void IFitnessFunction.update(SimulatorExperiment Experiment, Environment environment, instance_pack ip)
{
// Initialize variables on first time step
if (ip.timeSteps == 1)
{
livingCost = 0;
rewards = 0;
// Fitness values must be positive. Therefore, a high positive fitness is assigned in advance,
// and the cost of living subtracts from it.
// time / steps is the number of actual time steps, and the cost is multiplied by number of enemies
fitness = (Experiment.evaluationTime / Experiment.timestep) * Experiment.numEnemies;
}
// Find closest active prey
bool allCaptured = true; // becomes false if an active prey is found
Robot evolved = ip.robots[0];
for (int i = 1; i < ip.robots.Count; i++)
{
// Assumes all but first robot are EnemyRobot instances
EnemyRobot er = (EnemyRobot)ip.robots[i];
if (!er.disabled) // Not captured yet
{
//Console.WriteLine("Robot "+i+" not disabled");
allCaptured = false;
// The collisionWithEvolved bool should always be the primary means of detecting these
// collisions, but the other call is here as a precaution. This check is needed because
// when the evolved bot normally collides with the enemy, the "undo" method is called,
// which prevents the collision from being detected using normal means in this method.
// Fortunately, the collisionWithEvolved member is used to remember when this collision
// occurs.
if (er.collisionWithEvolved || EngineUtilities.collide(evolved, er))
{ // Reward evolved bot for colliding with prey, and disable prey
er.disabled = true;
er.stopped = true;
rewards += PREY_REWARD;
fitness += PREY_REWARD; // This is the value that matters
//Console.WriteLine("\treward:" + rewards + " from " + PREY_REWARD);
}
else
{ // Each active prey punishes bot for not being caltured yet
double distance = evolved.location.distance(er.location);
double cost = distance / environment.maxDistance;
livingCost += cost;
fitness -= cost; // This is the value that matters
//Console.WriteLine("\tCost: " + (distance / 1000.0) + " to be " + livingCost + " raw distance: " + distance);
}
}
}
// End evaluation and stop accruing negative fitness if all prey are captured
if (allCaptured)
{ // Disabling prevents further action
ip.elapsed = Experiment.evaluationTime; // force end time: only affects non-visual evaluation
Experiment.running = false; // Ends visual evaluation
}
}
// Schrum2: Add extra enemy robot after deault robots
public override void initializeRobots(AgentBrain agentBrain, Environment e, float headingNoise, float sensorNoise, float effectorNoise, instance_pack ip)
{
// Debug:schrum2
//Console.WriteLine("Init Robots");
base.initializeRobots(agentBrain, e, headingNoise, sensorNoise, effectorNoise, ip);
enemies = new List <EnemyRobot>();
for (int i = 0; i < numEnemies; i++)
{
// schrum2: here is where the enemy robot is added
// Location of evolved robot is needed to track it
// Assumes that robot is in position 0 (problem?)
EnemyRobot r = new EnemyRobot(robots[0], flee);
enemies.Add(r);
double _timestep = 0.0;
if (ip == null)
{
_timestep = this.timestep;
}
else
{
_timestep = ip.timestep;
}
double nx = enemyX - i * enemyDeltaX;
double ny = enemyY - i * enemyDeltaY;
double h = 0;
// Alternative starting positions for enemies
if (enemiesSurround)
{
double evolvedX = robots[0].location.x;
double evolvedY = robots[0].location.y;
double radius = 200.0;
nx = evolvedX + radius * Math.Cos((i * 2.0 * Math.PI) / numEnemies);
ny = evolvedY + radius * Math.Sin((i * 2.0 * Math.PI) / numEnemies);
h = Math.PI + i * (2 * Math.PI / numEnemies);
}
r.init(robots.Count, // id is last position in list of robots
nx, ny, h, // starting position and heading
agentBrain, // Has evolved brain (to avoid NullPointers, etc), but should never actually use it (problem?)
e, sensorNoise, effectorNoise, headingNoise, (float)_timestep);
r.collisionPenalty = collisionPenalty;
// Only add enemy if it is not already present
if (robots.Count <= numEnemies) // Makes limiting assumption that this experiment will always be used with only one evolved bot and one enemy
{
robots.Add(r);
//Console.WriteLine("Added enemy to list: " + robots.Count);
}
// Required so that experiment works properly in both visual and non-visual mode
// (The non-visual mode takes the robots from the instance_pack instead of the experiment)
if (ip != null && ip.robots.Count <= numEnemies)
{
ip.robots.Add(r);
//Console.WriteLine("Added enemy to ip");
}
}
}
// Schrum2: Add extra enemy robot after deault robots
public override void initializeRobots(AgentBrain agentBrain, Environment e, float headingNoise, float sensorNoise, float effectorNoise, instance_pack ip)
{
// Debug:schrum2
//Console.WriteLine("Init Robots");
base.initializeRobots(agentBrain, e, headingNoise, sensorNoise, effectorNoise, ip);
enemies = new List<EnemyRobot>();
for (int i = 0; i < numEnemies; i++)
{
// schrum2: here is where the enemy robot is added
// Location of evolved robot is needed to track it
// Assumes that robot is in position 0 (problem?)
EnemyRobot r = new EnemyRobot(robots[0], flee);
enemies.Add(r);
double _timestep = 0.0;
if (ip == null)
{
_timestep = this.timestep;
}
else
{
_timestep = ip.timestep;
}
double nx = enemyX - i * enemyDeltaX;
double ny = enemyY - i * enemyDeltaY;
double h = 0;
// Alternative starting positions for enemies
if (enemiesSurround)
{
double evolvedX = robots[0].location.x;
double evolvedY = robots[0].location.y;
double radius = 200.0;
nx = evolvedX + radius*Math.Cos((i * 2.0 * Math.PI) / numEnemies);
ny = evolvedY + radius*Math.Sin((i * 2.0 * Math.PI) / numEnemies);
h = Math.PI + i * (2 * Math.PI / numEnemies);
}
r.init(robots.Count, // id is last position in list of robots
nx, ny, h, // starting position and heading
agentBrain, // Has evolved brain (to avoid NullPointers, etc), but should never actually use it (problem?)
e, sensorNoise, effectorNoise, headingNoise, (float)_timestep);
r.collisionPenalty = collisionPenalty;
// Only add enemy if it is not already present
if (robots.Count <= numEnemies) // Makes limiting assumption that this experiment will always be used with only one evolved bot and one enemy
{
robots.Add(r);
//Console.WriteLine("Added enemy to list: " + robots.Count);
}
// Required so that experiment works properly in both visual and non-visual mode
// (The non-visual mode takes the robots from the instance_pack instead of the experiment)
if (ip != null && ip.robots.Count <= numEnemies)
{
ip.robots.Add(r);
//Console.WriteLine("Added enemy to ip");
}
}
}