void IFitnessFunction.update(SimulatorExperiment engine, Environment environment, instance_pack ip)
{
if (!(ip.timeSteps % (int)(1 / engine.timestep) == 0))
{
//grid.decay_viewed(0);
return;
}
double[] gl = new double[3];
double[] el = new double[3];
double[] sense = new double[3];
int r_ind = 0;
if (!first && (ip.timeSteps * engine.timestep) > engine.evaluationTime / 2.0)
{
allCorrected = true;
bool[] close = new bool[3];
// Schrum: Brains don't get switched with preference neurons ... all need to be evaluated
if (!ip.agentBrain.preferenceNeurons)
{
ip.agentBrain.switchBrains();
}
foreach (Robot r in ip.robots)
{
//Schrum: Debugging
//Console.WriteLine("Robot id: " + r.id + ", " + r.name);
//Console.WriteLine("r.sensors.Count=" + r.sensors.Count);
//Console.WriteLine("Last sensor type: " + r.sensors[r.sensors.Count - 1].GetType());
if (!ip.agentBrain.multipleBrains || // Schrum: Original condition
(r.sensors[r.sensors.Count - 1] is SignalSensor)) // Schrum: Broader condition that also works with pref neurons
{
//Schrum: Debugging
//Console.WriteLine("Switched signal at " + (ip.timeSteps * engine.timestep));
SignalSensor s = (SignalSensor)r.sensors[r.sensors.Count - 1];
s.setSignal(1.0);
}
origDist[r_ind] = r.location.distance(environment.goal_point);
origHeadings[r_ind] = r.heading;
//checks to see if all points have an agent close to them when the signal fires
for (int p = 0; p < environment.POIPosition.Count; p++)
{
if (r.location.manhattenDistance(new Point2D(environment.POIPosition[p].X, environment.POIPosition[p].Y)) < 15)
{
close[p] = true;
}
}
//checks to see if agents are being corrected (stopped) when the signal fires
if (!r.corrected)
{
allCorrected = false;
}
r_ind++;
}
r_ind = 0;
first = true;
allClose = close[0] && close[1] && close[2];
}
foreach (Robot r in ip.robots)
{
int p_ind = 0;
double d2 = r.location.manhattenDistance(environment.goal_point);
if (first)
{
if (!turned[r_ind])
{
if (origHeadings[r_ind] != r.heading)
{
turned[r_ind] = true;
}
}
//if(point.distance(environment.goal_point) <25.0) {
// endList[i]=1.5;
//}
//else {
if (d2 <= 20)
{
el[r_ind] = 1;
reachGoal[r_ind] = true;
}
el[r_ind] = Math.Max(0.0, (origDist[r_ind] - d2) / 167.0);
//}
}
/*
* else {
* System.Drawing.Point
* p=environment.POIPosition[r_ind];
* Point2D point= new
* Point2D((double)p.X,(double)p.Y);
* double d1=point.distance(r.location);
* gl[r_ind]=Math.Max(0.0,(200.0-d1)/200.0);
* }
*/
foreach (System.Drawing.Point p in environment.POIPosition)
{
Point2D point = new Point2D((double)p.X, (double)p.Y);
int i = p_ind;
double d1 = point.manhattenDistance(r.location);
if (!first)
{
// Schrum: Magic numbers everywhere! I think robot has reached the POI if within 10 units
if (d1 <= 10)
{
gl[i] = 1;
}
else
{
// Otherwise, add (D - d)/D where D = 110 and d = d1 = distance from POI
gl[i] = Math.Max(gl[i], (110.0 - d1) / 110.0);
}
}
p_ind += 1;
}
sense[r_ind] = 1;
foreach (ISensor s in r.sensors)
{
if (s is RangeFinder)
{
if (s.get_value() < sense[r_ind])
{
sense[r_ind] = s.get_value();
}
}
}
r_ind += 1;
}
for (int i = 0; i < 3; i++)
{
gotoList[i] += gl[i];
endList[i] += el[i];
sensorList[i] += sense[i];
}
return;
}
void IFitnessFunction.update(SimulatorExperiment engine, Environment environment, instance_pack ip)
{
if (!(ip.timeSteps % (int)(1 / engine.timestep) == 0))
{
//grid.decay_viewed(0);
return;
}
double[] gl = new double[3];
double[] el = new double[3];
double[] sense = new double[3];
int r_ind = 0;
if (!first && (ip.timeSteps * engine.timestep) > engine.evaluationTime / 2.0)
{
allCorrected = true;
bool[] close = new bool[3];
ip.agentBrain.switchBrains();
foreach (Robot r in ip.robots)
{
if (!ip.agentBrain.multipleBrains)
{
SignalSensor s = (SignalSensor)r.sensors[r.sensors.Count - 1];
s.setSignal(1.0);
}
origDist[r_ind] = r.location.distance(environment.goal_point);
origHeadings[r_ind] = r.heading;
//checks to see if all points have an agent close to them when the signal fires
for (int p = 0; p < environment.POIPosition.Count; p++)
if (r.location.manhattenDistance(new Point2D(environment.POIPosition[p].X, environment.POIPosition[p].Y)) < 15)
close[p] = true;
//checks to see if agents are being corrected (stopped) when the signal fires
if (!r.corrected)
allCorrected = false;
r_ind++;
}
r_ind = 0;
first = true;
allClose = close[0] && close[1] && close[2];
}
foreach (Robot r in ip.robots)
{
int p_ind = 0;
double d2 = r.location.manhattenDistance(environment.goal_point);
if (first)
{
if (!turned[r_ind])
if (origHeadings[r_ind] != r.heading)
turned[r_ind] = true;
//if(point.distance(environment.goal_point) <25.0) {
// endList[i]=1.5;
//}
//else {
if (d2 <= 20) {
el[r_ind] = 1;
reachGoal[r_ind]=true;
}
el[r_ind] = Math.Max(0.0, (origDist[r_ind] - d2) / 167.0);
//}
}
/*
else {
System.Drawing.Point
p=environment.POIPosition[r_ind];
Point2D point= new
Point2D((double)p.X,(double)p.Y);
double d1=point.distance(r.location);
gl[r_ind]=Math.Max(0.0,(200.0-d1)/200.0);
}
*/
foreach (System.Drawing.Point p in environment.POIPosition)
{
Point2D point = new Point2D((double)p.X, (double)p.Y);
int i = p_ind;
double d1 = point.manhattenDistance(r.location);
if (!first)
{
if (d1 <= 10)
gl[i] = 1;
else
gl[i] = Math.Max(gl[i], (110.0 - d1) / 110.0);
}
p_ind += 1;
}
sense[r_ind] = 1;
foreach (ISensor s in r.sensors)
{
if (s is RangeFinder)
if (s.get_value() < sense[r_ind])
sense[r_ind] = s.get_value();
}
r_ind += 1;
}
for (int i = 0; i < 3; i++)
{
gotoList[i] += gl[i];
endList[i] += el[i];
sensorList[i] += sense[i];
}
return;
}
void IFitnessFunction.update(SimulatorExperiment engine, Environment environment, instance_pack ip)
{
if (!(ip.timeSteps % (int)(1 / engine.timestep) == 0))
{
//grid.decay_viewed(0);
return;
}
double[] gl = new double[3];
double[] el = new double[3];
double[] sense = new double[3];
int r_ind = 0;
if (!first && (ip.timeSteps * engine.timestep) > engine.evaluationTime / 2.0)
{
allCorrected = true;
bool[] close = new bool[3];
// Schrum: Brains don't get switched with preference neurons ... all need to be evaluated
// Schrum: Checking that numBrains == 2 assures that this mode of switching does not occur in FourTask experiments with 5 brains
if (!ip.agentBrain.preferenceNeurons && engine.numBrains == 2) ip.agentBrain.switchBrains();
foreach (Robot r in ip.robots)
{
//Schrum: Debugging
//Console.WriteLine("Robot id: " + r.id + ", " + r.name);
//Console.WriteLine("r.sensors.Count=" + r.sensors.Count);
//Console.WriteLine("Last sensor type: " + r.sensors[r.sensors.Count - 1].GetType());
if (!ip.agentBrain.multipleBrains || // Schrum: Original condition
(r.sensors[r.sensors.Count - 1] is SignalSensor)) // Schrum: Broader condition that also works with pref neurons
{
//Schrum: Debugging
//Console.WriteLine("Switched signal at " + (ip.timeSteps * engine.timestep));
SignalSensor s = (SignalSensor)r.sensors[r.sensors.Count - 1];
s.setSignal(1.0);
}
origDist[r_ind] = r.location.distance(environment.goal_point);
origHeadings[r_ind] = r.heading;
//checks to see if all points have an agent close to them when the signal fires
for (int p = 0; p < environment.POIPosition.Count; p++)
if (r.location.manhattenDistance(new Point2D(environment.POIPosition[p].X, environment.POIPosition[p].Y)) < 15)
close[p] = true;
//checks to see if agents are being corrected (stopped) when the signal fires
if (!r.corrected)
allCorrected = false;
r_ind++;
}
r_ind = 0;
first = true;
allClose = close[0] && close[1] && close[2];
}
foreach (Robot r in ip.robots)
{
int p_ind = 0;
double d2 = r.location.manhattenDistance(environment.goal_point);
if (first)
{
if (!turned[r_ind])
if (origHeadings[r_ind] != r.heading)
turned[r_ind] = true;
//if(point.distance(environment.goal_point) <25.0) {
// endList[i]=1.5;
//}
//else {
if (d2 <= 20) {
el[r_ind] = 1;
reachGoal[r_ind]=true;
}
el[r_ind] = Math.Max(0.0, (origDist[r_ind] - d2) / 167.0);
//}
}
/*
else {
System.Drawing.Point
p=environment.POIPosition[r_ind];
Point2D point= new
Point2D((double)p.X,(double)p.Y);
double d1=point.distance(r.location);
gl[r_ind]=Math.Max(0.0,(200.0-d1)/200.0);
}
*/
foreach (System.Drawing.Point p in environment.POIPosition)
{
Point2D point = new Point2D((double)p.X, (double)p.Y);
int i = p_ind;
double d1 = point.manhattenDistance(r.location);
if (!first)
{
// Schrum: Magic numbers everywhere! I think robot has reached the POI if within 10 units
if (d1 <= 10)
gl[i] = 1;
else
// Otherwise, add (D - d)/D where D = 110 and d = d1 = distance from POI
gl[i] = Math.Max(gl[i], (110.0 - d1) / 110.0);
}
p_ind += 1;
}
sense[r_ind] = 1;
foreach (ISensor s in r.sensors)
{
if (s is RangeFinder)
if (s.get_value() < sense[r_ind])
sense[r_ind] = s.get_value();
}
r_ind += 1;
}
for (int i = 0; i < 3; i++)
{
gotoList[i] += gl[i];
endList[i] += el[i];
sensorList[i] += sense[i];
}
return;
}
void IFitnessFunction.update(SimulatorExperiment engine, Environment environment, instance_pack ip)
{
if (!(ip.timeSteps % (int)(1 / engine.timestep) == 0))
{
//grid.decay_viewed(0);
return;
}
double[] gl = new double[3];
double[] el = new double[3];
double[] sense = new double[3];
int r_ind = 0;
if (!first && (ip.timeSteps * engine.timestep) > engine.evaluationTime / 2.0)
{
allCorrected = true;
bool[] close = new bool[3];
ip.agentBrain.switchBrains();
foreach (Robot r in ip.robots)
{
if (!ip.agentBrain.multipleBrains)
{
SignalSensor s = (SignalSensor)r.sensors[r.sensors.Count - 1];
s.setSignal(1.0);
}
origDist[r_ind] = r.location.distance(environment.goal_point);
origHeadings[r_ind] = r.heading;
//checks to see if all points have an agent close to them when the signal fires
for (int p = 0; p < environment.POIPosition.Count; p++)
{
if (r.location.manhattenDistance(new Point2D(environment.POIPosition[p].X, environment.POIPosition[p].Y)) < 15)
{
close[p] = true;
}
}
//checks to see if agents are being corrected (stopped) when the signal fires
if (!r.corrected)
{
allCorrected = false;
}
r_ind++;
}
r_ind = 0;
first = true;
allClose = close[0] && close[1] && close[2];
}
foreach (Robot r in ip.robots)
{
int p_ind = 0;
double d2 = r.location.manhattenDistance(environment.goal_point);
if (first)
{
if (!turned[r_ind])
{
if (origHeadings[r_ind] != r.heading)
{
turned[r_ind] = true;
}
}
//if(point.distance(environment.goal_point) <25.0) {
// endList[i]=1.5;
//}
//else {
if (d2 <= 20)
{
el[r_ind] = 1;
reachGoal[r_ind] = true;
}
el[r_ind] = Math.Max(0.0, (origDist[r_ind] - d2) / 167.0);
//}
}
/*
* else {
* System.Drawing.Point
* p=environment.POIPosition[r_ind];
* Point2D point= new
* Point2D((double)p.X,(double)p.Y);
* double d1=point.distance(r.location);
* gl[r_ind]=Math.Max(0.0,(200.0-d1)/200.0);
* }
*/
foreach (System.Drawing.Point p in environment.POIPosition)
{
Point2D point = new Point2D((double)p.X, (double)p.Y);
int i = p_ind;
double d1 = point.manhattenDistance(r.location);
if (!first)
{
if (d1 <= 10)
{
gl[i] = 1;
}
else
{
gl[i] = Math.Max(gl[i], (110.0 - d1) / 110.0);
}
}
p_ind += 1;
}
sense[r_ind] = 1;
foreach (ISensor s in r.sensors)
{
if (s is RangeFinder)
{
if (s.get_value() < sense[r_ind])
{
sense[r_ind] = s.get_value();
}
}
}
r_ind += 1;
}
for (int i = 0; i < 3; i++)
{
gotoList[i] += gl[i];
endList[i] += el[i];
sensorList[i] += sense[i];
}
return;
}
