// Use this for initialization
void Start()
{
numberAcceptedTrials = 0;
logfiletimestamp = System.DateTime.Now.ToString("MM_dd_yyyy_HH_mm_ss_fff");
//Maximum possible cost.
// TODO: don't hard code this and maybe choose a better starting temp
STARTING_TEMP = temperature = 1f / Mathf.Pow(.95f, maxTrials / 2);
CostStartingTemp = temperature;
instance = this;
trialWeights = new ArrayList();
prevTrialWeights = new ArrayList();
int totalNumberOfWeights = 0;
int numberOfWeights;
foreach (System.Type t in costsToUse)
{
numberOfWeights = (int)t.GetMethod("GetNumberWeights", System.Reflection.BindingFlags.Static | System.Reflection.BindingFlags.Public).Invoke(null, null);
double[] defaultWeightCosts = (double[])t.GetMethod("GetDefaultWeightCosts", System.Reflection.BindingFlags.Static | System.Reflection.BindingFlags.Public).Invoke(null, null);
for (int i = 0; i < numberOfWeights; i++)
{
this.trialWeights.Add(new Weight(defaultWeightCosts[i]));
}
totalNumberOfWeights += numberOfWeights;
}
Debug.Log("Number of weights testing: " + totalNumberOfWeights);
Debug.Log(costsToUse.Length + " main weight(s) and " + (totalNumberOfWeights - costsToUse.Length) + " subweight(s)");
copyOverTrialWeightsToCache();
temperatures = new float[trialWeights.Count];
numGeneratedParameters = new int[trialWeights.Count];
ti_os = new float[trialWeights.Count];
for (int i = 0; i < temperatures.Length; i++)
{
ti_os[i] = STARTING_TEMP;
}
current_gradients = new float[trialWeights.Count];
max_gradients = new float[trialWeights.Count];
for (int i = 0; i < temperatures.Length; i++)
{
temperatures[i] = temperature;
}
bestWeights = new ArrayList();
calculate_c_i();
this.LaunchNextTrial();
}
public CostManager(KnowledgeBase knowledgeBase, SensorModule sm)
{
ArrayList desiredCosts = new ArrayList();
constraints = new ArrayList();
System.Object[] args = new System.Object[] { (System.Object)knowledgeBase, (System.Object)sm };
int weightIndex = 0;
foreach (System.Type costType in WorldStateManager.GetListOfCostsToUse())
{
// Debug.Log("Cost: " + costType.ToString());
if (costType.ToString() == "CollisionCost")
{
// Hack collisions are constraints not costs.
Debug.Log("Adding collision constraint!!" + costType.ToString());
Cost collisionConstraint = new CollisionCost(knowledgeBase, sm);
int numConstraintWeights = (int)CollisionCost.GetNumberWeights();
ArrayList localConstraintWeights = collisionConstraint.GetAllWeights();
for (int i = 0; i < numConstraintWeights; i++)
{
((Weight)localConstraintWeights [i]).weightValue = TrialRunner.GetSingletonInstance().GetTrialWeightValueAt(weightIndex++);
}
collisionConstraint.GetAllWeights();
constraints.Add(collisionConstraint);
}
else
{
Cost c = (Cost)System.Activator.CreateInstance(costType, args);
c.SetName(costType.ToString());
desiredCosts.Add(c);
//Get the weights to test from the trial runner and set them
// TODO: make this much better coded
int numWeights = (int)costType.GetMethod("GetNumberWeights", System.Reflection.BindingFlags.Static | System.Reflection.BindingFlags.Public).Invoke(null, null);
// Debug.Log(numWeights);
ArrayList localWeights = c.GetAllWeights();
for (int i = 0; i < numWeights; i++)
{
((Weight)localWeights [i]).weightValue = TrialRunner.GetSingletonInstance().GetTrialWeightValueAt(weightIndex++);
}
}
}
costs = desiredCosts;
}
public static void EndTrial()
{
trialOngoing = false;
TrialRunner.GetSingletonInstance().EndTrial();
Debug.Log("Trial Ending with time: " + timeElapsed);
Debug.Log("Sustained " + numberOfCollisions + " collisions");
// If any agents exist destroy them
foreach (Agent a in currentAgents)
{
Destroy(a.gameObject);
}
if (zone != null)
{
zone.DestroyTiles();
zone.CleanUp();
zone = null;
}
currentAgents.Clear();
foreach (Packet p in packetQueue)
{
p.CleanUp();
}
packetQueue.Clear();
foreach (Packet p in packets)
{
p.CleanUp();
}
packets.Clear();
//Callback to trial runner
TrialRunner.GetSingletonInstance().LaunchNextTrial();
}
