager.initialize(environment, this, this.robots);
timeSteps = 0;
elapsedTime = 0;
}
public virtual void initializeRobots(AgentBrain agentBrain, Environment e, float headingNoise, float sensorNoise, float effectorNoise, instance_pack x)
{
}