public PieSliceSensorArray(Robot o)
{
signalsSensors = new List<SignalSensor>(4);
radarAngles1 = new List<float>();
radarAngles2 = new List<float>();
//radar = new List<float>();
//TODO make the number of slices adjustable
//define the radar sensors
radarAngles1.Add(315.0f);
radarAngles2.Add(405.0f);
radarAngles1.Add(45.0f);
radarAngles2.Add(135.0f);
radarAngles1.Add(135.0f);
radarAngles2.Add(225.0f);
radarAngles1.Add(225.0f);
radarAngles2.Add(315.0f);
for (int i = 0; i < 4; i++)
{
SignalSensor s = new SignalSensor(o);
signalsSensors.Add(s);
o.sensors.Add(signalsSensors[i]);
}
owner = o;
}
void IFitnessFunction.update(SimulatorExperiment Experiment, Environment environment, instance_pack ip)
{
if (!(ip.timeSteps % (int)(1 / ip.timestep) == 0))
{
//grid.decay_viewed(0);
return;
}
bool all_in = true;
double a_accum = 0.00000001;
double a_saccum = 0.00000001;
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);
}
}
}
if ((environment.AOIRectangle.Contains((int)r.location.x, (int)r.location.y)))
{
a_accum += 1.0 / (nearest(ip, r, environment));
if (r.corrected)
{
a_saccum += nearest(ip, r, environment);
}
//else
// a_saccum+=1.0;
}
else
{
all_in = false;
}
}
if (all_in)
{
accum += ((double)ip.robots.Count) / (a_accum);
stopaccum += a_saccum / ((double)ip.robots.Count);
}
}
void IFitnessFunction.update(SimulatorExperiment Experiment, Environment environment, instance_pack ip)
{
// HACK: Both environments are the same, but this hack allows one to treat the food as poison
bool poison = !environment.name.Equals("ENV_dual_task1.xml");
if (Experiment.multibrain && !Experiment.preferenceNeurons && Experiment.numBrains == 2)
{
if (!poison) //forage
{
ip.agentBrain.switchBrains(0);
}
else //poison
{
ip.agentBrain.switchBrains(1);
}
}
//For food gathering
if (ip.timeSteps == 1)
{
environment.goal_point.x = environment.POIPosition[0].X;
environment.goal_point.y = environment.POIPosition[0].Y;
collectedFood = 0;
POINr = 0;
}
// Schrum: Last sensor is for detecting when food/poison is eaten
Robot r = ip.robots[0]; // There should be only one robot in this task
SignalSensor s = (SignalSensor)r.sensors[r.sensors.Count - 1];
float d = (float)ip.robots[0].location.distance(environment.goal_point);
if (d < 20.0f)
{
// Need to detect when food or poison is eaten
s.setSignal(poison ? -1.0 : 1.0);
collectedFood++;
POINr++;
if (POINr > 3)
{
POINr = 0;
}
environment.goal_point.x = environment.POIPosition[POINr].X;
environment.goal_point.y = environment.POIPosition[POINr].Y;
}
else
{// Nothing eaten, so food/poison sensor is 0
s.setSignal(0.0);
}
}
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);
}
void IFitnessFunction.update(SimulatorExperiment Experiment, Environment environment, instance_pack ip)
{
if (!(Experiment.timeSteps % (int)(1 / Experiment.timestep) == 0))
{
//grid.decay_viewed(0);
return;
}
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);
}
}
}
}
double x1 = (double)environment.AOIRectangle.Left;
double y1 = (double)environment.AOIRectangle.Top;
double x2 = (double)environment.AOIRectangle.Right;
double y2 = (double)environment.AOIRectangle.Bottom;
int steps = 10;
accum += test_interpolation(ip, x1, y1, x2, y1, steps);
accum += test_interpolation(ip, x2, y1, x2, y2, steps);
accum += test_interpolation(ip, x2, y2, x2, y1, steps);
accum += test_interpolation(ip, x2, y1, x1, y1, steps);
}
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 IBehaviorCharacterization.update(SimulatorExperiment engine)
{
Environment environment = engine.environment;
if (!(engine.timeSteps % 25 == 0)) //(int)(0.5 / engine.timestep) == 0))
{
//grid.decay_viewed(0);
return;
}
double[] gl = new double[3];
double[] el = new double[3];
for (int i = 0; i < engine.robots.Count; i++)
{
gl[i] = 0.0;
}
for (int i = 0; i < engine.robots.Count; i++)
{
el[i] = 0.0;
}
int r_ind = 0;
if (!last && (engine.timeSteps * engine.timestep) > 14.0)
{
foreach (Robot r in engine.robots)
{
bc.Add(r.location.x);
bc.Add(r.location.y);
last = true;
}
}
if (!first && (engine.timeSteps * engine.timestep) > 6.0)
{
foreach (Robot r in engine.robots)
{
SignalSensor s = (SignalSensor)r.sensors[r.sensors.Count - 1];
s.setSignal(1.0);
bc.Add(r.location.x);
bc.Add(r.location.y);
origDist[r_ind] = r.location.distance(environment.goal_point);
r_ind++;
}
first = true;
r_ind = 0;
}
foreach (Robot r in engine.robots)
{
double d2 = r.location.distance(environment.goal_point);
if (first)
{
//if(point.distance(environment.goal_point) <25.0) {
// endList[i]=1.5;
//}
//else {
el[r_ind] = Math.Max(el[r_ind], (origDist[r_ind] - d2) / 200.0);
//}
}
/*
* 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);
* }
*/
int p_ind = 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.distance(r.location);
if (!first)
{
gl[i] = Math.Max(gl[i], (200.0 - d1) / 200.0);
}
p_ind += 1;
}
r_ind += 1;
}
for (int i = 0; i < 3; i++)
{
gotoList[i] += gl[i];
endList[i] += el[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;
}
